version: 66.06
glider: 1
mission: 14
dive: 94
start: 10 11 109 9 47 47
data:
$ID,1
$MISSION,14
$DIVE,94
$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,-221148.86
$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,6
$R_STBD_OVSHOOT,5
$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,72.84462
$FG_AHR_24V,4.6384077
$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
$GPS1,094819,6651.790,-5855.811,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,095507,6651.847,-5855.852,8,1.1,8,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,-0.204
$KALMAN_X,-17670.6,-286.6,-3222.3,-1462.2,2904.6
$KALMAN_Y,11166.3,382.0,-1020.6,-12006.4,1268.9
$MHEAD_RNG_PITCHd_Wd,133.0,376537,-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,22,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,96,0.00,0.00,-67.88,0.000,2,0.007,0.000,585,2180,2660,0,0,0,0,0,0
$GC,100,-0.99,-146.6,3.1,-1.8,14,143,10.23,2.95,-14.73,0.000,4,0.000,0.000,2537,386,3072,14,0,17,0,0,0
$GC,395,-0.99,-146.6,49.5,-10.7,50,411,0.32,3.85,0.00,0.007,6,0.000,0.000,2497,2258,3111,1,0,22,0,0,0
$GC,597,-0.99,-146.6,68.9,-9.0,69,611,0.00,3.12,0.00,0.007,4,0.007,0.000,2496,507,3110,0,0,15,0,0,0
$GC,764,-0.99,-146.6,84.1,-8.8,83,773,0.00,3.05,0.00,0.007,6,0.007,0.000,2495,2227,3108,0,0,14,0,0,0
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,953,-0.31,0.0,100.2,8.7,101,1084,0.93,0.00,118.88,0.000,6,0.000,0.007,2679,1889,2520,1,0,0,0,0,0
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,0.99,146.6,111.7,0.0,114,1225,1.80,2.78,124.07,0.000,4,0.000,0.000,3002,3458,1901,2,0,11,0,0,0
$GC,1478,2.72,640.9,148.2,-8.8,150,1756,1.52,2.65,257.98,0.000,6,0.000,0.000,3333,1879,606,1,0,12,0,0,0
$GC,2070,4.50,1130.1,200.3,-8.6,207,2086,0.00,3.53,0.12,0.000,4,0.007,0.000,3328,3642,606,0,0,18,0,0,0
$GC,2339,5.09,1605.4,222.9,-8.2,230,2350,0.00,3.17,1.15,0.000,6,0.007,0.000,3332,1924,604,0,0,16,0,0,0
$GC,2675,5.61,2028.9,247.1,-6.5,262,2691,0.00,3.28,0.15,0.007,4,0.007,0.000,3330,3705,604,0,0,19,0,0,0
$GC,2806,6.16,2479.3,256.1,-7.4,273,2823,0.00,3.53,0.50,0.000,6,0.007,0.000,3332,1797,593,0,0,18,0,0,0
$GC,3137,6.76,2964.2,285.3,-8.5,304,3154,0.00,3.58,0.12,0.007,4,0.007,0.000,3331,3558,596,0,0,19,0,0,0
$GC,3216,7.28,3386.1,290.9,-6.5,310,3226,0.00,3.22,1.33,0.000,6,0.007,0.000,3332,1942,606,0,0,17,0,0,0
$GC,3551,7.80,3816.3,313.5,-6.8,342,3557,0.00,2.42,0.20,0.007,4,0.007,0.000,3332,3576,605,0,0,15,0,0,0
$GC,3641,8.37,4272.4,320.5,-7.6,349,3651,0.00,3.50,1.02,0.000,6,0.000,0.000,3332,1920,607,0,0,16,0,0,0
