version: 66.06
glider: 1
mission: 14
dive: 37
start: 9 28 109 6 16 34
data:
$ID,1
$MISSION,14
$DIVE,37
$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,440
$T_MISSION,470
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,350
$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,-219568.27
$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,6
$R_STBD_OVSHOOT,0
$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,61.993961
$FG_AHR_24V,4.6383667
$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
$GPS1,061717,6649.997,-5854.456,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,062201,6649.997,-5854.456,31,1.1,32,18.0
$SPEED_LIMITS,0.130,0.239
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,57.4,94442,-13.9,-7.500
$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,-1.05,-146.6,0.0,0.0,0,107,0.00,0.00,-66.72,0.000,6,0.007,0.007,341,2490,3116,0,0,0,0,0,0
$GC,110,-1.05,-146.6,2.8,-2.0,14,139,10.88,3.42,0.00,0.007,4,0.000,0.000,2540,409,3113,8,0,18,0,0,0
$GC,313,-0.85,-146.6,35.3,-12.4,39,324,0.00,3.58,0.00,0.007,6,0.007,0.000,2541,2179,3109,0,0,19,0,0,0
$GC,521,-0.85,-146.6,58.5,-10.1,59,535,0.00,3.15,0.00,0.007,4,0.007,0.000,2541,355,3111,0,0,16,0,0,0
$GC,786,-0.85,-146.6,83.5,-9.3,82,799,0.57,4.15,0.00,0.007,6,0.000,0.000,2385,2501,3115,2,0,25,0,0,0
$STATE,962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,970,-0.31,0.0,100.5,9.5,99,1099,1.38,0.00,123.40,0.000,6,0.000,0.007,2672,1727,2503,1,0,0,0,0,0
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1102,1.05,146.6,112.8,0.0,112,1229,1.35,0.00,117.93,0.000,6,0.000,0.007,2972,1729,1918,1,0,0,0,0,0
$GC,1544,2.81,599.2,151.7,-8.0,154,1833,1.92,0.00,266.02,0.000,6,0.000,0.000,3348,1718,598,1,0,0,0,1,0
$GC,2147,4.58,1053.4,198.0,-8.0,212,2161,0.00,0.00,4.10,0.000,6,0.007,0.007,3347,1721,589,0,0,0,0,0,0
$GC,2476,5.16,1521.1,225.1,-8.5,243,2490,0.00,0.00,3.95,0.000,6,0.007,0.007,3352,1721,580,0,0,0,0,0,0
$GC,2805,5.70,1964.5,251.3,-7.7,274,2819,0.00,0.00,3.60,0.000,6,0.007,0.007,3346,1726,574,0,0,0,0,0,0
$GC,3133,6.25,2406.7,277.2,-7.6,305,3150,0.00,0.00,4.12,0.000,6,0.007,0.007,3349,1724,556,0,0,0,0,0,0
$GC,3464,6.83,2878.4,307.1,-8.6,336,3478,0.00,0.00,4.18,0.000,6,0.007,0.007,3348,1725,538,0,0,0,0,0,0
$GC,3792,7.37,3316.6,332.6,-7.5,367,3807,0.00,0.00,4.18,0.000,6,0.007,0.007,3349,1719,542,0,0,0,0,0,0
$GC,4122,7.90,3746.6,356.0,-7.2,398,4135,0.00,0.00,3.55,0.000,6,0.007,0.007,3347,1717,538,0,0,0,0,0,0
$GC,4449,8.43,4179.2,380.3,-7.3,429,4466,0.00,0.00,4.15,0.000,6,0.007,0.007,3347,1724,528,0,0,0,0,0,0
