version: 66.06
glider: 1
mission: 14
dive: 75
start: 10 7 109 7 59 13
data:
$ID,1
$MISSION,14
$DIVE,75
$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,-3
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,-220668.61
$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,3
$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,69.488182
$FG_AHR_24V,4.6384048
$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
$GPS1,080008,6655.921,-5755.017,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,080511,6655.953,-5755.015,21,1.1,21,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.068,-0.188
$KALMAN_X,13049.7,-1608.5,-1486.8,11696.8,2120.8
$KALMAN_Y,7040.7,237.4,119.2,-1293.7,198.7
$MHEAD_RNG_PITCHd_Wd,142.0,111604,-14.2,-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,22,begin dive
$GC,25,-1.07,-146.6,0.0,0.0,0,86,0.00,0.00,-58.40,0.000,2,0.007,0.000,421,2465,2375,0,0,0,0,0,0
$GC,90,-1.07,-146.6,3.1,-2.3,12,143,10.48,3.85,-23.77,0.000,4,0.000,0.000,2524,457,3101,13,0,22,0,0,0
$GC,351,-1.07,-146.6,42.4,-8.6,44,366,0.38,2.83,0.00,0.007,6,0.000,0.000,2418,2177,3102,1,0,13,0,0,0
$GC,552,-1.07,-146.6,60.4,-8.9,63,568,0.35,3.10,0.00,0.007,4,0.000,0.000,2511,573,3102,1,0,13,0,0,0
$GC,820,-1.07,-146.6,85.6,-10.2,86,828,0.57,2.92,0.00,0.007,6,0.000,0.000,2356,2220,3098,2,0,13,0,0,0
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,981,-0.31,0.0,101.0,9.7,101,1102,1.17,0.00,114.90,0.000,6,0.000,0.007,2670,1996,2530,3,0,0,0,0,0
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1103,begin climb
$GC,1105,1.07,146.6,113.2,0.0,113,1240,1.38,2.65,123.70,0.000,4,0.000,0.000,2978,3781,1914,1,0,12,0,0,0
$GC,1493,2.96,673.7,152.5,-9.9,148,1797,1.90,3.05,267.65,0.000,6,0.000,0.000,3377,1829,594,2,0,10,0,3,0
$GC,2111,3.59,1183.9,209.0,-9.4,208,2126,0.00,2.95,0.12,0.000,4,0.007,0.000,3375,3456,589,0,0,16,0,0,0
$GC,2378,4.20,1680.7,234.1,-9.0,231,2388,0.00,2.58,2.25,0.000,6,0.007,0.000,3374,1873,593,0,0,11,0,0,0
$GC,2713,5.92,2124.0,261.0,-7.3,263,2729,0.00,4.15,0.12,0.007,4,0.007,0.000,3375,3669,594,0,0,24,0,0,0
$GC,2982,6.49,2586.5,281.1,-7.9,286,2993,0.00,2.97,1.30,0.000,6,0.007,0.000,3373,1832,588,0,0,12,0,0,0
$GC,3318,7.13,3102.5,312.0,-9.6,318,3333,0.00,3.22,0.12,0.007,4,0.007,0.000,3375,3625,594,0,0,12,0,0,0
$GC,3402,7.69,3556.7,319.0,-7.6,325,3417,0.00,3.10,1.02,0.000,6,0.007,0.000,3372,1827,593,0,0,13,0,0,0
$GC,3732,8.22,3991.5,343.4,-7.0,356,3749,0.00,3.60,0.12,0.000,4,0.007,0.000,3376,3650,592,0,0,17,0,0,0
$GC,4001,8.74,4415.8,362.5,-6.6,379,4012,0.00,4.28,0.20,0.007,6,0.007,0.000,3375,1802,598,0,0,22,0,0,0
