version: 66.06
glider: 1
mission: 14
dive: 116
start: 10 16 109 21 10 47
data:
$ID,1
$MISSION,14
$DIVE,116
$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,-221600.62
$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,7
$R_STBD_OVSHOOT,1
$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,77.328827
$FG_AHR_24V,4.6384382
$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
$GPS1,211133,6636.917,-6031.189,24,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,211809,6636.878,-6031.125,32,1.1,32,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.152,-0.178
$KALMAN_X,-63597.1,-1372.0,-1083.4,-25870.7,1804.1
$KALMAN_Y,2670.1,-590.9,-266.9,-30951.9,-417.9
$MHEAD_RNG_PITCHd_Wd,121.5,402509,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,93,0.00,0.00,-63.53,0.000,2,0.007,0.000,567,1725,2516,0,0,0,0,0,0
$GC,97,-0.99,-146.6,3.1,-1.9,13,144,9.43,3.33,-19.10,0.000,4,0.000,0.000,2600,3547,3106,12,0,16,0,0,0
$GC,185,-0.54,-146.6,12.0,-16.7,28,201,0.00,2.83,0.00,0.000,6,0.007,0.000,2603,1828,3104,0,0,14,0,0,0
$GC,272,-0.16,-146.6,28.9,-19.5,39,287,1.02,2.40,0.00,0.007,4,0.000,0.000,2727,358,3106,3,0,14,0,0,0
$GC,540,-0.10,-146.6,60.3,-9.0,62,550,0.30,3.55,0.00,0.007,6,0.007,0.000,2646,2283,3104,1,0,17,0,0,0
$GC,875,-0.03,-146.6,87.8,-7.9,94,891,0.45,3.38,0.00,0.000,4,0.000,0.000,2734,409,3106,1,0,16,0,0,0
$STATE,1026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1026,begin apogee
$GC,1036,-0.31,0.0,100.3,8.2,107,1158,0.75,0.00,116.15,0.000,6,0.000,0.007,2562,2225,2537,2,0,0,0,0,0
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1162,0.99,146.6,110.4,0.0,119,1298,1.90,2.42,120.43,0.000,4,0.000,0.000,2968,3671,1931,3,0,15,0,0,0
$GC,1332,2.63,582.6,124.3,-6.9,135,1620,1.65,3.53,266.65,0.000,6,0.000,0.000,3338,1766,601,2,0,20,0,1,0
$GC,1944,4.17,977.7,163.7,-5.6,194,1960,0.00,3.53,0.12,0.000,4,0.007,0.000,3339,3643,601,0,0,22,0,0,0
$GC,2213,4.72,1422.3,182.4,-7.2,217,2223,0.00,3.65,0.50,0.000,6,0.007,0.000,3340,1810,602,0,0,21,0,0,0
$GC,2547,5.24,1844.7,206.8,-6.5,249,2563,0.00,3.12,0.15,0.000,4,0.007,0.000,3338,3683,601,0,0,17,0,0,0
$GC,2815,5.80,2301.6,227.3,-7.6,272,2827,0.00,3.17,1.45,0.000,6,0.007,0.000,3339,1873,602,0,0,14,0,0,0
$GC,3151,6.31,2716.2,250.5,-6.3,304,3167,0.00,3.40,0.20,0.000,4,0.007,0.000,3336,3664,599,0,0,18,0,0,0
$GC,3420,6.81,3123.6,267.6,-6.0,327,3430,0.00,4.00,0.45,0.000,6,0.007,0.000,3335,1904,602,0,0,21,0,0,0
$GC,3755,7.39,3593.6,293.0,-8.0,359,3774,0.00,3.55,0.12,0.007,4,0.007,0.000,3335,3598,600,0,0,19,0,0,0
