version: 66.06
glider: 1
mission: 14
dive: 151
start: 10 24 109 23 38 6
data:
$ID,1
$MISSION,14
$DIVE,151
$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,900
$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,-222554.45
$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,2
$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,84.058929
$FG_AHR_24V,4.6384478
$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
$GPS1,233845,6655.419,-5816.356,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,234641,6655.360,-5816.283,21,1.1,22,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.133,-0.192
$KALMAN_X,4934.3,218.8,-53.8,1008.1,3701.1
$KALMAN_Y,96803.0,521.3,-193.5,-92114.7,4285.8
$MHEAD_RNG_PITCHd_Wd,196.6,366152,-13.0,-7.021
$D_GRID,900
$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,-0.99,-146.6,0.0,0.0,0,99,0.00,0.00,-68.32,0.000,2,0.007,0.000,627,1282,2657,0,0,0,0,0,0
$GC,102,-0.99,-146.6,3.0,-1.3,14,136,10.07,1.73,-14.73,0.000,4,0.000,0.000,2541,528,3121,23,0,12,0,0,0
$GC,142,-0.26,-146.6,4.8,-3.8,21,158,0.85,3.50,0.00,0.007,6,0.000,0.000,2814,2795,3121,3,0,22,0,0,0
$GC,227,0.09,-146.6,16.7,-14.6,35,243,0.68,3.80,0.00,0.007,4,0.000,0.000,2616,409,3125,2,0,26,0,0,0
$GC,495,0.09,-146.6,46.8,-7.7,60,506,0.93,4.68,0.00,0.007,6,0.000,0.000,2832,2700,3119,3,0,33,0,0,0
$GC,705,0.09,-146.6,63.7,-8.3,80,719,0.90,4.82,0.00,0.007,4,0.000,0.000,2632,200,3121,3,0,34,0,0,0
$GC,971,0.09,-146.6,85.0,-7.8,103,982,0.75,4.62,0.00,0.007,6,0.000,0.000,2829,2359,3120,2,0,31,0,0,0
$GC,1308,0.01,-146.6,108.2,-5.6,135,1324,0.88,3.30,0.00,0.007,4,0.000,0.000,2617,189,3121,3,0,23,0,0,0
$GC,1576,0.14,-146.6,123.6,-6.6,158,1587,0.85,3.65,0.00,0.007,6,0.000,0.000,2828,2650,3122,3,0,24,0,0,0
$GC,1911,0.06,-146.6,147.6,-6.2,190,1927,1.05,3.45,0.00,0.007,4,0.000,0.000,2593,546,3128,3,0,23,0,0,0
$GC,2179,0.17,-146.6,166.5,-8.5,213,2192,1.25,3.17,0.00,0.007,6,0.000,0.000,2920,2838,3117,4,0,20,0,0,0
$GC,2517,0.08,-146.6,195.1,-6.9,245,2530,1.95,4.38,0.00,0.007,4,0.001,0.000,2467,345,3122,4,0,29,0,0,0
$GC,2782,0.08,-146.6,212.3,-5.8,268,2795,1.40,3.95,0.00,0.007,6,0.000,0.000,2809,2728,3124,3,0,27,0,0,0
$GC,3119,0.08,-146.6,235.8,-7.2,300,3133,1.15,3.83,0.00,0.007,4,0.000,0.000,2654,578,3122,4,0,25,0,0,0
$GC,3385,0.08,-146.6,254.9,-7.2,323,3394,1.25,3.30,0.00,0.000,6,0.000,0.000,2832,2501,3121,4,0,22,0,0,0
