version: 66.06
glider: 1
mission: 14
dive: 98
start: 10 12 109 14 39 30
data:
$ID,1
$MISSION,14
$DIVE,98
$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,-221226.02
$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,1
$R_STBD_OVSHOOT,4
$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,73.819435
$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
$GPS1,144016,6649.135,-5918.660,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,144721,6649.146,-5918.588,8,1.1,8,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.123,-0.199
$KALMAN_X,-28338.6,-497.9,-3379.0,-6879.4,2441.6
$KALMAN_Y,10765.5,-349.9,-1732.0,-15151.0,1847.2
$MHEAD_RNG_PITCHd_Wd,130.4,382610,-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,25,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,84,0.00,0.00,-53.45,0.000,2,0.007,0.000,403,2224,2214,0,0,0,0,0,0
$GC,87,-0.99,-146.6,3.1,-2.1,11,135,10.07,2.80,-29.30,0.000,4,0.000,0.000,2514,3641,3110,15,0,17,0,0,0
$GC,171,-0.54,-146.6,11.4,-14.6,26,188,0.50,3.15,0.00,0.007,6,0.007,0.000,2634,1673,3114,1,0,17,0,0,0
$GC,259,-0.31,-146.6,26.6,-14.8,37,264,0.00,1.95,0.00,0.007,4,0.007,0.000,2638,434,3112,0,0,7,0,0,0
$GC,490,-0.27,-146.6,54.3,-9.1,57,496,0.00,2.92,0.00,0.007,6,0.007,0.000,2633,2213,3111,0,0,14,0,0,0
$GC,815,-0.27,-146.6,84.3,-9.3,87,832,0.00,3.40,0.00,0.007,4,0.007,0.000,2633,207,3110,0,0,16,0,0,0
$GC,945,-0.27,-146.6,97.0,-9.6,98,961,0.00,3.97,0.00,0.007,6,0.007,0.000,2629,2042,3110,0,0,20,0,0,0
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,982,-0.31,0.0,100.1,9.6,101,1112,0.00,0.00,120.82,0.000,6,0.007,0.007,2636,1766,2522,0,0,0,0,1,0
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1113,begin climb
$GC,1115,0.99,146.6,112.5,0.0,114,1252,1.88,3.15,124.22,0.000,4,0.000,0.000,3002,3599,1904,1,0,15,0,0,0
$GC,1419,2.77,641.5,140.2,-8.8,142,1702,1.77,2.95,262.77,0.000,6,0.000,0.000,3377,2027,592,4,0,14,0,1,0
$GC,2027,4.53,1129.3,194.1,-8.6,201,2042,0.00,3.83,0.17,0.000,4,0.007,0.000,3368,3574,591,0,0,21,0,0,0
$GC,2294,5.12,1611.0,216.2,-8.4,224,2305,0.00,3.10,1.45,0.000,6,0.007,0.000,3372,1813,597,0,0,16,0,0,0
$GC,2629,5.70,2080.9,243.2,-8.0,256,2645,0.00,3.75,0.17,0.007,4,0.007,0.000,3371,3478,585,0,0,21,0,0,0
$GC,2897,6.31,2572.0,263.6,-8.7,279,2908,0.00,2.80,1.75,0.000,6,0.007,0.000,3375,1823,593,0,0,16,0,0,0
$GC,3233,6.85,3013.7,286.8,-7.1,311,3248,0.00,2.83,0.12,0.007,4,0.007,0.000,3370,3503,593,0,0,12,0,0,0