$GC,4780,8.92,4583.0,402.6,-6.3,460,4795,0.00,0.00,3.95,0.000,6,0.007,0.007,3347,1723,518,0,0,0,0,0,0
$GC,5109,9.49,5041.9,429.8,-8.2,491,5123,0.00,0.00,2.53,0.000,6,0.000,0.000,3347,1716,513,0,0,0,0,0,0
$GC,5437,10.00,5455.5,451.4,-6.6,522,5453,0.00,3.97,0.03,0.000,4,0.007,0.000,3349,3741,514,0,0,20,0,0,0
$GC,5503,10.52,5879.9,456.0,-7.0,527,5515,0.00,3.33,0.98,0.000,6,0.007,0.000,3347,1863,516,0,0,18,0,0,0
$GC,5839,11.08,6335.8,480.8,-8.1,559,5854,0.00,0.00,3.03,0.000,6,0.007,0.007,3348,1860,509,0,0,0,0,0,0
$GC,6169,11.64,6788.1,507.6,-8.0,590,6172,0.00,0.00,0.47,0.000,6,0.007,0.007,3350,1865,511,0,0,0,0,0,0
$GC,6486,12.19,7237.6,532.0,-7.9,620,6490,0.00,0.00,0.22,0.000,6,0.007,0.007,3345,1865,514,0,0,0,0,0,0
$GC,6805,12.75,7694.3,557.1,-8.1,650,6808,0.00,0.00,0.12,0.000,6,0.007,0.007,3348,1864,508,0,0,0,0,0,0
$GC,7122,13.30,8141.2,582.2,-7.8,680,7138,0.00,2.78,0.12,0.007,4,0.007,0.000,3350,3567,507,0,0,13,0,0,0
$GC,7206,13.88,8611.8,589.2,-8.6,687,7222,0.00,2.75,1.08,0.000,6,0.007,0.000,3349,1817,508,0,0,10,0,0,0
$GC,7536,14.45,9073.4,617.8,-8.3,718,7539,0.00,0.00,0.00,0.007,6,0.007,0.007,3349,1825,510,0,0,0,0,0,0
$GC,7856,15.02,9538.4,644.5,-8.4,748,7859,0.00,0.00,0.00,0.007,6,0.000,0.007,3348,1825,509,0,0,0,0,0,0
$GC,8175,15.58,9992.4,669.9,-8.0,778,8178,0.00,0.00,0.00,0.007,6,0.007,0.000,3347,1822,508,0,0,0,0,0,0
$GC,8494,16.15,10455.0,695.2,-8.3,808,8511,0.00,3.35,0.00,0.007,4,0.007,0.000,3350,3637,503,0,0,15,0,0,0
$GC,8569,16.71,10910.0,701.4,-8.1,814,8575,0.00,3.03,0.00,0.007,6,0.007,0.000,3347,1854,511,0,0,14,0,0,0
$GC,8893,17.24,11342.2,724.9,-7.3,844,8899,0.00,2.38,0.00,0.007,4,0.007,0.000,3349,419,511,0,0,12,0,0,0
$GC,8937,17.79,11789.1,728.4,-7.8,847,8947,0.00,3.42,0.00,0.007,6,0.000,0.000,3347,2216,497,0,0,19,0,0,0
$GC,9272,18.33,12229.7,753.4,-7.6,879,9274,0.00,0.00,0.00,0.007,6,0.007,0.007,3348,2216,509,0,0,0,0,0,0
$GC,9593,18.87,12664.7,777.0,-7.4,909,9595,0.00,0.00,0.00,0.007,6,0.007,0.007,3350,2217,512,0,0,0,0,0,0
$GC,9911,19.41,13103.9,800.8,-7.5,939,9914,0.00,0.00,0.00,0.000,6,0.007,0.007,3350,2209,508,0,0,0,0,0,0
$GC,10230,19.94,13541.6,824.5,-7.5,969,10232,0.00,0.00,0.00,0.000,6,0.007,0.007,3350,2214,507,0,0,0,0,0,0
$GC,10549,20.47,13970.3,847.5,-7.2,999,10564,0.00,4.07,0.00,0.007,4,0.007,0.000,3350,558,509,0,0,23,0,0,0
$GC,10609,21.02,14415.0,852.2,-7.7,1004,10624,0.00,3.28,0.00,0.007,6,0.007,0.000,3350,2161,510,0,0,17,0,0,0
$GC,10939,21.56,14857.1,877.4,-7.6,1035,10941,0.00,0.00,0.00,0.007,6,0.007,0.007,3349,2160,509,0,0,0,0,0,0