$GC,4336,9.27,4843.4,384.7,-6.7,411,4352,0.00,3.35,0.12,0.007,4,0.007,0.000,3369,3659,594,0,0,16,0,0,0
$GC,4604,9.81,5281.0,403.3,-7.1,434,4615,0.00,3.45,1.10,0.000,6,0.007,0.000,3373,2022,592,0,0,16,0,0,0
$GC,4940,10.37,5742.1,428.0,-7.8,466,4955,0.00,2.97,0.22,0.007,4,0.007,0.000,3375,3570,597,0,0,14,0,0,0
$GC,5208,10.97,6226.8,450.5,-8.6,489,5218,0.00,3.33,1.23,0.000,6,0.007,0.000,3371,1820,591,0,0,17,0,0,0
$GC,5543,11.53,6684.3,476.7,-7.7,521,5558,0.00,3.05,0.15,0.007,4,0.007,0.000,3373,3659,593,0,0,16,0,0,0
$GC,5811,12.07,7118.0,496.0,-6.9,544,5821,0.00,3.97,0.47,0.000,6,0.007,0.000,3376,1826,592,0,0,20,0,0,0
$GC,6146,12.61,7556.8,520.3,-7.1,576,6153,0.00,2.58,0.22,0.000,4,0.007,0.000,3374,245,591,0,0,15,0,0,0
$GC,6165,13.16,8008.5,521.7,-7.5,577,6180,0.00,4.43,0.03,0.007,6,0.000,0.000,3370,2093,596,0,0,25,0,0,0
$GC,6495,13.73,8466.4,547.0,-7.7,608,6510,0.00,2.97,0.12,0.007,4,0.000,0.000,3374,3499,583,0,0,16,0,0,0
$GC,6763,14.25,8897.2,567.0,-6.8,631,6768,0.00,2.83,0.00,0.007,6,0.000,0.000,3373,1705,593,0,0,17,0,0,0
$GC,7090,14.77,9316.1,588.3,-6.5,662,7105,0.00,4.12,0.00,0.007,4,0.000,0.000,3376,3706,594,0,0,23,0,0,0
$GC,7356,15.41,9836.0,608.1,-9.7,685,7362,0.00,3.05,0.00,0.007,6,0.007,0.000,3374,1886,558,0,0,17,0,0,0
$GC,7684,15.95,10276.0,637.4,-7.1,716,7699,0.00,3.33,0.00,0.007,4,0.007,0.000,3372,3718,592,0,0,18,0,0,0
$GC,7951,16.47,10696.1,655.2,-6.5,739,7958,0.00,3.30,0.00,0.007,6,0.007,0.000,3378,1840,595,0,0,15,0,0,0
$GC,8283,17.03,11156.8,677.5,-7.8,771,8298,0.00,3.22,0.00,0.007,4,0.007,0.000,3374,3784,598,0,0,15,0,0,0
$GC,8550,17.69,11691.3,703.3,-10.2,794,8560,0.00,4.00,0.00,0.007,6,0.000,0.000,3373,1661,593,0,0,23,0,0,0
$GC,8885,18.24,12133.5,727.6,-7.2,826,8901,0.00,3.58,0.00,0.007,4,0.007,0.000,3374,3429,592,0,0,23,0,0,0
$GC,9154,18.77,12567.4,748.5,-7.0,849,9161,0.00,2.53,0.00,0.007,6,0.007,0.000,3372,1838,593,0,0,10,0,0,0
$GC,9479,19.31,13004.1,771.3,-7.0,880,9494,0.00,3.20,0.00,0.007,4,0.007,0.000,3376,3437,591,0,0,16,0,0,0
$GC,9746,19.86,13458.1,790.6,-7.6,903,9754,0.00,2.55,0.00,0.000,6,0.007,0.000,3373,1831,593,0,0,11,0,0,0
$GC,10071,20.40,13892.2,815.5,-7.0,934,10086,0.00,4.12,0.00,0.007,4,0.000,0.000,3371,3677,591,0,0,26,0,0,0
$GC,10338,20.94,14330.7,834.5,-7.1,957,10345,0.00,2.90,0.00,0.007,6,0.007,0.000,3376,1838,592,0,0,13,0,0,0
$GC,10663,21.51,14792.0,857.9,-7.8,988,10678,0.00,3.10,0.00,0.007,4,0.007,0.000,3371,3442,592,0,0,19,0,0,0
$GC,10931,22.03,15215.6,875.4,-6.6,1011,10938,0.00,2.33,0.00,0.007,6,0.007,0.000,3369,2032,592,0,0,12,0,0,0
$GC,11255,22.57,15655.1,897.6,-7.1,1042,11270,0.00,3.20,0.00,0.007,4,0.007,0.000,3374,3495,594,0,0,17,0,0,0
