version: 66.06
glider: 1
mission: 14
dive: 112
start: 10 16 109 4 37 52
data:
$ID,1
$MISSION,14
$DIVE,112
$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,-221516.86
$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,11
$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,76.752373
$FG_AHR_24V,4.6384358
$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
$GPS1,043835,6640.935,-6016.830,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,044436,6640.914,-6016.911,14,1.1,14,18.0
$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,-56086.2,-1682.4,-1269.1,-22529.5,1939.3
$KALMAN_Y,5425.4,-161.3,-72.1,-26927.7,1189.1
$MHEAD_RNG_PITCHd_Wd,123.6,400146,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,117,0.00,0.00,-80.72,0.000,6,0.000,0.007,410,1891,3071,0,0,0,0,0,0
$GC,120,-0.99,-146.6,2.8,0.5,17,145,10.98,2.80,-1.30,0.000,4,0.000,0.000,2539,461,3114,10,0,16,0,0,0
$GC,215,-0.56,-146.6,20.0,-19.9,33,230,0.40,2.80,0.00,0.000,6,0.000,0.000,2625,2362,3108,1,0,15,0,0,0
$GC,419,-0.48,-146.6,44.3,-9.8,52,435,0.50,3.12,0.00,0.007,4,0.000,0.000,2512,494,3110,1,0,18,0,0,0
$GC,687,-0.40,-146.6,69.6,-8.8,75,698,0.70,3.55,0.00,0.007,6,0.000,0.000,2669,2207,3111,1,0,17,0,0,0
$GC,1022,-0.46,-146.6,99.0,-8.0,107,1038,0.52,2.92,0.00,0.007,4,0.000,0.000,2565,442,3115,1,0,16,0,0,0
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1051,-0.31,0.0,100.7,8.0,108,1183,0.77,0.00,117.53,0.000,6,0.000,0.007,2688,2053,2526,2,0,0,0,0,0
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1188,0.99,146.6,111.0,0.0,121,1332,1.40,2.97,120.22,0.000,4,0.000,0.000,3000,3759,1933,1,0,13,0,0,0
$GC,1585,2.84,627.9,143.9,-8.4,156,1889,1.70,3.30,268.08,0.000,6,0.000,0.000,3355,1865,621,2,0,20,0,3,0
$GC,2203,4.55,1079.7,188.5,-7.4,216,2219,0.00,2.80,0.38,0.000,4,0.007,0.000,3352,3565,614,0,0,14,0,0,0
$GC,2471,5.09,1522.4,207.8,-7.2,239,2481,0.00,2.88,2.15,0.000,6,0.007,0.000,3353,1902,614,0,0,12,0,0,0
$GC,2806,5.64,1969.1,232.3,-7.3,271,2822,0.00,2.85,0.45,0.000,4,0.000,0.000,3354,424,612,0,0,16,0,0,0
$GC,2980,6.20,2421.2,245.0,-7.5,286,2995,0.00,2.88,1.62,0.000,6,0.007,0.000,3353,2151,612,0,0,13,0,0,0
$GC,3309,6.70,2831.0,266.5,-6.1,317,3325,0.00,2.88,0.40,0.007,4,0.007,0.000,3350,3617,612,0,0,15,0,0,0
$GC,3577,7.23,3259.4,286.7,-6.7,340,3588,0.00,3.35,1.23,0.000,6,0.007,0.000,3353,1788,613,0,0,18,0,0,0
$GC,3912,7.77,3695.6,308.6,-6.9,372,3928,0.00,2.88,0.45,0.007,4,0.007,0.000,3354,3675,606,0,0,13,0,0,0
$GC,4181,8.36,4174.0,330.3,-8.3,395,4191,0.00,3.25,1.55,0.000,6,0.007,0.000,3360,1870,614,0,0,16,0,0,0
$GC,4515,8.89,4610.0,355.1,-6.9,427,4531,0.00,3.67,0.17,0.007,4,0.007,0.000,3353,3701,610,0,0,19,0,0,0