$GC,4027,7.92,4022.3,313.1,-6.7,382,4037,0.00,2.85,1.80,0.000,6,0.007,0.000,3339,1924,600,0,0,13,0,0,0
$GC,4362,8.44,4447.9,335.6,-6.6,414,4377,0.00,3.28,0.12,0.000,4,0.007,0.000,3337,420,603,0,0,15,0,0,0
$GC,4503,9.02,4920.7,344.7,-8.1,426,4520,0.00,3.08,0.95,0.000,6,0.007,0.000,3338,2067,600,0,0,17,0,0,0
$GC,4834,9.52,5321.7,365.6,-5.8,457,4851,0.00,2.78,0.12,0.007,4,0.007,0.000,3338,3560,602,0,0,14,0,0,0
$GC,5103,10.00,5714.7,380.9,-5.6,480,5113,0.00,2.85,1.88,0.000,6,0.007,0.000,3340,1876,604,0,0,11,0,0,0
$GC,5438,10.58,6186.9,405.0,-8.1,512,5454,0.00,3.78,0.12,0.007,4,0.000,0.000,3337,3783,602,0,0,20,0,0,0
$GC,5574,11.08,6597.3,414.2,-6.1,523,5585,0.00,3.42,0.55,0.000,6,0.007,0.000,3339,1717,600,0,0,19,0,0,0
$GC,5910,11.57,6994.1,434.5,-5.7,555,5926,0.00,3.12,0.12,0.000,4,0.007,0.000,3336,3541,606,0,0,18,0,0,0
$GC,5983,12.08,7408.8,438.8,-6.3,561,5999,0.00,2.72,1.38,0.000,6,0.007,0.000,3340,1939,602,0,0,14,0,0,0
$GC,6313,12.58,7814.2,457.9,-6.0,592,6320,0.00,2.80,0.12,0.000,4,0.007,0.000,3338,3545,599,0,0,14,0,0,0
$GC,6572,13.09,8229.0,474.0,-6.3,614,6583,0.00,2.78,1.88,0.000,6,0.007,0.000,3337,1871,603,0,0,14,0,0,0
$GC,6908,13.33,8420.9,490.6,0.9,646,6923,0.00,3.47,0.12,0.007,4,0.007,0.000,3336,3609,600,0,0,16,0,0,0
$GC,7175,13.08,8420.9,467.6,11.0,669,7186,0.00,3.03,1.88,0.000,6,0.007,0.000,3338,1856,593,0,0,13,0,0,0
$GC,7511,13.24,8449.7,439.3,6.1,701,7527,0.00,3.75,0.12,0.000,4,0.007,0.000,3339,3657,605,0,0,17,0,0,0
$GC,7756,13.18,8449.7,424.3,8.4,722,7767,0.00,3.40,1.42,0.000,6,0.007,0.000,3343,1860,603,0,0,18,0,0,0
$GC,8092,13.38,8486.0,403.5,5.9,754,8107,0.00,3.00,0.12,0.007,4,0.007,0.000,3336,3536,600,0,0,13,0,0,0
$GC,8359,13.30,8486.0,380.9,8.7,777,8369,0.00,2.92,2.05,0.000,6,0.007,0.000,3342,1826,634,0,0,12,0,0,0
$GC,8694,13.51,8531.7,357.9,5.6,809,8709,0.00,2.95,0.20,0.000,4,0.007,0.000,3336,3590,588,0,0,15,0,0,0
$GC,8962,13.37,8531.7,335.3,10.7,832,8972,0.00,3.15,1.65,0.000,6,0.007,0.000,3335,1713,602,0,0,16,0,0,0
$GC,9296,13.46,8531.7,305.0,7.3,864,9312,0.00,3.45,0.12,0.007,4,0.007,0.000,3338,3610,601,0,0,20,0,0,0
$GC,9474,13.53,8531.7,291.7,7.8,879,9484,0.00,3.08,1.90,0.000,6,0.007,0.000,3337,1986,604,0,0,13,0,0,0
$GC,9809,13.62,8531.7,262.9,8.1,911,9824,0.00,2.83,0.12,0.007,4,0.007,0.000,3341,3694,601,0,0,15,0,0,0
$GC,10076,13.62,8531.7,238.2,8.8,934,10087,0.00,3.17,2.15,0.000,6,0.007,0.000,3338,1892,600,0,0,15,0,0,0
$GC,10411,13.62,8531.7,209.9,8.2,966,10426,0.00,3.05,0.17,0.007,4,0.000,0.000,3342,3724,597,0,0,16,0,0,0