$GC,11259,22.13,15315.6,903.0,-8.2,1065,11278,0.00,2.92,0.00,0.007,4,0.007,0.000,3349,472,509,0,0,13,0,0,0
$GC,11369,22.70,15782.7,912.1,-8.5,1074,11384,0.00,3.00,0.00,0.007,6,0.007,0.000,3348,2329,509,0,0,15,0,0,0
$GC,11699,23.23,16210.1,935.7,-7.1,1105,11702,0.00,0.00,0.00,0.000,6,0.007,0.007,3348,2329,512,0,0,0,0,0,0
$GC,12018,23.75,16632.2,957.9,-6.9,1135,12034,0.00,3.67,0.12,0.007,4,0.000,0.000,3349,334,512,0,0,20,0,0,0
$GC,12091,24.25,17044.3,963.3,-6.6,1141,12113,0.00,3.15,0.17,0.000,6,0.007,0.000,3348,2192,509,0,0,18,0,0,0
$GC,12428,24.22,17153.8,974.7,3.8,1172,12443,0.00,3.58,0.12,0.007,4,0.007,0.000,3350,581,511,0,0,19,0,0,0
$GC,12563,23.99,17153.8,962.2,10.5,1183,12575,0.00,2.78,1.02,0.000,6,0.007,0.000,3345,2115,509,0,0,13,0,0,0
$GC,12899,23.91,17153.8,936.5,7.9,1215,12902,0.00,0.00,0.05,0.000,6,0.007,0.007,3347,2120,510,0,0,0,0,0,0
$GC,13218,24.14,17208.2,919.0,5.6,1245,13237,0.00,3.40,0.03,0.007,4,0.007,0.000,3348,3628,511,0,0,17,0,0,0
$GC,13345,24.03,17208.2,907.4,10.7,1255,13355,0.00,3.20,0.47,0.000,6,0.000,0.000,3351,2016,502,0,0,20,0,0,0
$GC,13680,24.06,17227.0,886.3,6.9,1287,13696,0.00,3.12,0.12,0.007,4,0.007,0.000,3347,3784,508,0,0,15,0,0,0
$GC,13712,24.22,17227.0,883.5,8.8,1289,13722,0.00,3.78,0.98,0.000,6,0.000,0.000,3349,1828,509,0,0,20,0,0,0
$GC,14047,24.36,17247.0,851.4,6.8,1321,14050,0.00,0.00,0.43,0.007,6,0.007,0.007,3348,1832,509,0,0,0,0,0,0
$GC,14365,24.28,17247.0,821.5,10.6,1351,14381,0.00,3.20,0.12,0.007,4,0.007,0.000,3346,3772,508,0,0,14,0,0,0
$GC,14496,24.28,17247.0,808.1,9.7,1362,14512,0.00,3.42,0.73,0.000,6,0.007,0.000,3352,1835,510,0,0,17,0,0,0
$GC,14826,24.34,17247.0,780.7,8.5,1393,14829,0.00,0.00,0.35,0.000,6,0.007,0.007,3350,1828,510,0,0,0,0,0,0
$GC,15144,24.41,17247.0,754.3,7.9,1423,15161,0.00,3.17,0.12,0.007,4,0.000,0.000,3356,3652,506,0,0,13,0,0,0
$GC,15178,24.41,17247.0,750.7,11.1,1425,15187,0.00,3.12,1.02,0.000,6,0.007,0.000,3347,1859,509,0,0,12,0,0,0
$GC,15512,24.33,17247.0,716.7,9.8,1457,15516,0.00,0.00,0.15,0.007,6,0.007,0.007,3345,1855,511,0,0,0,0,0,0
$GC,15830,24.33,17247.0,685.3,8.4,1487,15833,0.00,0.00,0.17,0.000,6,0.007,0.007,3346,1861,511,0,0,0,0,0,0
$GC,16149,24.41,17247.0,663.1,8.1,1517,16153,0.00,0.00,0.43,0.000,6,0.000,0.007,3348,1856,506,0,0,0,0,0,0
$GC,16468,24.54,17265.3,638.5,6.9,1547,16472,0.00,0.00,0.68,0.000,6,0.007,0.007,3350,1857,507,0,0,0,0,0,0
$GC,16786,24.43,17265.3,605.1,11.1,1577,16804,0.00,2.83,0.05,0.007,4,0.007,0.000,3354,402,513,0,0,17,0,0,0