$GC,4537,9.42,5039.4,356.6,-6.7,428,4547,0.00,3.33,0.95,0.000,6,0.007,0.000,3355,1980,614,0,0,15,0,0,0
$GC,4873,9.96,5477.0,379.7,-7.0,460,4885,0.00,2.72,4.75,0.000,4,0.000,0.000,3353,3705,600,0,0,13,0,0,0
$GC,5138,10.52,5932.9,398.8,-7.6,484,5153,0.00,3.15,0.98,0.000,6,0.007,0.000,3351,1909,600,0,0,13,0,0,0
$GC,5467,11.04,6353.3,421.0,-6.4,515,5483,0.00,3.40,0.12,0.007,4,0.007,0.000,3355,3555,605,0,0,15,0,0,0
$GC,5736,11.53,6753.3,436.4,-5.8,538,5747,0.00,4.05,0.15,0.007,6,0.007,0.000,3352,1632,600,0,0,23,0,0,0
$GC,6073,12.01,7146.1,455.6,-5.6,570,6088,0.00,3.28,0.12,0.007,4,0.007,0.000,3353,3691,603,0,0,18,0,0,0
$GC,6340,12.50,7540.6,470.9,-5.6,593,6351,0.00,3.03,1.48,0.000,6,0.007,0.000,3352,1916,604,0,0,17,0,0,0
$GC,6676,12.98,7934.7,489.7,-5.6,625,6682,0.00,2.62,0.12,0.007,4,0.007,0.000,3352,3549,602,0,0,11,0,0,0
$GC,6935,13.48,8338.8,504.7,-5.9,647,6945,0.00,2.70,1.95,0.000,6,0.007,0.000,3352,1887,602,0,0,14,0,0,0
$GC,7270,13.97,8739.2,524.8,-5.8,679,7285,0.00,3.65,0.00,0.007,4,0.007,0.000,3354,3632,605,0,0,20,0,0,0
$GC,7538,14.28,8991.4,536.6,-1.1,702,7549,0.00,3.65,0.00,0.007,6,0.007,0.000,3357,1787,601,0,0,22,0,0,0
$GC,7873,14.28,8991.4,512.7,7.6,734,7889,0.00,3.25,0.00,0.000,4,0.007,0.000,3354,3614,602,0,0,13,0,0,0
$GC,8140,14.28,8991.4,493.1,8.1,757,8148,0.00,3.03,0.00,0.007,6,0.007,0.000,3349,1856,605,0,0,15,0,0,0
$GC,8465,14.28,8991.4,469.0,7.4,788,8480,0.00,3.25,0.00,0.007,4,0.007,0.000,3351,3532,600,0,0,16,0,0,0
$GC,8732,14.28,8991.4,448.6,7.5,811,8740,0.00,2.90,0.00,0.007,6,0.007,0.000,3349,1886,601,0,0,14,0,0,0
$GC,9057,14.28,8991.4,424.0,7.8,842,9063,0.00,3.00,0.00,0.007,4,0.000,0.000,3353,3581,604,0,0,11,0,0,0
$GC,9315,14.28,8991.4,403.8,8.1,864,9323,0.00,2.92,0.00,0.007,6,0.007,0.000,3352,1865,602,0,0,12,0,0,0
$GC,9641,14.35,9000.4,381.5,6.7,895,9655,0.00,3.12,0.00,0.007,4,0.007,0.000,3353,3606,602,0,0,15,0,0,0
$GC,9907,14.35,9000.4,362.5,7.3,918,9914,0.00,3.40,0.00,0.007,6,0.007,0.000,3350,1953,604,0,0,19,0,0,0
$GC,10239,14.36,9005.7,339.4,6.9,950,10254,0.00,3.10,0.00,0.007,4,0.000,0.000,3353,3642,602,0,0,15,0,0,0
$GC,10506,14.38,9020.1,320.8,6.6,973,10512,0.00,3.12,0.00,0.007,6,0.007,0.000,3349,1907,596,0,0,17,0,0,0
$GC,10830,14.38,9020.1,298.5,7.5,1004,10845,0.00,3.33,0.00,0.007,4,0.007,0.000,3355,3589,601,0,0,14,0,0,0
$GC,11097,14.38,9025.3,279.3,6.9,1027,11104,0.00,3.75,0.00,0.000,6,0.007,0.000,3350,1666,601,0,0,20,0,0,0
$GC,11429,14.38,9025.3,255.4,7.1,1059,11443,0.00,3.08,0.00,0.000,4,0.007,0.000,3351,3495,601,0,0,15,0,0,0
$GC,11695,14.41,9049.0,235.8,6.3,1082,11703,0.00,2.95,0.00,0.007,6,0.007,0.000,3355,2008,599,0,0,17,0,0,0
