version: 66.06
glider: 1
mission: 14
dive: 111
start: 10 16 109 0 20 38
data:
$ID,1
$MISSION,14
$DIVE,111
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-221498.48
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,76.602692
$FG_AHR_24V,4.6384106
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,002132,6640.404,-6013.495,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,002738,6640.398,-6013.515,11,1.1,11,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,-0.183
$KALMAN_X,-54262.9,-1849.6,-1267.6,-21702.5,1729.0
$KALMAN_Y,5189.7,-742.4,-525.0,-26604.9,723.8
$MHEAD_RNG_PITCHd_Wd,123.7,397597,-13.0,-7.021
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,83,0.00,0.00,-52.30,0.000,2,0.007,0.000,428,1571,2184,0,0,0,0,0,0
$GC,86,-0.99,-146.6,3.0,-1.6,11,142,11.30,2.70,-30.30,0.000,4,0.000,0.000,2639,387,3112,15,0,17,0,0,0
$GC,322,-0.73,-146.6,37.0,-12.1,44,340,0.88,3.30,0.00,0.007,6,0.000,0.001,2454,2360,3117,2,0,20,0,0,0
$GC,526,-0.73,-146.6,56.8,-7.6,63,542,0.57,3.33,0.00,0.007,4,0.000,0.000,2584,531,3115,1,0,17,0,0,0
$GC,794,-0.73,-146.6,76.6,-8.1,86,805,1.02,3.15,0.00,0.007,6,0.000,0.000,2432,2224,3114,3,0,18,0,0,0
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1093,-0.31,0.0,100.5,8.6,114,1220,1.20,0.00,121.38,7.868,6,0.000,0.007,2722,1745,2515,2,0,0,0,0,0
$STATE,1221,end apogee,CONTROL_FINISHED_OK
$STATE,1221,begin climb
$GC,1225,0.99,146.6,112.5,0.0,127,1363,1.25,2.00,122.45,0.000,4,0.000,0.000,3004,471,1914,1,0,7,0,1,0
$GC,1615,2.81,629.3,147.1,-8.4,162,1919,1.67,3.22,266.75,3.357,6,0.000,0.000,3311,2309,600,4,0,18,0,3,0
$GC,2233,4.42,1073.5,192.6,-7.2,222,2249,0.00,3.97,0.12,0.000,4,0.007,0.000,3308,373,606,0,0,21,0,0,0
$GC,2501,4.93,1490.2,213.4,-6.3,245,2511,0.00,2.88,1.75,0.000,6,0.007,0.000,3313,2232,603,0,0,14,0,0,0
$GC,2836,5.41,1885.7,235.1,-5.6,277,2842,0.00,2.30,0.12,0.007,4,0.000,0.000,3312,3573,602,0,0,12,0,0,0
$GC,2935,5.91,2286.8,240.7,-5.8,285,2951,0.00,3.72,0.32,0.000,6,0.007,0.000,3312,2039,604,0,0,21,0,0,0
$GC,3265,6.44,2722.5,263.2,-6.9,316,3281,0.00,3.38,0.12,0.007,4,0.007,0.000,3312,427,602,0,0,16,0,0,0
$GC,3534,6.99,3164.1,282.3,-7.1,339,3544,0.00,3.53,0.45,0.000,6,0.007,0.000,3310,2167,605,0,0,18,0,0,0
$GC,3869,7.50,3581.2,302.2,-6.3,371,3876,0.00,2.70,0.12,0.000,4,0.007,0.000,3315,3445,603,0,0,14,0,0,0
$GC,3888,8.06,4037.4,303.7,-7.6,372,3904,0.00,2.88,1.25,0.000,6,0.007,0.000,3314,1893,604,0,0,12,0,0,0
$GC,4218,8.52,4407.1,320.8,-4.8,403,4234,0.00,3.15,0.12,0.007,4,0.007,0.000,3313,356,603,0,0,19,0,0,0
$GC,4353,9.01,4807.6,329.7,-5.8,414,4363,0.00,2.88,1.17,0.000,6,0.007,0.000,3312,2135,609,0,0,14,0,0,0
$GC,4688,9.55,5244.4,348.8,-7.0,446,4694,0.00,2.40,0.12,0.007,4,0.007,0.000,3313,3650,603,0,0,13,0,0,0