$GC,3327,7.41,3470.0,293.9,-7.6,319,3343,0.00,2.80,1.27,0.000,6,0.007,0.000,3369,1838,592,0,0,15,0,0,0
$GC,3657,7.97,3927.7,318.7,-7.6,350,3673,0.00,3.35,0.15,0.007,4,0.007,0.000,3374,3631,595,0,0,15,0,0,0
$GC,3809,8.52,4374.7,329.7,-7.3,363,3824,0.00,3.53,0.45,0.000,6,0.007,0.000,3374,1816,593,0,0,19,0,0,0
$GC,4138,9.08,4824.3,354.1,-7.4,394,4153,0.00,2.78,0.12,0.007,4,0.007,0.000,3371,3560,595,0,0,15,0,0,0
$GC,4406,9.63,5275.6,372.9,-7.4,417,4416,0.00,2.80,1.88,0.000,6,0.000,0.000,3370,1900,585,0,0,13,0,0,0
$GC,4741,10.16,5700.5,395.7,-6.6,449,4756,0.00,2.92,0.12,0.007,4,0.007,0.000,3374,3625,594,0,0,14,0,0,0
$GC,5009,10.70,6139.8,413.7,-7.0,472,5019,0.00,3.15,1.02,0.000,6,0.007,0.000,3374,1801,594,0,0,18,0,0,0
$GC,5344,11.19,6541.8,435.9,-5.8,504,5361,0.00,3.60,0.12,0.007,4,0.007,0.000,3374,3596,589,0,0,21,0,0,0
$GC,5586,11.72,6971.6,451.1,-6.7,525,5601,0.00,3.40,0.60,0.000,6,0.007,0.000,3372,1682,593,0,0,19,0,0,0
$GC,5915,12.24,7398.4,472.2,-6.6,556,5931,0.00,3.40,0.12,0.007,4,0.007,0.000,3371,3540,596,0,0,19,0,0,0
$GC,5947,12.78,7832.6,474.5,-6.9,558,5958,0.00,3.03,1.55,0.000,6,0.000,0.000,3368,1807,589,0,0,17,0,0,0
$GC,6282,13.33,8277.8,498.3,-7.2,590,6298,0.00,2.90,0.20,0.007,4,0.000,0.000,3373,3458,588,0,0,14,0,0,0
$GC,6550,13.86,8716.1,518.2,-7.0,613,6556,0.00,2.67,0.00,0.007,6,0.007,0.000,3371,1843,590,0,0,11,0,0,0
$GC,6875,14.40,9148.4,540.9,-6.8,644,6890,0.00,3.65,0.00,0.000,4,0.007,0.000,3374,3689,590,0,0,20,0,0,0
$GC,6940,14.92,9574.7,545.4,-6.6,649,6953,0.00,3.30,0.00,0.007,6,0.007,0.000,3371,1828,592,0,0,16,0,0,0
$GC,7278,15.46,10015.9,568.5,-7.1,681,7292,0.00,3.03,0.00,0.007,4,0.007,0.000,3375,3595,610,0,0,13,0,0,0
$GC,7389,16.00,10450.1,576.3,-6.9,690,7398,0.00,2.97,0.00,0.007,6,0.007,0.000,3371,1768,594,0,0,14,0,0,0
$GC,7723,16.57,10918.1,601.1,-8.0,722,7737,0.00,3.28,0.00,0.007,4,0.000,0.000,3373,3645,591,0,0,20,0,0,0
$GC,7990,17.14,11377.0,622.7,-7.7,745,7999,0.00,3.40,0.00,0.007,6,0.007,0.000,3375,1881,594,0,0,15,0,0,0
$GC,8324,17.66,11801.2,647.7,-6.6,777,8338,0.00,2.88,0.00,0.007,4,0.007,0.000,3369,3561,591,0,0,11,0,0,0
$GC,8454,18.18,12223.5,656.3,-6.5,788,8470,0.00,3.62,0.00,0.000,6,0.007,0.000,3373,1843,612,0,0,18,0,0,0
$GC,8784,18.78,12715.1,683.6,-8.7,819,8800,0.00,3.15,0.00,0.000,4,0.007,0.000,3374,3667,585,0,0,17,0,0,0