$GC,12020,14.41,9049.0,212.9,8.3,1113,12026,0.00,2.83,0.00,0.007,4,0.007,0.000,3352,3557,603,0,0,13,0,0,0
$GC,12278,14.41,9049.1,193.1,7.0,1135,12285,0.00,3.75,0.00,0.007,6,0.007,0.000,3352,1770,601,0,0,19,0,0,0
$GC,12610,14.41,9050.2,169.5,7.0,1167,12625,0.00,4.12,0.00,0.007,4,0.007,0.000,3353,3646,600,0,0,22,0,0,0
$GC,12877,14.45,9081.1,153.0,6.0,1190,12888,0.00,3.25,0.00,0.007,6,0.000,0.000,3352,1872,601,0,0,16,0,0,0
$GC,13201,14.45,9081.1,131.5,7.1,1221,13207,0.00,2.78,0.00,0.007,4,0.007,0.000,3350,3602,601,0,0,12,0,0,0
$GC,13460,14.46,9089.5,114.3,6.8,1243,13465,0.00,3.08,0.00,0.007,6,0.007,0.000,3355,1687,602,0,0,14,0,0,0
$GC,13784,14.33,9089.5,87.5,9.9,1274,13802,0.00,3.60,0.00,0.007,4,0.007,0.000,3351,3678,602,0,0,20,0,0,0
$GC,14054,14.41,9089.5,61.7,7.6,1297,14063,0.00,3.58,0.00,0.007,6,0.007,0.000,3355,1921,600,0,0,14,0,0,0
$GC,14387,14.41,9089.5,37.3,7.3,1329,14402,0.00,3.42,0.00,0.000,4,0.007,0.000,3353,3569,598,0,0,18,0,0,0
$GC,14650,14.47,9141.3,21.3,5.4,1352,14665,0.00,3.15,0.00,0.007,6,0.007,0.000,3354,1884,602,0,0,16,0,0,0
$GC,14861,14.29,9141.3,6.0,10.5,1387,14876,0.00,3.08,0.00,0.007,4,0.007,0.000,3358,3594,603,0,0,17,0,0,0
$STATE,14885,end climb,SURFACE_DEPTH_REACHED
$STATE,14885,begin surface coast
$FINISH,1.5,1.024983
$STATE,14914,end surface coast,CONTROL_FINISHED_OK
$STATE,14915,begin surface
$SM_CCo,15005,0.00,0.000,0,0,621,465.82
$SM_GC,0.05,14.75,0.00,0.00,0.000,0.007,0.000,426,1845,621,-10.11,-5.12,465.82
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255682650,8.750000,8.736111,80,0,0,0,0,0,826,0,0,0,0,0
$RAFOS,3,1255682046,8.583333,8.568334,80,0,0,0,0,0,743,0,0,0,0,0
$RAFOS,2,1255681442,8.416667,8.400556,80,0,0,0,0,0,965,0,0,0,0,0
$RAFOS,1,1255680842,8.250000,8.233889,80,0,0,0,0,0,743,0,0,0,0,0
$RAFOS,0,1255680250,8.083333,8.069445,80,0,0,0,0,0,536,0,0,0,0,0
$RAFOS,3,1255667642,4.583333,4.567222,80,0,0,0,0,0,761,0,0,0,0,0
$RAFOS_FIX,6630.995117,-6159.526367,161009,080801,5,80,5.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078137930
$INTERNAL_PRESSURE,16.2333
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,267.896
$10V_AH,10.7,40.080
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,76.893
$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,31.725,171.800,524.850,0.000,0.000,0.000,0.000,112.615,0.000,0.000,17.391,2457.667,9888.009,1021.837,1532.097,537.982,33.352,1221.338,0.000,1462.765,1800.000,2.496,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,47205,1396
$CAP_FILE_SIZE,179810,8
$CFSIZE,260165632,243433472
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,29,862,3,0
$SOUNDSPEED,1452.5
$GPS,161009,085850,6638.690,-6020.810,18,1.1,19,18.0