version: 66.06
glider: 1
mission: 14
dive: 96
start: 10 12 109 0 16 17
data:
$ID,1
$MISSION,14
$DIVE,96
$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,-221177.3
$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,9
$R_STBD_OVSHOOT,7
$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,73.330826
$FG_AHR_24V,4.6384096
$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
$GPS1,001708,6651.841,-5905.744,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,002356,6651.889,-5905.697,14,1.1,14,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.117,-0.202
$KALMAN_X,-23372.0,-1947.0,-1354.6,-3077.8,2503.7
$KALMAN_Y,11910.8,-159.0,-198.8,-12952.0,-248.7
$MHEAD_RNG_PITCHd_Wd,131.8,380934,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-58.38,0.000,2,0.000,0.000,432,2247,2343,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.0,-1.8,12,132,11.00,2.28,-23.55,0.000,4,0.000,0.000,2523,3652,3056,18,0,11,0,0,0
$GC,312,-0.79,-146.6,31.6,-11.2,44,322,0.00,3.03,-1.55,0.000,6,0.007,0.000,2519,1778,3112,0,0,13,0,0,0
$GC,519,-0.79,-146.6,49.7,-8.6,64,524,0.00,2.53,0.00,0.007,4,0.007,0.000,2522,372,3112,0,0,11,0,0,0
$GC,529,-0.79,-146.6,50.7,-8.6,64,536,0.00,3.53,0.00,0.007,6,0.007,0.000,2522,2195,3110,0,0,16,0,0,0
$GC,858,-0.79,-146.6,80.0,-9.0,95,872,0.00,3.50,0.00,0.007,4,0.007,0.000,2520,410,3112,0,0,18,0,0,0
$STATE,1077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1077,begin apogee
$GC,1088,-0.31,0.0,100.5,10.2,114,1216,0.77,0.00,122.72,0.000,6,0.000,0.007,2669,2336,2505,2,0,0,0,0,0
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1221,0.99,146.6,113.0,0.0,127,1364,1.50,3.85,119.57,0.000,4,0.000,0.000,2965,425,1910,2,0,20,0,0,0
$GC,1617,2.79,647.6,147.6,-9.0,162,1921,1.77,3.70,266.60,0.000,6,0.000,0.000,3339,2139,609,2,0,21,0,4,0
$GC,2245,4.47,1106.8,201.5,-7.7,223,2261,0.00,3.20,0.25,0.000,4,0.007,0.000,3334,445,611,0,0,19,0,0,0
$GC,2412,5.04,1570.5,214.2,-7.8,237,2423,0.00,3.55,1.00,0.000,6,0.000,0.000,3336,2302,611,0,0,20,0,0,0
$GC,2748,5.60,2021.0,240.0,-7.4,269,2754,0.00,2.35,0.40,0.000,4,0.007,0.000,3335,3644,609,0,0,12,0,0,0
$GC,2800,6.14,2462.5,243.8,-7.1,273,2816,0.00,3.90,0.40,0.000,6,0.007,0.000,3336,1756,612,0,0,22,0,0,0
$GC,3130,6.70,2913.5,267.5,-7.4,304,3137,0.00,2.12,0.62,0.000,4,0.007,0.000,3339,309,609,0,0,9,0,0,0
$GC,3389,7.30,3400.6,286.5,-8.6,326,3401,0.00,3.20,1.12,0.000,6,0.000,0.000,3333,2171,612,0,0,15,0,0,0
$GC,3726,7.84,3842.2,311.3,-7.1,358,3733,0.00,2.42,0.32,0.007,4,0.007,0.000,3336,3527,608,0,0,14,0,0,0
$GC,3985,8.39,4291.4,329.9,-7.4,380,3996,0.00,3.28,1.23,0.000,6,0.007,0.000,3337,1924,609,0,0,17,0,0,0
