version: 66.06
glider: 1
mission: 14
dive: 117
start: 10 17 109 0 58 35
data:
$ID,1
$MISSION,14
$DIVE,117
$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,-221629.53
$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,12
$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,77.459633
$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
$GPS1,005904,6638.450,-6032.453,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,010349,6638.486,-6032.393,27,1.1,27,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,-0.178
$KALMAN_X,-64868.1,-1081.5,-664.7,-26243.0,1341.2
$KALMAN_Y,3859.5,313.0,45.8,-30498.0,-40.2
$MHEAD_RNG_PITCHd_Wd,121.7,405374,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-54.00,0.000,2,0.000,0.000,413,2003,2228,0,0,0,0,0,0
$GC,87,-0.99,-146.6,3.0,-1.7,11,134,10.20,2.92,-28.75,0.000,4,0.000,0.000,2524,3576,3096,15,0,18,0,0,0
$GC,263,-0.68,-146.6,23.6,-14.5,41,270,0.40,2.75,0.00,0.007,6,0.000,0.000,2607,1800,3104,1,0,13,0,0,0
$GC,460,-0.68,-146.6,41.0,-7.5,60,476,0.38,2.67,0.00,0.007,4,0.000,0.000,2502,270,3113,1,0,14,0,0,0
$GC,481,-0.68,-146.6,43.0,-8.6,61,489,0.35,3.05,0.00,0.007,6,0.000,0.000,2617,2321,3103,1,0,18,0,0,0
$GC,679,-0.68,-146.6,60.8,-8.9,80,695,0.50,3.40,0.00,0.007,4,0.000,0.000,2481,196,3103,1,0,21,0,0,0
$GC,796,-0.68,-146.6,71.1,-8.4,90,812,0.57,4.20,0.00,0.007,6,0.000,0.000,2624,2164,3099,2,0,24,0,0,0
$GC,1125,-0.68,-146.6,96.3,-7.1,121,1140,0.50,2.78,0.00,0.007,4,0.000,0.000,2490,3748,3099,1,0,14,0,0,0
$GC,1167,-0.68,-146.6,99.5,-7.4,124,1179,0.90,3.78,0.00,0.007,6,0.000,0.000,2618,1721,3101,3,0,22,0,0,0
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1191,-0.31,0.0,100.8,8.1,126,1318,0.00,0.00,120.93,0.000,6,0.007,0.007,2627,2165,2510,0,0,0,0,0,0
$STATE,1319,end apogee,CONTROL_FINISHED_OK
$STATE,1319,begin climb
$GC,1322,0.99,146.6,110.9,0.0,139,1466,1.52,2.42,120.10,0.000,4,0.000,0.000,2956,3588,1906,1,0,12,0,0,0
$GC,1639,2.73,650.3,135.9,-9.1,167,1933,2.10,2.65,262.75,0.000,6,0.000,0.000,3367,1801,605,3,0,14,0,2,0
$GC,2247,4.42,1092.5,186.4,-7.1,226,2263,0.00,3.85,0.12,0.000,4,0.007,0.000,3367,3704,604,0,0,21,0,0,0
$GC,2493,4.98,1545.9,203.7,-7.5,247,2503,0.00,3.17,1.08,0.000,6,0.007,0.000,3365,1911,605,0,0,16,0,0,0
$GC,2828,5.58,2035.2,229.7,-8.6,279,2835,0.00,2.42,0.35,0.007,4,0.000,0.000,3370,499,604,0,0,13,0,0,0
$GC,2852,6.18,2527.5,231.8,-8.7,280,2861,0.00,3.25,0.82,0.000,6,0.000,0.000,3365,2281,602,0,0,17,0,0,0
$GC,3187,6.78,3010.1,261.1,-8.4,312,3193,0.00,2.20,0.17,0.007,4,0.007,0.000,3367,3567,601,0,0,10,0,0,0
$GC,3286,7.38,3504.1,269.8,-8.8,320,3301,0.00,2.67,1.40,0.000,6,0.007,0.000,3365,1818,604,0,0,15,0,0,0