$GC,3976,8.93,4735.4,346.1,-7.8,381,3983,0.00,2.58,0.12,0.007,4,0.007,0.000,3332,3436,605,0,0,15,0,0,0
$GC,4235,9.47,5171.8,365.2,-7.0,403,4246,0.00,2.92,1.70,0.000,6,0.007,0.000,3329,1858,606,0,0,17,0,0,0
$GC,4571,9.99,5597.1,388.3,-6.6,435,4586,0.00,2.95,0.12,0.000,4,0.007,0.000,3332,3643,604,0,0,15,0,0,0
$GC,4750,10.53,6034.9,400.5,-7.0,450,4759,0.00,2.95,1.08,0.000,6,0.007,0.000,3332,1725,604,0,0,16,0,0,0
$GC,5084,11.18,6559.0,432.2,-9.8,482,5100,0.00,3.15,0.12,0.000,4,0.007,0.000,3327,3543,598,0,0,13,0,0,0
$GC,5139,11.74,7018.8,436.4,-7.7,486,5149,0.00,2.67,1.98,0.000,6,0.007,0.000,3332,1925,606,0,0,12,0,0,0
$GC,5474,12.27,7447.4,459.2,-6.7,518,5490,0.00,3.45,0.12,0.007,4,0.007,0.000,3331,3788,606,0,0,18,0,0,0
$GC,5562,12.91,7970.5,466.8,-9.7,525,5573,0.00,3.85,0.32,0.000,6,0.007,0.000,3331,2045,606,0,0,20,0,0,0
$GC,5897,13.45,8402.1,490.9,-6.8,557,5904,0.00,2.60,0.20,0.000,4,0.007,0.000,3329,3785,606,0,0,12,0,0,0
$GC,6013,14.00,8855.5,499.4,-7.5,566,6022,0.00,3.97,0.00,0.007,6,0.007,0.000,3333,1801,604,0,0,25,0,0,0
$GC,6347,14.54,9293.1,523.0,-7.0,598,6354,0.00,2.67,0.00,0.007,4,0.007,0.000,3334,3567,604,0,0,12,0,0,0
$GC,6606,15.07,9721.9,540.5,-6.7,620,6613,0.00,3.22,0.00,0.007,6,0.007,0.000,3328,1764,602,0,0,17,0,0,0
$GC,6937,15.59,10149.5,563.0,-6.7,652,6952,0.00,4.03,0.00,0.007,4,0.007,0.000,3332,3619,605,0,0,23,0,0,0
$GC,7160,16.11,10572.1,578.0,-6.5,671,7169,0.00,3.05,0.00,0.007,6,0.007,0.000,3332,1906,601,0,0,14,0,0,0
$GC,7493,16.65,11004.6,600.3,-6.8,703,7509,0.00,3.80,0.00,0.007,4,0.007,0.000,3330,3729,604,0,0,20,0,0,0
$GC,7761,17.16,11422.9,618.4,-6.4,726,7771,0.00,3.28,0.00,0.007,6,0.000,0.000,3327,1586,603,0,0,18,0,0,0
$GC,8096,17.72,11876.3,642.4,-7.5,758,8111,0.00,3.25,0.00,0.007,4,0.007,0.000,3328,3751,597,0,0,17,0,0,0
$GC,8364,18.27,12328.4,662.6,-7.5,781,8373,0.00,3.05,0.00,0.007,6,0.007,0.000,3329,1921,603,0,0,12,0,0,0
$GC,8698,18.84,12786.8,689.1,-7.7,813,8713,0.00,3.90,0.00,0.007,4,0.007,0.000,3335,3599,603,0,0,23,0,0,0
$GC,8882,19.45,13282.4,704.4,-8.8,829,8898,0.00,3.42,0.00,0.007,6,0.007,0.000,3333,1876,608,0,0,19,0,0,0
$GC,9212,19.99,13725.1,728.1,-7.2,860,9228,0.00,3.75,0.00,0.007,4,0.007,0.000,3331,3782,606,0,0,17,0,0,0
$GC,9355,20.62,14236.5,740.3,-9.4,872,9370,0.00,3.30,0.00,0.007,6,0.007,0.000,3330,1782,605,0,0,16,0,0,0
$GC,9684,21.17,14678.8,763.8,-7.1,903,9700,0.00,3.53,0.00,0.007,4,0.007,0.000,3333,3594,605,0,0,19,0,0,0
$GC,9791,21.78,15175.1,773.1,-8.9,912,9805,0.00,2.85,0.00,0.007,6,0.007,0.000,3333,1854,605,0,0,12,0,0,0