$GC,4320,8.94,4734.4,354.5,-7.2,412,4335,0.00,2.33,0.57,0.000,4,0.007,0.000,3337,514,608,0,0,13,0,0,0
$GC,4588,9.47,5164.5,373.5,-6.7,435,4598,0.00,3.00,1.90,0.000,6,0.007,0.000,3336,2193,614,0,0,13,0,0,0
$GC,4923,9.98,5583.3,395.6,-6.4,467,4939,0.00,3.10,0.17,0.007,4,0.007,0.000,3335,485,613,0,0,13,0,0,0
$GC,5192,10.51,6014.3,413.3,-6.8,490,5202,0.00,2.88,1.65,0.000,6,0.007,0.000,3332,2216,610,0,0,15,0,0,0
$GC,5526,11.03,6436.2,435.8,-6.5,522,5542,0.00,3.70,0.47,0.000,4,0.007,0.000,3332,186,604,0,0,19,0,0,0
$GC,5795,11.56,6867.0,453.6,-6.8,545,5806,0.00,3.20,1.38,0.000,6,0.007,0.000,3337,2131,607,0,0,17,0,0,0
$GC,6131,12.12,7323.2,478.0,-7.6,577,6148,0.00,3.12,0.15,0.000,4,0.007,0.000,3334,420,612,0,0,16,0,0,0
$GC,6401,12.66,7761.6,497.9,-7.0,600,6411,0.00,3.42,0.77,0.000,6,0.007,0.000,3337,2211,611,0,0,18,0,0,0
$GC,6735,13.23,8221.6,522.6,-7.7,632,6742,0.00,2.60,0.12,0.000,4,0.007,0.000,3334,3650,610,0,0,14,0,0,0
$GC,6995,13.81,8696.4,542.5,-8.2,654,7004,0.00,3.22,0.00,0.007,6,0.007,0.000,3333,1812,610,0,0,16,0,0,0
$GC,7328,14.37,9155.3,569.1,-7.7,686,7334,0.00,2.42,0.00,0.007,4,0.007,0.000,3333,361,613,0,0,12,0,0,0
$GC,7587,14.95,9619.7,589.4,-7.8,708,7594,0.00,3.40,0.00,0.007,6,0.000,0.000,3334,2341,608,0,0,17,0,0,0
$GC,7918,15.50,10074.3,614.7,-7.5,740,7934,0.00,3.58,0.00,0.000,4,0.007,0.000,3337,472,613,0,0,17,0,0,0
$GC,8187,16.08,10540.6,635.4,-7.9,763,8196,0.00,3.58,0.00,0.007,6,0.000,0.000,3334,2219,612,0,0,18,0,0,0
$GC,8521,16.65,11004.0,660.7,-7.8,795,8535,0.00,4.95,0.00,0.007,4,0.007,0.000,3328,582,608,0,0,28,0,0,0
$GC,8788,17.21,11458.2,681.2,-7.5,818,8797,0.00,3.33,0.00,0.007,6,0.000,0.000,3332,2094,610,0,0,17,0,0,0
$GC,9122,17.77,11915.8,706.7,-7.6,850,9136,0.00,2.90,0.00,0.007,4,0.007,0.000,3334,465,608,0,0,16,0,0,0
$GC,9389,18.34,12379.1,727.1,-7.8,873,9396,0.00,2.88,0.00,0.007,6,0.007,0.000,3334,2172,610,0,0,10,0,0,0
$GC,9714,18.84,12789.1,748.7,-6.1,904,9719,0.00,2.38,0.00,0.007,4,0.007,0.000,3334,3571,609,0,0,10,0,0,0
$GC,9972,19.42,13254.9,768.7,-7.9,926,9978,0.00,2.83,0.00,0.000,6,0.007,0.000,3344,2018,612,0,0,13,0,0,0
$GC,10297,19.95,13688.1,792.7,-6.8,957,10312,0.00,3.20,0.00,0.007,4,0.007,0.000,3335,498,609,0,0,16,0,0,0
$GC,10564,20.50,14132.4,811.5,-7.2,980,10571,0.00,2.97,0.00,0.000,6,0.007,0.000,3333,2193,610,0,0,13,0,0,0
$GC,10889,21.02,14559.5,833.8,-6.7,1011,10895,0.00,2.58,0.00,0.007,4,0.007,0.000,3335,3488,609,0,0,14,0,0,0
$GC,11148,21.54,14981.4,850.5,-6.5,1033,11154,0.00,2.88,0.00,0.007,6,0.007,0.000,3332,1675,613,0,0,10,0,0,0
$GC,11474,22.06,15407.2,871.3,-6.6,1064,11489,0.00,4.32,0.00,0.007,4,0.007,0.000,3333,3481,601,0,0,23,0,0,0