$GC,16853,24.43,17265.3,598.2,8.8,1582,16862,0.00,2.80,0.25,0.007,6,0.007,0.000,3350,2196,507,0,0,12,0,0,0
$GC,17178,24.52,17265.3,572.5,8.1,1613,17184,0.00,2.15,0.12,0.007,4,0.007,0.000,3349,3665,512,0,0,13,0,0,0
$GC,17218,24.52,17265.3,568.9,9.3,1616,17234,0.00,3.08,0.38,0.000,6,0.007,0.000,3347,1842,508,0,0,15,0,0,0
$GC,17548,24.57,17265.3,539.8,8.8,1647,17551,0.00,0.00,0.45,0.007,6,0.007,0.007,3350,1851,516,0,0,0,0,0,0
$GC,17866,24.57,17265.3,512.6,8.6,1677,17870,0.00,0.00,0.95,0.000,6,0.007,0.007,3349,1846,504,0,0,0,0,0,0
$GC,18185,24.40,17265.3,473.3,13.0,1707,18191,0.00,2.45,0.12,0.007,4,0.000,0.000,3350,547,508,0,0,15,0,0,0
$GC,18219,24.28,17265.3,469.4,10.1,1709,18228,0.00,2.95,0.50,0.000,6,0.007,0.000,3349,2287,509,0,0,19,0,0,0
$GC,18544,24.22,17265.3,435.5,11.2,1740,18559,0.00,2.95,0.12,0.000,4,0.007,0.000,3350,3791,508,0,0,14,0,0,0
$GC,18604,24.17,17265.3,428.9,9.9,1745,18623,0.00,3.00,1.12,0.000,6,0.007,0.000,3346,1919,510,0,0,11,0,0,0
$GC,18937,24.17,17265.3,397.8,8.6,1776,18940,0.00,0.00,0.60,0.000,6,0.007,0.007,3348,1928,510,0,0,0,0,0,0
$GC,19256,24.17,17265.3,366.5,10.2,1806,19271,0.00,2.92,0.12,0.007,4,0.000,0.000,3350,3595,508,0,0,15,0,0,0
$GC,19310,24.11,17265.3,360.9,10.4,1810,19320,0.00,3.00,0.73,0.000,6,0.007,0.000,3347,1774,509,0,0,13,0,0,0
$GC,19645,24.21,17268.0,333.9,7.4,1842,19649,0.00,0.00,1.40,0.000,6,0.007,0.000,3348,1777,510,0,0,0,0,0,0
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$STATE,23318,end climb,SURFACE_DEPTH_REACHED
$STATE,23318,begin surface coast
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$STATE,23364,end surface coast,CONTROL_FINISHED_OK
$STATE,23367,begin surface
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$RAFOS,0,1254125044,8.083333,8.067778,80,0,0,0,0,0,704,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$INTERNAL_PRESSURE,16.0192
$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,33.129
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,62.202
$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
$DEVICE_SECS,30.700,158.250,574.700,0.000,0.000,0.000,0.000,103.119,0.000,0.000,32.642,3851.362,16209.248,1243.573,1878.815,606.294,0.000,1436.332,0.000,1791.905,3600.000,2.759,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330300
$DATA_FILE_SIZE,72329,2212
$CAP_FILE_SIZE,239206,7
$CFSIZE,260165632,250859520
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,29,797,1,0
$SOUNDSPEED,1462.4
$CURRENT,0.151,331.9,1
$GPS,280909,125537,6652.668,-5848.565,8,1.1,8,18.0