$GC,10119,22.32,15614.9,795.9,-7.1,943,10134,0.00,3.17,0.00,0.007,4,0.000,0.000,3328,3651,597,0,0,14,0,0,0
$GC,10173,22.93,16114.7,800.6,-9.0,947,10182,0.00,3.28,0.00,0.007,6,0.007,0.000,3333,1903,605,0,0,16,0,0,0
$GC,10507,23.43,16522.4,822.6,-6.0,979,10522,0.00,3.28,0.00,0.000,4,0.007,0.000,3328,3575,607,0,0,15,0,0,0
$GC,10579,24.02,16996.3,827.8,-8.2,985,10596,0.00,2.88,1.23,0.000,6,0.007,0.000,3328,1867,603,0,0,15,0,0,0
$GC,10911,24.52,17404.6,848.9,-6.1,1016,10927,0.00,3.03,0.12,0.007,4,0.000,0.000,3330,3785,605,0,0,16,0,0,0
$GC,11000,25.07,17851.2,855.0,-7.3,1023,11010,0.00,3.50,1.05,0.000,6,0.007,0.000,3331,1861,602,0,0,16,0,0,0
$GC,11335,25.65,18325.2,883.2,-8.2,1055,11350,0.00,3.20,0.15,0.000,4,0.007,0.000,3329,3638,608,0,0,16,0,0,0
$GC,11407,26.19,18765.3,888.3,-7.1,1061,11424,0.00,3.85,0.17,0.000,6,0.007,0.000,3330,1708,605,0,0,22,0,0,0
$GC,11738,26.72,19191.7,910.3,-6.6,1092,11754,0.00,3.33,0.12,0.000,4,0.007,0.000,3331,3680,609,0,0,14,0,0,0
$GC,11826,27.24,19613.5,916.2,-6.5,1099,11838,0.00,3.38,1.10,0.000,6,0.007,0.000,3334,1640,604,0,0,15,0,0,0
$GC,12162,27.77,20045.5,938.3,-6.8,1131,12180,0.00,3.80,0.12,0.007,4,0.007,0.000,3333,3640,606,0,0,17,0,0,0
$GC,12230,28.33,20503.9,943.2,-7.7,1136,12240,0.00,4.00,0.20,0.007,6,0.007,0.000,3332,1722,607,0,0,22,0,0,0
$GC,12565,28.81,20891.4,962.8,-5.4,1168,12581,0.00,3.65,0.12,0.007,4,0.007,0.000,3332,3561,604,0,0,20,0,0,0
$GC,12834,29.28,21274.2,977.5,-5.2,1191,12844,0.00,2.85,1.73,0.000,6,0.007,0.000,3333,1720,608,0,0,16,0,0,0
$GC,13169,29.60,21536.2,994.3,-1.4,1223,13184,0.00,3.90,0.12,0.007,4,0.007,0.000,3332,3622,605,0,0,20,0,0,0
$GC,13436,29.30,21536.2,972.5,11.8,1246,13448,0.00,2.92,1.90,0.000,6,0.007,0.000,3331,1858,604,0,0,16,0,0,0
$GC,13773,29.24,21536.2,941.4,7.7,1278,13788,0.00,2.78,0.12,0.007,4,0.007,0.000,3330,3597,677,0,0,12,0,0,0
$GC,14041,29.18,21540.0,921.7,6.9,1301,14052,0.00,3.17,1.08,0.000,6,0.007,0.000,3328,1659,611,0,0,16,0,0,0
$GC,14377,29.27,21570.1,898.7,6.1,1333,14394,0.00,4.03,0.12,0.007,4,0.000,0.000,3330,3565,608,0,0,20,0,0,0
$GC,14646,29.18,21570.1,881.9,8.3,1356,14657,0.00,3.83,0.88,0.000,6,0.000,0.000,3330,1838,604,0,0,21,0,0,0
$GC,14981,29.54,21574.1,859.5,6.9,1388,14988,0.00,2.22,0.12,0.007,4,0.007,0.000,3330,267,603,0,0,11,0,0,0
$GC,15240,29.10,21574.1,825.9,13.8,1410,15251,0.00,3.55,1.15,0.000,6,0.007,0.000,3327,2131,606,0,0,18,0,0,0
$GC,15575,29.06,21574.1,789.9,8.5,1442,15582,0.00,2.65,0.12,0.000,4,0.007,0.000,3329,3650,605,0,0,14,0,0,0
$GC,15823,29.01,21574.1,769.0,8.3,1463,15833,0.00,3.45,1.35,0.000,6,0.007,0.000,3331,1946,605,0,0,18,0,0,0