$GC,4700,10.11,5701.7,349.8,-7.6,446,4711,0.00,3.47,1.00,0.000,6,0.007,0.000,3316,1832,605,0,0,17,0,0,0
$GC,5036,10.62,6121.8,371.0,-6.4,478,5043,0.00,2.62,0.12,0.000,4,0.007,0.000,3314,466,603,0,0,13,0,0,0
$GC,5147,11.15,6546.5,378.3,-6.6,487,5163,0.00,3.08,1.02,0.000,6,0.000,0.000,3314,2350,605,0,0,16,0,0,0
$GC,5477,11.65,6953.0,398.1,-6.0,518,5493,0.00,4.25,0.12,0.007,4,0.007,0.000,3308,303,603,0,0,23,0,0,0
$GC,5745,12.14,7352.3,414.3,-5.8,541,5756,0.00,3.35,1.08,0.000,6,0.007,0.000,3311,2152,603,0,0,20,0,0,0
$GC,6081,12.65,7764.5,434.6,-6.2,573,6096,0.00,3.20,0.12,0.007,4,0.000,0.000,3310,562,603,0,0,16,0,0,0
$GC,6349,13.16,8182.3,450.9,-6.4,596,6360,0.00,3.33,0.95,0.000,6,0.007,0.000,3317,2444,602,0,0,18,0,0,0
$GC,6685,13.68,8606.6,470.4,-6.6,628,6701,0.00,3.47,0.12,0.007,4,0.007,0.000,3312,273,608,0,0,22,0,0,0
$GC,6953,14.19,9019.5,487.3,-6.2,651,6963,0.00,3.30,0.00,0.007,6,0.007,0.000,3316,2168,602,0,0,17,0,0,0
$GC,7287,14.71,9442.3,508.2,-6.5,683,7294,0.00,2.75,0.00,0.007,4,0.007,0.000,3313,436,604,0,0,10,0,0,0
$GC,7547,15.26,9890.3,525.3,-7.3,705,7556,0.00,3.05,0.00,0.007,6,0.007,0.000,3314,2281,605,0,0,17,0,0,0
$GC,7882,15.77,10301.6,545.5,-6.1,737,7896,0.00,3.00,0.00,0.007,4,0.007,0.000,3313,521,599,0,0,13,0,0,0
$GC,7931,16.13,10596.1,546.9,-2.4,741,7946,0.00,3.03,0.00,0.007,6,0.007,0.000,3313,2221,602,0,0,17,0,0,0
$GC,8260,16.16,10620.3,526.5,6.2,772,8274,0.00,2.85,0.00,0.007,4,0.007,0.000,3313,394,602,0,0,14,0,0,0
$GC,8526,16.16,10620.3,507.0,7.4,795,8534,0.00,3.17,0.00,0.007,6,0.007,0.000,3310,2502,602,0,0,16,0,0,0
$GC,8852,16.16,10620.3,482.5,7.5,826,8867,0.00,4.43,0.00,0.007,4,0.007,0.000,3318,486,605,0,0,24,0,0,0
$GC,8935,16.08,10620.3,476.2,7.1,833,8951,0.00,3.10,0.00,0.007,6,0.007,0.000,3315,2229,605,0,0,15,0,0,0
$GC,9265,16.24,10663.3,453.0,5.6,864,9279,0.00,3.00,0.00,0.000,4,0.007,0.000,3312,348,602,0,0,17,0,0,0
$GC,9532,16.30,10663.3,437.4,7.4,887,9543,0.00,3.62,0.00,0.007,6,0.007,0.000,3313,2195,600,0,0,18,0,0,0
$GC,9868,16.34,10700.3,416.5,5.8,919,9884,0.00,3.17,0.00,0.007,4,0.007,0.000,3310,292,602,0,0,17,0,0,0
$GC,10135,16.26,10700.3,393.4,9.8,942,10142,0.00,3.17,0.00,0.007,6,0.007,0.000,3316,2218,603,0,0,14,0,0,0
$GC,10461,16.35,10700.8,366.2,7.0,973,10477,0.00,3.53,0.00,0.007,4,0.000,0.000,3312,241,604,0,0,20,0,0,0
$GC,10729,16.39,10700.8,345.7,8.2,996,10736,0.00,3.17,0.00,0.007,6,0.007,0.000,3313,2129,604,0,0,15,0,0,0
$GC,11060,16.45,10700.8,320.9,7.2,1028,11066,0.00,2.58,0.00,0.007,4,0.007,0.000,3313,583,601,0,0,12,0,0,0
$GC,11205,16.47,10722.4,311.6,6.3,1040,11220,0.00,2.90,0.00,0.007,6,0.007,0.000,3312,2347,605,0,0,15,0,0,0
$GC,11534,16.33,10722.4,281.2,10.3,1071,11549,0.00,3.25,0.00,0.007,4,0.007,0.000,3313,516,603,0,0,15,0,0,0
$GC,11801,16.33,10722.4,259.3,7.6,1094,11810,0.00,2.45,0.00,0.007,6,0.007,0.000,3316,2272,603,0,0,11,0,0,0