$GC,11742,22.58,15824.2,888.7,-6.3,1087,11748,0.00,3.03,0.00,0.000,6,0.007,0.000,3337,1741,610,0,0,17,0,0,0
$GC,12073,23.09,16242.1,910.7,-6.4,1119,12088,0.00,3.03,0.00,0.007,4,0.007,0.000,3333,339,612,0,0,16,0,0,0
$GC,12341,23.62,16671.7,928.4,-6.7,1142,12351,0.00,3.65,1.02,0.000,6,0.000,0.000,3336,2194,611,0,0,20,0,0,0
$GC,12676,24.15,17101.0,950.1,-6.7,1174,12692,0.00,3.45,0.12,0.007,4,0.007,0.000,3334,454,608,0,0,17,0,0,0
$GC,12778,24.65,17506.3,956.7,-6.0,1182,12788,0.00,2.90,1.73,0.000,6,0.007,0.000,3336,2179,610,0,0,13,0,0,0
$GC,13113,25.17,17933.0,979.1,-6.6,1214,13128,0.00,2.97,0.12,0.000,4,0.007,0.000,3335,3507,609,0,0,15,0,0,0
$GC,13225,25.73,18388.5,987.2,-7.6,1223,13235,0.00,3.12,1.25,0.000,6,0.007,0.000,3336,1762,610,0,0,13,0,0,0
$GC,13559,25.40,18388.5,981.9,9.8,1255,13566,0.00,2.38,0.40,0.007,4,0.000,0.000,3337,458,609,0,0,11,0,0,0
$GC,13818,25.11,18388.5,953.9,10.5,1277,13829,0.00,3.40,1.42,0.000,6,0.007,0.000,3335,2391,610,0,0,21,0,0,0
$GC,14153,25.26,18421.8,931.9,6.0,1309,14169,0.00,3.40,0.28,0.000,4,0.007,0.000,3335,366,609,0,0,14,0,0,0
$GC,14422,25.57,18446.9,912.8,6.2,1332,14432,0.00,3.58,0.88,0.000,6,0.007,0.000,3334,2208,609,0,0,17,0,0,0
$GC,14757,25.40,18446.9,886.5,11.2,1364,14763,0.00,2.40,0.17,0.000,4,0.007,0.000,3334,3631,610,0,0,14,0,0,0
$GC,14768,25.25,18446.9,885.4,10.4,1364,14778,0.00,3.28,1.38,0.000,6,0.000,0.000,3335,1832,611,0,0,15,0,0,0
$GC,15102,25.25,18446.9,861.4,7.5,1396,15109,0.00,2.65,0.15,0.000,4,0.007,0.000,3334,417,610,0,0,14,0,0,0
$GC,15125,25.25,18446.9,859.4,8.7,1397,15136,0.00,2.95,2.45,0.000,6,0.007,0.000,3334,2310,608,0,0,14,0,0,0
$GC,15460,25.25,18446.9,834.9,7.4,1429,15476,0.00,3.05,0.12,0.007,4,0.007,0.000,3333,377,602,0,0,14,0,0,0
$GC,15498,25.17,18446.9,831.8,8.0,1432,15514,0.00,3.08,1.00,0.000,6,0.007,0.000,3334,2342,609,0,0,15,0,0,0
$GC,15828,25.54,18467.5,811.2,6.4,1463,15834,0.00,2.03,0.15,0.000,4,0.007,0.000,3335,3594,607,0,0,10,0,0,0
$GC,15862,25.48,18467.5,808.2,8.4,1465,15872,0.00,3.65,1.08,0.000,6,0.007,0.000,3332,1690,609,0,0,21,0,0,0
$GC,16197,25.53,18467.5,782.7,7.4,1497,16203,0.00,2.40,0.22,0.000,4,0.007,0.000,3335,318,602,0,0,12,0,0,0
$GC,16455,25.53,18467.5,762.5,8.7,1519,16466,0.00,3.67,1.20,0.000,6,0.007,0.000,3335,2349,610,0,0,21,0,0,0
$GC,16791,25.92,18488.8,738.0,6.3,1551,16807,0.00,3.72,0.17,0.007,4,0.007,0.000,3331,499,599,0,0,18,0,0,0
$GC,16965,25.93,18498.5,725.2,6.7,1566,16980,0.00,3.17,1.00,0.000,6,0.007,0.000,3333,2423,615,0,0,18,0,0,0
$GC,17294,25.93,18498.5,693.5,8.3,1597,17309,0.00,4.93,0.15,0.000,4,0.007,0.000,3333,401,609,0,0,30,0,0,0