$GC,11523,22.76,15772.0,906.3,3.3,1065,11532,0.00,3.45,0.00,0.007,6,0.007,0.000,3373,1841,596,0,0,19,0,0,0
$GC,11857,22.76,15772.0,876.3,7.9,1097,11872,0.00,3.35,0.00,0.000,4,0.007,0.000,3372,3585,592,0,0,18,0,0,0
$GC,12124,22.67,15772.0,854.7,8.8,1120,12130,0.00,2.78,0.00,0.007,6,0.007,0.000,3376,1899,596,0,0,13,0,0,0
$GC,12449,22.77,15776.4,828.3,6.9,1151,12463,0.00,3.28,0.00,0.000,4,0.007,0.000,3374,3779,596,0,0,16,0,0,0
$GC,12621,22.80,15800.3,817.0,6.3,1166,12636,0.00,3.58,0.00,0.007,6,0.007,0.000,3376,1841,593,0,0,19,0,0,0
$GC,12950,22.83,15829.5,795.5,6.1,1197,12965,0.00,3.15,0.00,0.007,4,0.007,0.000,3372,3697,592,0,0,14,0,0,0
$GC,13218,22.85,15840.7,777.0,6.7,1220,13229,0.00,3.75,0.00,0.007,6,0.007,0.000,3371,1791,592,0,0,22,0,0,0
$GC,13554,22.90,15884.4,753.2,5.6,1252,13569,0.00,3.22,0.00,0.007,4,0.007,0.000,3373,3703,590,0,0,18,0,0,0
$GC,13720,22.98,15949.2,743.8,4.9,1266,13730,0.00,3.85,0.00,0.007,6,0.007,0.000,3371,1924,593,0,0,22,0,0,0
$GC,14055,23.01,15969.9,720.4,6.4,1298,14062,0.00,2.67,0.00,0.007,4,0.000,0.000,3371,3588,555,0,0,14,0,0,0
$GC,14314,23.01,15969.9,700.8,8.0,1320,14323,0.00,3.67,0.00,0.007,6,0.007,0.000,3375,1779,592,0,0,23,0,0,0
$GC,14650,23.01,15969.9,674.8,7.7,1352,14666,0.00,3.78,0.00,0.007,4,0.007,0.000,3372,3787,599,0,0,21,0,0,0
$GC,14917,22.92,15969.9,652.1,9.9,1375,14925,0.00,3.53,0.00,0.007,6,0.000,0.000,3373,1771,592,0,0,18,0,0,0
$GC,15251,22.92,15969.9,614.2,9.2,1407,15268,0.00,3.05,0.00,0.007,4,0.000,0.000,3377,3676,597,0,0,11,0,0,0
$GC,15520,23.01,15969.9,592.8,8.5,1430,15528,0.00,3.62,0.00,0.007,6,0.007,0.000,3373,1878,592,0,0,17,0,0,0
$GC,15854,22.93,15969.9,557.6,10.6,1462,15869,0.00,2.97,0.00,0.007,4,0.007,0.000,3373,3541,597,0,0,13,0,0,0
$GC,15995,23.01,15969.9,545.3,8.2,1474,16012,0.00,3.53,0.00,0.007,6,0.000,0.000,3375,1831,594,0,0,17,0,0,0
$GC,16325,23.01,15969.9,517.0,8.9,1505,16341,0.00,3.75,0.00,0.007,4,0.007,0.000,3376,3632,592,0,0,18,0,0,0
$GC,16592,23.01,15969.9,493.2,9.5,1528,16602,0.00,3.80,0.00,0.007,6,0.007,0.000,3372,1812,556,0,0,21,0,0,0
$GC,16926,23.01,15969.9,462.0,9.6,1560,16941,0.00,3.28,0.00,0.000,4,0.007,0.000,3377,3774,591,0,0,16,0,0,0
$GC,17193,23.01,15969.9,435.5,9.0,1583,17200,0.00,3.55,0.00,0.007,6,0.000,0.000,3375,1836,595,0,0,18,0,0,0
$GC,17524,23.01,15969.9,400.6,10.7,1615,17540,0.00,3.03,0.00,0.007,4,0.007,0.000,3372,3621,593,0,0,17,0,0,0
$GC,17545,23.01,15969.9,398.2,10.5,1616,17552,0.00,3.25,0.00,0.007,6,0.007,0.000,3378,1765,594,0,0,16,0,0,0
$GC,17870,23.01,15969.9,369.5,8.3,1647,17887,0.00,3.28,0.00,0.000,4,0.007,0.000,3373,3561,593,0,0,16,0,0,0
$GC,18139,22.91,15969.9,338.4,11.1,1670,18146,0.00,3.05,0.00,0.000,6,0.007,0.000,3374,1748,559,0,0,13,0,0,0