$GC,12126,15.94,10722.4,218.3,16.0,1125,12132,0.00,2.45,0.00,0.007,4,0.007,0.000,3314,3575,600,0,0,15,0,0,0
$GC,12328,15.94,10722.4,190.0,9.1,1142,12335,0.00,3.20,0.00,0.007,6,0.007,0.000,3313,1938,606,0,0,15,0,0,0
$GC,12654,15.94,10722.4,162.0,8.7,1173,12669,0.00,3.20,0.00,0.007,4,0.007,0.000,3311,409,604,0,0,16,0,0,0
$GC,12922,16.09,10745.5,143.7,6.3,1196,12928,0.00,3.28,0.00,0.007,6,0.007,0.000,3313,2211,602,0,0,17,0,0,0
$GC,13252,16.09,10745.5,116.8,8.7,1228,13267,0.00,3.40,0.00,0.007,4,0.007,0.000,3310,419,603,0,0,17,0,0,0
$GC,13520,16.25,10779.7,97.2,5.9,1251,13526,0.00,2.95,0.00,0.007,6,0.007,0.000,3315,2100,605,0,0,13,0,0,0
$GC,13852,16.14,10779.7,69.2,10.1,1283,13869,0.00,2.97,0.00,0.007,4,0.007,0.000,3309,215,585,0,0,15,0,0,0
$GC,14121,16.22,10779.7,42.6,7.9,1306,14128,0.00,3.25,0.00,0.000,6,0.007,0.000,3314,2168,602,0,0,13,0,0,0
$GC,14321,16.35,10807.1,29.3,6.1,1325,14336,0.00,2.97,0.00,0.007,4,0.000,0.000,3317,395,606,0,0,14,0,0,0
$GC,14408,16.35,10807.1,23.2,7.1,1332,14415,0.00,3.80,0.00,0.007,6,0.007,0.000,3314,2127,606,0,0,19,0,0,0
$GC,14615,16.44,10807.1,10.5,7.3,1365,14621,0.00,2.65,0.00,0.007,4,0.007,0.000,3311,3578,604,0,0,14,0,0,0
$STATE,14733,end climb,SURFACE_DEPTH_REACHED
$STATE,14733,begin surface coast
$FINISH,1.6,1.003416
$STATE,14761,end surface coast,CONTROL_FINISHED_OK
$STATE,14761,begin surface
$SM_CCo,14852,0.00,0.000,0,0,604,465.09
$SM_GC,0.05,14.62,0.00,0.00,0.000,0.000,0.007,412,1884,604,-10.12,-4.01,465.09
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255667047,4.416667,4.401945,80,0,0,0,0,0,928,0,0,0,0,0
$RAFOS,1,1255666451,4.250000,4.236389,80,0,0,0,0,0,685,0,0,0,0,0
$RAFOS,0,1255665843,4.083333,4.067500,80,0,0,0,0,0,566,0,0,0,0,0
$RAFOS,4,1255653847,0.750000,0.735278,80,0,0,0,0,0,820,0,0,0,0,0
$RAFOS,3,1255653243,0.583333,0.567500,80,0,0,0,0,0,750,0,0,0,0,0
$RAFOS,1,1255652049,0.250000,0.235833,80,0,0,0,0,0,681,0,0,0,0,0
$RAFOS_FIX,6632.605469,-6142.989746,161009,000008,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078133209
$INTERNAL_PRESSURE,16.2277
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,267.259
$10V_AH,10.7,40.007
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,76.742
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,32.525,176.550,520.825,0.000,0.000,0.000,0.000,117.955,0.000,0.000,11.712,2412.790,9779.474,1016.752,1481.917,549.821,33.351,1217.580,0.000,1418.284,2160.000,2.418,0.000
$DEVICE_MAMPS,119.000,60.000,7868.497,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330720
$DATA_FILE_SIZE,47214,1391
$CAP_FILE_SIZE,181013,8
$CFSIZE,260165632,243511296
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,43,905,4,0
$SOUNDSPEED,1453.0
$GPS,161009,043835,6640.935,-6016.830,21,1.1,21,18.0