$GC,17561,25.93,18498.5,671.3,8.2,1620,17571,0.00,3.17,1.92,0.000,6,0.007,0.000,3332,2201,609,0,0,18,0,0,0
$GC,17896,25.93,18498.5,650.5,8.5,1652,17912,0.00,3.72,0.32,0.000,4,0.007,0.000,3335,616,607,0,0,21,0,0,0
$GC,18108,25.93,18498.5,634.6,7.3,1670,18119,0.00,2.55,2.35,0.000,6,0.007,0.000,3338,2202,600,0,0,13,0,0,0
$GC,18443,25.04,18498.5,580.2,29.1,1702,18460,0.00,3.03,0.20,0.000,4,0.007,0.000,3333,506,605,0,0,15,0,0,0
$GC,18652,24.96,18498.5,529.8,11.2,1720,18668,0.00,2.92,1.10,0.000,6,0.007,0.000,3338,2221,608,0,0,17,0,0,0
$GC,18982,24.91,18498.5,501.8,9.1,1751,18998,0.00,3.20,0.12,0.007,4,0.007,0.000,3334,413,610,0,0,14,0,0,0
$GC,19250,25.05,18515.8,483.4,6.5,1774,19262,0.00,3.00,1.60,0.000,6,0.007,0.000,3335,2194,605,0,0,13,0,0,0
$GC,19586,25.05,18515.8,456.1,8.9,1806,19602,0.00,3.00,0.17,0.000,4,0.007,0.000,3336,404,605,0,0,14,0,0,0
$GC,19855,25.00,18515.8,432.9,8.3,1829,19865,0.00,3.53,1.02,0.000,6,0.007,0.000,3341,2204,607,0,0,17,0,0,0
$GC,20190,24.94,18515.8,403.2,8.9,1861,20205,0.00,2.85,0.12,0.007,4,0.007,0.000,3336,457,605,0,0,13,0,0,0
$GC,20390,25.01,18515.8,385.9,7.8,1878,20402,0.00,2.53,2.45,0.000,6,0.007,0.000,3333,2117,600,0,0,11,0,0,0
$GC,20726,25.10,18517.4,362.9,7.0,1910,20743,0.00,2.80,0.12,0.007,4,0.000,0.000,3337,468,605,0,0,16,0,0,0
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$STATE,25099,end climb,SURFACE_DEPTH_REACHED
$STATE,25099,begin surface coast
$FINISH,1.6,1.024842
$STATE,25185,end surface coast,CONTROL_FINISHED_OK
$STATE,25187,begin surface
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$RAFOS,3,1255322042,4.583333,4.567222,80,0,0,0,0,0,736,0,0,0,0,0
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$RAFOS,3,1255307644,0.583333,0.567778,80,0,0,0,0,0,725,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1077906420
$INTERNAL_PRESSURE,16.1046
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,252.548
$10V_AH,10.7,38.497
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,73.564
$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,29.675,295.150,560.250,0.000,0.000,0.000,0.000,129.545,0.000,0.000,15.289,4034.423,17094.404,1290.892,2503.267,750.561,33.389,1561.514,0.000,2391.808,2520.000,1.533,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
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$SENSOR_SECS,1409.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,78545,2348
$CAP_FILE_SIZE,300486,8
$CFSIZE,260165632,245059584
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,39,1496,4,0
$SOUNDSPEED,1460.2
$GPS,121009,072831,6649.790,-5912.442,31,1.1,31,18.0