$GC,3615,7.91,3930.7,291.1,-6.6,351,3632,0.00,3.65,0.12,0.007,4,0.007,0.000,3368,3636,604,0,0,22,0,0,0
$GC,3824,8.46,4375.7,306.6,-7.2,369,3839,0.00,3.38,0.82,0.000,6,0.007,0.000,3364,1920,609,0,0,17,0,0,0
$GC,4153,8.97,4791.5,327.4,-6.3,400,4169,0.00,3.25,0.17,0.000,4,0.007,0.000,3365,3732,607,0,0,16,0,0,0
$GC,4421,9.57,5284.0,347.1,-8.7,423,4433,0.00,4.12,0.32,0.007,6,0.000,0.000,3369,1705,626,0,0,22,0,0,0
$GC,4758,10.08,5696.5,368.7,-6.2,455,4775,0.00,4.25,0.15,0.000,4,0.007,0.000,3368,3707,608,0,0,23,0,0,0
$GC,5028,10.64,6148.8,389.1,-7.5,478,5038,0.00,3.28,0.95,0.000,6,0.007,0.000,3365,1803,605,0,0,18,0,0,0
$GC,5363,11.12,6537.2,407.9,-5.4,510,5369,0.00,2.08,0.12,0.007,4,0.000,0.000,3367,522,605,0,0,11,0,0,0
$GC,5426,11.70,7009.5,412.4,-8.1,515,5442,0.00,3.72,0.20,0.007,6,0.007,0.000,3366,2121,603,0,0,20,0,0,0
$GC,5756,12.16,7390.0,431.2,-5.2,546,5763,0.00,2.47,0.15,0.000,4,0.007,0.000,3367,3624,604,0,0,10,0,0,0
$GC,5988,12.77,7884.0,448.6,-8.8,566,6004,0.00,3.33,0.88,0.000,6,0.000,0.000,3366,2039,601,0,0,20,0,0,0
$GC,6318,13.30,8315.7,470.1,-6.8,597,6334,0.00,3.10,0.12,0.000,4,0.007,0.000,3366,348,606,0,0,15,0,0,0
$GC,6427,13.86,8771.2,478.0,-7.6,606,6433,0.00,3.05,0.00,0.007,6,0.007,0.000,3364,2177,606,0,0,13,0,0,0
$GC,6751,14.33,9147.1,495.9,-5.0,636,6766,0.00,3.15,0.00,0.007,4,0.007,0.000,3368,3785,607,0,0,16,0,0,0
$GC,7017,14.03,9147.1,497.2,7.2,659,7024,0.00,3.42,0.00,0.000,6,0.007,0.000,3367,1817,607,0,0,17,0,0,0
$GC,7349,13.80,9147.1,464.1,9.9,691,7364,0.00,3.20,0.00,0.007,4,0.007,0.000,3370,3532,609,0,0,16,0,0,0
$GC,7615,13.80,9147.1,444.2,7.3,714,7625,0.00,2.55,0.00,0.007,6,0.007,0.000,3369,1890,603,0,0,13,0,0,0
$GC,7941,14.03,9199.3,422.9,5.4,745,7955,0.00,2.80,0.00,0.007,4,0.007,0.000,3367,3718,603,0,0,16,0,0,0
$GC,7978,14.24,9253.5,420.9,5.3,748,7994,0.00,3.35,0.00,0.007,6,0.000,0.000,3365,1944,606,0,0,19,0,0,0
$GC,8308,14.43,9280.0,399.6,6.2,779,8324,0.00,3.75,0.00,0.007,4,0.007,0.000,3367,3661,604,0,0,20,0,0,0
$GC,8575,14.34,9280.0,381.9,9.9,802,8582,0.00,2.92,0.00,0.007,6,0.007,0.000,3368,1922,605,0,0,14,0,0,0
$GC,8900,14.42,9280.0,349.4,7.9,833,8915,0.00,3.28,0.00,0.000,4,0.007,0.000,3371,3778,606,0,0,15,0,0,0
$GC,9168,14.52,9284.6,330.2,6.9,856,9177,0.00,3.30,0.00,0.007,6,0.007,0.000,3366,1867,607,0,0,18,0,0,0
$GC,9502,14.64,9323.5,307.5,5.8,888,9517,0.00,3.08,0.00,0.007,4,0.007,0.000,3365,3594,610,0,0,18,0,0,0
$GC,9712,14.74,9323.5,291.9,7.3,906,9719,0.00,3.45,0.00,0.007,6,0.000,0.000,3368,1965,607,0,0,18,0,0,0
$GC,10043,14.74,9323.5,264.8,9.0,938,10049,0.00,2.50,0.00,0.000,4,0.007,0.000,3369,3600,606,0,0,10,0,0,0