$GC,18464,23.01,15969.9,308.7,8.5,1701,18480,0.00,3.65,0.00,0.007,4,0.007,0.000,3374,3629,593,0,0,15,0,0,0
$GC,18503,23.01,15969.9,305.3,9.0,1704,18518,0.00,3.22,0.00,0.007,6,0.007,0.000,3378,1848,594,0,0,16,0,0,0
$GC,18833,23.01,15969.9,279.2,7.1,1735,18849,0.00,3.30,0.00,0.007,4,0.007,0.000,3373,3786,570,0,0,16,0,0,0
$GC,19101,22.93,15969.9,251.9,10.5,1758,19107,0.00,3.15,0.00,0.007,6,0.007,0.000,3372,1913,591,0,0,15,0,0,0
$GC,19426,22.93,15969.9,224.6,7.6,1789,19441,0.00,3.58,0.00,0.007,4,0.007,0.000,3373,3694,600,0,0,19,0,0,0
$GC,19693,22.84,15969.9,197.0,11.3,1812,19703,0.00,3.65,0.00,0.007,6,0.007,0.000,3372,1881,600,0,0,21,0,0,0
$GC,20027,22.94,15969.9,166.9,8.1,1844,20042,0.00,2.92,0.00,0.000,4,0.007,0.000,3371,3536,596,0,0,17,0,0,0
$GC,20048,22.94,15969.9,165.2,7.5,1845,20054,0.00,2.97,0.00,0.000,6,0.007,0.000,3374,1968,594,0,0,15,0,0,0
$GC,20373,22.95,15973.4,138.9,6.9,1876,20387,0.00,3.00,0.00,0.007,4,0.000,0.000,3375,3734,596,0,0,16,0,0,0
$GC,20640,22.90,15973.4,114.6,10.4,1899,20650,0.00,3.92,0.00,0.007,6,0.007,0.000,3374,1838,593,0,0,24,0,0,0
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$GC,22046,23.09,16070.1,6.9,6.9,2043,22061,0.00,3.20,0.00,0.007,4,0.000,0.000,3371,3567,595,0,0,17,0,0,0
$GC,22072,23.09,16070.1,4.8,7.0,2047,22088,0.00,4.05,0.00,0.007,6,0.007,0.000,3373,1811,589,0,0,24,0,0,0
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$STATE,22097,begin surface coast
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$STATE,22138,end surface coast,CONTROL_FINISHED_OK
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$RAFOS,0,1254917045,12.083333,12.068055,80,0,0,0,0,0,861,0,0,0,0,0
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$RAFOS,1,1254903242,8.250000,8.233889,80,0,0,0,0,0,713,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078101127
$INTERNAL_PRESSURE,16.2455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,36.650
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,69.694
$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,30.825,266.450,515.200,0.000,0.000,0.000,0.000,106.981,0.000,0.000,22.380,3493.629,14964.069,1257.681,2234.721,631.757,33.348,1509.193,0.000,2137.239,3240.000,3.880,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
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$SENSOR_SECS,1245.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336324
$DATA_FILE_SIZE,69198,2058
$CAP_FILE_SIZE,251724,0
$CFSIZE,260165632,247148544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,31,1367,3,0
$SOUNDSPEED,1463.3
$GPS,071009,141903,6658.057,-5753.967,8,1.1,8,18.0