$GC,3710,0.01,-146.6,275.4,-5.2,354,3726,1.62,3.12,0.00,0.007,4,0.000,0.000,2452,482,3124,3,0,21,0,0,0
$GC,3977,-0.06,-146.6,290.5,-5.7,377,3989,1.88,2.70,0.00,0.007,6,0.000,0.000,2892,2496,3121,5,0,16,0,0,0
$GC,4313,-0.06,-146.6,311.4,-6.3,409,4327,1.02,4.32,0.00,0.007,4,0.000,0.000,2655,197,3123,2,0,29,0,0,0
$GC,4579,-0.06,-146.6,329.1,-6.8,432,4590,1.05,3.53,0.00,0.007,6,0.000,0.000,2960,2517,3121,3,0,24,0,0,0
$GC,4914,-0.06,-146.6,351.9,-7.1,464,4925,2.17,4.40,0.00,0.000,4,0.000,0.000,2472,488,3123,5,0,30,0,0,0
$GC,5178,-0.16,-146.6,368.8,-5.9,487,5188,1.98,4.25,0.00,0.007,6,0.000,0.000,2915,2762,3120,5,0,28,0,0,0
$GC,5508,-0.16,-146.6,388.0,-6.2,518,5521,1.52,4.40,0.00,0.007,4,0.000,0.000,2615,199,3121,3,0,30,0,0,0
$GC,5773,-0.16,-146.6,404.0,-6.1,541,5785,1.10,3.40,0.00,0.007,6,0.000,0.000,2928,2521,3123,3,0,23,0,0,0
$GC,6110,-0.16,-146.6,424.3,-6.0,573,6120,2.35,4.40,0.00,0.007,4,0.000,0.000,2542,407,3120,5,0,30,0,0,0
$GC,6373,-0.11,-146.6,440.8,-5.9,596,6384,1.98,4.28,0.00,0.007,6,0.000,0.000,2998,2768,3121,5,0,30,0,0,0
$GC,6703,-0.17,-146.6,458.5,-5.4,627,6713,2.95,3.72,0.00,0.007,4,0.000,0.000,2357,607,3121,6,0,24,0,0,0
$GC,6966,-0.24,-146.6,473.4,-5.6,650,6976,1.40,4.03,0.00,0.007,6,0.000,0.000,2735,2808,3121,3,0,28,0,0,0
$GC,7301,-0.24,-146.6,495.0,-6.5,682,7312,1.33,5.30,0.00,0.007,4,0.000,0.000,2562,198,3117,4,0,36,0,0,0
$GC,7564,-0.24,-146.6,510.9,-5.6,705,7576,0.93,4.78,0.00,0.007,6,0.000,0.000,2805,2788,3124,3,0,32,0,0,0
$GC,7900,-0.24,-146.6,530.6,-6.0,737,7918,1.12,3.80,0.00,0.000,4,0.000,0.000,2581,302,3120,4,0,24,0,0,0
$GC,8170,-0.19,-146.6,546.7,-6.2,760,8181,0.93,3.80,0.00,0.007,6,0.000,0.000,2851,2517,3123,3,0,26,0,0,0
$GC,8506,-0.24,-146.6,566.0,-5.2,792,8518,3.10,3.78,0.00,0.007,4,0.000,0.000,2328,196,3119,8,0,25,0,0,0
$GC,8772,-0.24,-146.6,580.6,-5.7,816,8784,2.53,3.75,0.00,0.007,6,0.000,0.000,2941,2487,3123,5,0,25,0,0,0
$GC,9101,-0.24,-146.6,600.5,-6.4,847,9114,2.22,3.78,0.00,0.000,4,0.000,0.000,2434,192,3121,5,0,27,0,0,0
$GC,9368,-0.24,-146.6,617.3,-6.1,870,9379,1.88,4.93,0.00,0.007,6,0.000,0.000,2917,2254,3124,5,0,33,0,0,0
$GC,9697,-0.24,-146.6,638.0,-6.4,901,9713,1.45,2.90,0.00,0.007,4,0.000,0.000,2492,321,3122,2,0,20,0,0,0
$GC,9965,-0.17,-146.6,655.7,-6.4,924,9976,2.30,3.72,0.00,0.007,6,0.000,0.000,2807,2434,3121,5,0,25,0,0,0
$GC,10295,-0.25,-146.6,674.5,-5.0,955,10311,1.48,3.15,0.00,0.007,4,0.000,0.000,2445,360,3122,4,0,21,0,0,0