$GC,9053,19.29,13124.3,701.4,-6.1,842,9059,0.00,3.40,0.00,0.007,6,0.007,0.000,3370,1883,593,0,0,14,0,0,0
$GC,9384,19.80,13539.4,722.0,-6.3,874,9399,0.00,2.80,0.00,0.007,4,0.007,0.000,3370,3600,590,0,0,13,0,0,0
$GC,9507,20.37,14005.4,730.3,-7.9,884,9516,0.00,3.40,0.00,0.007,6,0.007,0.000,3371,1882,591,0,0,19,0,0,0
$GC,9841,20.87,14414.5,751.4,-6.1,916,9856,0.00,3.40,0.00,0.007,4,0.007,0.000,3369,3660,592,0,0,21,0,0,0
$GC,9976,21.43,14866.3,761.4,-7.4,927,9987,0.00,3.97,0.00,0.007,6,0.007,0.000,3373,1804,592,0,0,23,0,0,0
$GC,10312,21.97,15303.3,782.3,-7.0,959,10329,0.00,3.53,0.00,0.007,4,0.007,0.000,3374,3713,593,0,0,18,0,0,0
$GC,10387,22.55,15774.0,788.2,-8.0,965,10402,0.00,3.70,0.00,0.007,6,0.007,0.000,3371,2011,591,0,0,21,0,0,0
$GC,10716,23.03,16167.4,807.2,-5.6,996,10732,0.00,3.45,0.00,0.007,4,0.000,0.000,3371,3441,592,0,0,18,0,0,0
$GC,10812,23.58,16616.1,813.8,-7.3,1004,10827,0.00,2.70,1.42,0.000,6,0.007,0.000,3371,1707,590,0,0,13,0,0,0
$GC,11142,24.07,17013.2,833.2,-5.7,1035,11158,0.00,3.30,0.12,0.007,4,0.000,0.000,3370,3604,590,0,0,19,0,0,0
$GC,11214,24.58,17424.3,837.6,-6.1,1041,11231,0.00,2.62,1.50,0.000,6,0.007,0.000,3376,1876,592,0,0,13,0,0,0
$GC,11546,25.08,17833.3,857.3,-6.1,1072,11562,0.00,3.03,0.12,0.007,4,0.007,0.000,3373,3710,592,0,0,14,0,0,0
$GC,11636,25.66,18304.7,864.0,-8.1,1079,11648,0.00,2.88,1.25,0.000,6,0.007,0.000,3376,1873,594,0,0,13,0,0,0
$GC,11972,26.15,18708.4,884.5,-5.9,1111,11989,0.00,3.22,0.12,0.000,4,0.007,0.000,3374,3650,593,0,0,16,0,0,0
$GC,12040,26.68,19137.8,889.0,-6.7,1116,12050,0.00,3.53,0.90,0.000,6,0.007,0.000,3374,1827,593,0,0,19,0,0,0
$GC,12375,27.20,19556.8,910.1,-6.4,1148,12390,0.00,3.20,0.12,0.007,4,0.007,0.000,3370,3643,594,0,0,16,0,0,0
$GC,12643,27.71,19975.1,927.3,-6.4,1171,12653,0.00,3.58,0.88,0.000,6,0.007,0.000,3368,1849,586,0,0,19,0,0,0
$GC,12978,28.22,20386.9,947.6,-6.2,1203,12993,0.00,3.05,0.15,0.007,4,0.000,0.000,3371,3559,586,0,0,12,0,0,0
$GC,13111,28.77,20836.9,956.6,-7.4,1214,13123,0.00,2.90,1.67,0.000,6,0.007,0.000,3373,1903,593,0,0,15,0,0,0
$GC,13447,29.00,21023.9,972.0,1.0,1246,13464,0.00,3.38,0.12,0.007,4,0.000,0.000,3373,3645,591,0,0,15,0,0,0
$GC,13521,28.54,21029.4,968.4,6.8,1252,13537,0.00,2.92,1.25,0.000,6,0.007,0.000,3372,1819,592,0,0,11,0,0,0
$GC,13851,28.24,21029.4,935.3,10.2,1283,13868,0.00,3.65,0.12,0.007,4,0.007,0.000,3373,3634,593,0,0,20,0,0,0