$GC,10460,13.66,8531.7,206.1,7.6,970,10476,0.00,3.17,0.95,0.000,6,0.007,0.000,3340,1856,601,0,0,16,0,0,0
$GC,10790,13.67,8535.4,182.1,6.9,1001,10806,0.00,3.78,0.20,0.007,4,0.007,0.000,3337,3784,597,0,0,22,0,0,0
$GC,11058,13.67,8535.4,161.9,7.4,1024,11069,0.00,3.65,1.50,0.000,6,0.000,0.000,3338,1713,600,0,0,19,0,0,0
$GC,11394,13.67,8535.4,133.5,8.8,1056,11411,0.00,3.55,0.12,0.000,4,0.007,0.000,3335,3592,596,0,0,20,0,0,0
$GC,11662,13.67,8535.4,110.7,8.3,1079,11673,0.00,2.90,2.33,0.000,6,0.007,0.000,3334,1815,601,0,0,17,0,0,0
$GC,11997,13.67,8535.4,82.2,8.2,1111,12013,0.00,3.35,0.15,0.007,4,0.007,0.000,3338,3594,602,0,0,15,0,0,0
$GC,12265,13.72,8535.4,59.6,7.7,1134,12276,0.00,3.20,1.67,0.000,6,0.007,0.000,3335,1860,598,0,0,14,0,0,0
$GC,12600,13.77,8535.4,34.0,8.0,1166,12607,0.00,2.70,0.12,0.000,4,0.007,0.000,3337,3467,599,0,0,12,0,0,0
$GC,12754,13.83,8580.0,23.7,5.6,1179,12769,0.00,2.92,1.17,0.000,6,0.007,0.000,3337,1812,599,0,0,13,0,0,0
$GC,12964,13.73,8580.0,6.0,9.7,1211,12980,0.00,4.03,0.12,0.000,4,0.007,0.000,3339,3605,599,0,0,22,0,0,0
$STATE,12995,end climb,SURFACE_DEPTH_REACHED
$STATE,12995,begin surface coast
$FINISH,2.4,1.025138
$STATE,13001,end surface coast,CONTROL_FINISHED_OK
$STATE,13001,begin surface
$SM_CCo,13093,0.00,0.000,0,0,598,466.07
$SM_GC,0.05,14.20,0.00,0.00,0.000,0.007,0.007,415,2007,598,-10.30,-0.79,466.07
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255740242,0.750000,0.733889,80,0,0,0,0,0,894,0,0,0,0,0
$RAFOS,3,1255739650,0.583333,0.569444,80,0,0,0,0,0,734,0,0,0,0,0
$RAFOS,2,1255739046,0.416667,0.401667,80,0,0,0,0,0,975,0,0,0,0,0
$RAFOS,1,1255738442,0.250000,0.233889,80,0,0,0,0,0,774,0,0,0,0,0
$RAFOS,0,1255737843,0.083333,0.067500,80,0,0,0,0,0,612,0,0,0,0,0
$RAFOS_FIX,6621.332031,-6210.246094,171009,000001,5,80,7.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078190836
$INTERNAL_PRESSURE,16.2096
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,270.111
$10V_AH,10.7,40.354
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.451
$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,29.700,160.400,535.675,0.000,0.000,0.000,0.000,123.842,0.000,0.000,32.957,2050.699,8571.317,996.687,1346.503,517.876,33.346,1195.787,0.000,1270.028,1800.000,3.436,0.000
$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,742.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,40934,1217
$CAP_FILE_SIZE,165681,0
$CFSIZE,260165632,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,37,815,1,0
$SOUNDSPEED,1450.8
$GPS,171009,005904,6638.450,-6032.453,8,1.1,8,18.0