$GC,10563,-0.13,-146.6,691.6,-7.3,978,10574,1.95,2.85,0.00,0.000,6,0.000,0.000,2934,2527,3122,6,0,18,0,0,0
$GC,10899,-0.21,-146.6,712.4,-5.7,1010,10912,1.92,4.22,0.00,0.007,4,0.000,0.000,2503,501,3122,4,0,29,0,0,0
$GC,11164,-0.09,-146.6,728.6,-7.1,1033,11175,1.15,3.80,0.00,0.007,6,0.000,0.000,2739,2617,3119,3,0,26,0,0,0
$GC,11500,-0.16,-146.6,749.2,-5.2,1065,11516,0.80,4.05,0.00,0.000,4,0.000,0.000,2538,328,3122,2,0,29,0,0,0
$GC,11769,-0.16,-146.6,763.4,-5.0,1088,11779,1.02,3.53,0.00,0.007,6,0.000,0.000,2849,2762,3129,3,0,24,0,0,0
$GC,12104,-0.16,-146.6,782.1,-6.0,1120,12115,1.12,5.35,0.00,0.007,4,0.000,0.000,2613,445,3123,4,0,36,0,0,0
$GC,12368,-0.16,-146.6,797.1,-5.9,1143,12379,0.93,4.65,0.00,0.007,6,0.000,0.000,2820,2872,3124,3,0,31,0,0,0
$GC,12704,-0.16,-146.6,815.7,-5.5,1175,12720,1.00,4.03,0.00,0.007,4,0.000,0.000,2591,462,3121,3,0,29,0,0,0
$GC,12973,-0.16,-146.6,831.1,-5.8,1198,12983,1.15,2.92,0.00,0.007,6,0.000,0.000,2904,2644,3122,4,0,19,0,0,0
$GC,13308,-0.16,-146.6,851.3,-6.0,1230,13323,1.62,5.72,0.00,0.000,4,0.000,0.000,2516,229,3120,3,0,39,0,0,0
$GC,13577,-0.10,-146.6,868.2,-5.8,1254,13594,1.00,4.18,0.00,0.007,6,0.000,0.000,2745,2862,3121,3,0,29,0,0,0
$GC,13908,-0.20,-146.6,884.9,-4.9,1285,13924,0.98,4.03,0.00,0.007,4,0.000,0.000,2568,417,3121,2,0,27,0,0,0
$GC,14177,-0.31,-146.6,898.1,-4.1,1308,14187,0.90,3.78,0.00,0.007,6,0.000,0.000,2762,2595,3118,3,0,26,0,0,0
$STATE,14223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14223,begin apogee
$GC,14233,-0.31,0.0,900.3,4.7,1313,14397,1.15,0.00,147.35,0.000,6,0.000,0.007,2590,1323,2506,4,0,0,0,0,0
$STATE,14398,end apogee,CONTROL_FINISHED_OK
$STATE,14398,begin climb
$GC,14400,0.99,146.6,907.9,0.0,1329,14567,1.67,4.78,141.18,0.000,4,0.000,0.000,3014,3787,1926,4,0,32,0,2,0
$GC,14823,2.65,553.4,928.2,-6.0,1368,15213,1.40,3.83,328.15,0.000,6,0.000,0.000,3346,1146,614,3,0,25,0,8,0
$GC,15528,2.74,564.4,892.0,6.7,1436,15544,0.77,3.97,3.97,0.000,4,0.000,0.000,3238,3787,603,2,0,25,0,0,0
$GC,15799,3.17,578.9,873.9,6.6,1460,15815,0.85,3.85,0.08,0.000,6,0.000,0.000,3437,1257,605,3,0,26,0,0,0
$GC,16129,3.17,582.4,848.3,6.9,1491,16145,1.33,4.10,3.30,0.000,4,0.000,0.000,3335,3513,603,4,0,27,0,0,0
$GC,16400,3.07,582.4,828.6,8.1,1515,16416,0.00,3.62,0.22,0.000,6,0.007,0.000,3338,1399,606,0,0,24,0,0,0
$GC,16732,3.23,610.7,810.2,6.1,1546,16747,0.00,4.12,0.12,0.007,4,0.000,0.000,3337,3789,603,0,0,27,0,0,0