$GC,10301,14.74,9323.5,242.1,9.4,960,10309,0.00,3.28,0.00,0.007,6,0.007,0.000,3362,1860,604,0,0,15,0,0,0
$GC,10626,14.66,9323.5,215.2,8.8,991,10642,0.00,3.78,0.00,0.007,4,0.007,0.000,3368,3571,605,0,0,20,0,0,0
$GC,10894,14.60,9323.5,191.5,9.4,1014,10902,0.00,2.58,0.00,0.000,6,0.007,0.000,3367,1869,606,0,0,11,0,0,0
$GC,11219,14.68,9323.5,166.3,7.6,1045,11234,0.00,2.95,0.00,0.007,4,0.007,0.000,3368,539,604,0,0,16,0,0,0
$GC,11268,14.68,9323.5,162.4,8.5,1049,11283,0.00,3.03,0.00,0.000,6,0.007,0.000,3367,2295,607,0,0,15,0,0,0
$GC,11596,14.68,9323.5,132.9,8.6,1080,11602,0.00,2.22,0.00,0.007,4,0.000,0.000,3369,3586,606,0,0,13,0,0,0
$GC,11853,14.69,9328.3,112.5,6.9,1102,11861,0.00,3.50,0.00,0.007,6,0.000,0.000,3367,1920,607,0,0,19,0,0,0
$GC,12185,14.69,9328.3,86.8,8.8,1134,12200,0.00,3.22,0.00,0.007,4,0.007,0.000,3366,3572,604,0,0,16,0,0,0
$GC,12345,14.69,9328.3,72.0,9.5,1148,12352,0.00,2.88,0.00,0.007,6,0.007,0.000,3367,1835,606,0,0,13,0,0,0
$GC,12671,14.69,9328.3,44.6,7.8,1178,12686,0.00,3.22,0.00,0.007,4,0.000,0.000,3365,3673,604,0,0,15,0,0,0
$GC,12698,14.69,9328.3,42.3,8.6,1180,12713,0.00,3.53,0.00,0.007,6,0.007,0.000,3365,1830,603,0,0,14,0,0,0
$GC,12902,14.69,9328.3,24.9,7.3,1199,12917,0.00,3.25,0.00,0.007,4,0.007,0.000,3367,3684,612,0,0,15,0,0,0
$STATE,13164,end climb,SURFACE_DEPTH_REACHED
$STATE,13164,begin surface coast
$FINISH,0.0,1.012198
$STATE,13191,end surface coast,CONTROL_FINISHED_OK
$STATE,13191,begin surface
$SM_CCo,13282,0.00,0.000,0,0,604,464.84
$SM_GC,0.05,14.70,0.00,0.00,0.000,0.000,0.007,439,1825,604,-10.22,-5.74,464.84
$SUPER,3,202,254,0,0,0
$RAFOS_CLK,0
$RAFOS,3,1255754043,4.583333,4.567500,80,0,0,0,0,0,791,0,0,0,0,0
$RAFOS,2,1255753442,4.416667,4.400556,80,0,0,0,0,0,1009,0,0,0,0,0
$RAFOS,1,1255752842,4.250000,4.233889,80,0,0,0,0,0,782,0,0,0,0,0
$RAFOS,0,1255752245,4.083333,4.068056,80,0,0,0,0,0,599,0,0,0,0,0
$RAFOS_FIX,6621.332031,-6210.246094,171009,000001,5,80,7.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078204363
$INTERNAL_PRESSURE,16.1777
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,270.694
$10V_AH,10.7,40.418
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.584
$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,32.125,169.875,511.750,0.000,0.000,0.000,0.000,95.387,0.000,0.000,27.929,2136.911,8685.367,1007.743,1317.818,457.812,33.350,1204.360,0.000,1246.782,1800.000,2.538,0.000
$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,754.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,40972,1243
$CAP_FILE_SIZE,162682,8
$CFSIZE,260165632,243056640
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,41,875,2,0
$SOUNDSPEED,1450.9
$GPS,171009,044823,6639.960,-6036.093,23,1.1,23,18.0