$GC,16158,29.44,21574.1,746.0,7.1,1495,16173,0.00,3.15,0.12,0.000,4,0.007,0.000,3332,337,606,0,0,18,0,0,0
$GC,16426,29.52,21574.1,726.3,7.2,1518,16438,0.00,3.85,0.85,0.000,6,0.007,0.000,3329,2076,601,0,0,21,0,0,0
$GC,16762,29.34,21574.1,697.4,10.6,1550,16779,0.00,3.12,0.12,0.000,4,0.007,0.000,3333,3676,608,0,0,17,0,0,0
$GC,16982,29.45,21574.1,675.0,8.2,1569,16998,0.00,3.00,1.15,0.000,6,0.007,0.000,3332,1873,608,0,0,13,0,0,0
$GC,17312,29.45,21574.1,649.9,7.5,1600,17327,0.00,2.85,0.12,0.000,4,0.007,0.000,3331,3604,603,0,0,14,0,0,0
$GC,17342,29.45,21574.1,647.5,7.5,1602,17353,0.00,3.55,1.40,0.000,6,0.007,0.000,3329,1919,595,0,0,17,0,0,0
$GC,17678,29.61,21593.7,625.1,6.4,1634,17693,0.00,2.80,0.17,0.000,4,0.007,0.000,3330,3646,606,0,0,14,0,0,0
$GC,17717,29.73,21598.2,622.5,6.9,1637,17732,0.00,3.65,0.40,0.007,6,0.007,0.000,3331,1767,604,0,0,21,0,0,0
$GC,18046,29.91,21625.1,600.1,6.2,1668,18062,0.00,3.25,0.12,0.000,4,0.007,0.000,3336,3639,606,0,0,16,0,0,0
$GC,18089,29.91,21625.1,597.1,7.3,1671,18100,0.00,3.40,1.12,0.000,6,0.007,0.000,3332,1783,606,0,0,18,0,0,0
$GC,18424,29.91,21626.5,573.1,7.0,1703,18440,0.00,3.15,0.12,0.000,4,0.007,0.000,3335,3630,601,0,0,16,0,0,0
$GC,18692,29.78,21626.5,545.8,10.3,1726,18703,0.00,3.67,1.15,0.000,6,0.007,0.000,3333,1881,604,0,0,21,0,0,0
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$STATE,25303,end climb,SURFACE_DEPTH_REACHED
$STATE,25304,begin surface coast
$FINISH,1.6,1.012239
$STATE,25341,end surface coast,CONTROL_FINISHED_OK
$STATE,25341,begin surface
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$RAFOS,0,1255262646,12.083333,12.068334,80,0,0,0,0,0,685,0,0,0,0,0
$RAFOS_FIX,6728.455566,-6015.469727,111009,161601,5,80,3.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1077980259
$INTERNAL_PRESSURE,16.182
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,250.668
$10V_AH,10.7,38.270
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,73.077
$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
$DEVICE_SECS,29.125,327.850,554.500,0.000,0.000,0.000,0.000,136.199,0.000,0.000,9.024,3998.407,17185.596,1435.621,2454.442,772.447,33.347,1747.562,0.000,2350.273,3600.000,1.697,0.000
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$SENSOR_SECS,1431.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,78587,2350
$CAP_FILE_SIZE,309047,0
$CFSIZE,260165632,245301248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,41,1678,0,0
$SOUNDSPEED,1460.4
$GPS,111009,170213,6652.928,-5859.728,9,1.1,9,18.0