$GC,14093,28.65,21067.8,920.9,5.8,1304,14109,0.00,3.17,0.88,0.000,6,0.007,0.000,3373,1651,595,0,0,15,0,0,0
$GC,14423,28.75,21077.4,898.2,6.7,1335,14438,0.00,4.03,0.25,0.007,4,0.007,0.000,3375,3575,588,0,0,20,0,0,0
$GC,14686,28.60,21077.4,880.4,9.3,1358,14702,0.00,2.58,1.52,0.000,6,0.007,0.000,3370,1907,597,0,0,14,0,0,0
$GC,15016,29.05,21090.0,857.8,6.6,1389,15032,0.00,2.78,0.12,0.007,4,0.007,0.000,3371,298,597,0,0,17,0,0,0
$GC,15066,29.05,21090.0,854.1,7.6,1393,15082,0.00,3.58,0.45,0.000,6,0.007,0.000,3372,2149,586,0,0,16,0,0,0
$GC,15397,29.12,21091.9,827.4,7.0,1424,15412,0.00,3.15,0.12,0.007,4,0.007,0.000,3373,3704,593,0,0,18,0,0,0
$GC,15509,29.18,21091.9,819.5,7.9,1433,15519,0.00,3.50,0.52,0.000,6,0.007,0.000,3373,1873,592,0,0,17,0,0,0
$GC,15843,29.20,21110.3,797.9,6.4,1465,15850,0.00,2.38,0.20,0.007,4,0.000,0.000,3372,483,593,0,0,10,0,0,0
$GC,16102,28.88,21110.3,768.0,12.5,1487,16113,0.00,3.28,1.27,0.000,6,0.007,0.000,3374,2289,593,0,0,16,0,0,0
$GC,16437,28.93,21110.3,735.0,7.5,1519,16443,0.00,2.10,0.12,0.007,4,0.000,0.000,3370,3620,591,0,0,9,0,0,0
$GC,16691,28.93,21110.3,716.6,7.8,1541,16706,0.00,3.53,0.70,0.000,6,0.007,0.000,3369,1784,603,0,0,20,0,0,0
$GC,17020,28.93,21110.3,690.4,7.3,1572,17035,0.00,3.12,0.15,0.000,4,0.007,0.000,3372,3613,585,0,0,13,0,0,0
$GC,17062,28.93,21110.3,687.3,7.3,1575,17073,0.00,3.08,2.20,0.000,6,0.007,0.000,3376,2035,593,0,0,14,0,0,0
$GC,17398,29.14,21150.9,667.1,5.7,1607,17413,0.00,2.90,0.12,0.000,4,0.007,0.000,3370,3736,588,0,0,18,0,0,0
$GC,17474,29.03,21150.9,661.1,9.0,1613,17484,0.00,3.92,0.40,0.007,6,0.007,0.000,3373,1680,581,0,0,22,0,0,0
$GC,17809,29.16,21150.9,639.1,7.3,1645,17825,0.00,3.42,0.22,0.007,4,0.007,0.000,3372,3643,592,0,0,18,0,0,0
$GC,18077,29.02,21150.9,609.2,12.1,1668,18087,0.00,3.60,1.20,0.000,6,0.000,0.000,3374,1837,590,0,0,20,0,0,0
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$STATE,25247,begin surface coast
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1077917752
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$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,38.729
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,74.053
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,78551,2344
$CAP_FILE_SIZE,310779,8
$CFSIZE,260165632,244793344
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,36,1722,2,0
$SOUNDSPEED,1460.5
$GPS,121009,215314,6649.733,-5922.145,32,1.1,32,18.0