$GC,17000,3.89,610.7,789.1,8.7,1569,17010,0.00,3.40,0.50,0.007,6,0.007,0.000,3336,1482,604,0,0,22,0,0,0
$GC,17335,3.47,610.7,746.1,16.2,1601,17351,0.00,3.97,0.12,0.007,4,0.007,0.000,3336,3591,602,0,0,26,0,0,0
$GC,17602,3.43,610.7,709.1,9.4,1624,17613,0.00,4.00,0.62,0.000,6,0.007,0.000,3337,1244,606,0,0,27,0,0,0
$GC,17937,3.43,610.7,678.4,8.8,1656,17953,0.00,4.45,0.12,0.007,4,0.007,0.000,3334,3786,606,0,0,29,0,0,0
$GC,18205,3.43,610.7,657.3,8.2,1679,18216,0.00,4.28,0.20,0.000,6,0.007,0.000,3344,1262,605,0,0,29,0,0,0
$GC,18541,3.43,610.7,632.5,8.3,1711,18557,0.00,4.55,0.15,0.007,4,0.000,0.000,3341,3657,605,0,0,30,0,0,0
$GC,18810,2.96,610.7,596.0,19.3,1734,18822,0.00,4.32,0.00,0.007,6,0.007,0.000,3335,1499,606,0,0,30,0,0,0
$GC,19147,2.90,610.7,545.0,9.0,1766,19162,0.00,3.72,0.12,0.007,4,0.000,0.000,3337,3785,607,0,0,25,0,0,0
$GC,19414,2.90,610.7,520.6,8.4,1789,19425,0.00,3.15,1.95,0.000,6,0.000,0.000,3340,1468,607,0,0,20,0,0,0
$GC,19750,2.94,610.7,494.8,7.3,1821,19767,0.00,3.72,0.25,0.000,4,0.007,0.000,3339,3787,602,0,0,24,0,0,0
$GC,20020,3.00,616.8,475.7,6.8,1844,20042,0.00,5.05,3.45,0.000,6,0.000,0.000,3338,1745,599,0,0,36,0,0,0
$GC,20356,3.00,616.8,450.4,7.4,1876,20372,0.00,3.40,0.12,0.007,4,0.007,0.000,3338,3784,600,0,0,23,0,0,0
$GC,20624,3.00,616.8,430.5,7.6,1899,20636,0.00,4.80,0.12,0.007,6,0.000,0.000,3336,1223,596,0,0,33,0,0,0
$GC,20961,3.37,687.2,407.9,4.8,1931,20973,0.00,6.00,0.12,0.007,4,0.007,0.000,3341,3786,598,0,0,40,0,0,0
$GC,21225,2.86,687.2,384.2,13.2,1954,21236,0.00,4.03,0.38,0.000,6,0.007,0.000,3338,1175,598,0,0,27,0,0,0
$GC,21560,2.77,687.2,323.0,13.2,1986,21576,0.57,4.05,0.00,0.007,4,0.000,0.000,3155,3561,594,2,0,27,0,0,0
$GC,21828,2.77,687.2,296.2,8.5,2009,21850,1.30,4.90,3.17,0.000,6,0.000,0.000,3503,1229,589,3,0,35,0,0,0
$GC,22164,3.29,687.2,267.5,7.1,2041,22180,1.02,4.28,3.65,0.000,4,0.000,0.000,3285,3785,587,2,0,28,0,0,0
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$STATE,25167,end climb,SURFACE_DEPTH_REACHED
$STATE,25167,begin surface coast
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$XPDR_PINGS,-1
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$10V_AH,10.7,43.597
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,84.307
$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
$DEVICE_SECS,104.025,352.000,641.900,0.000,0.000,0.000,0.000,191.353,0.000,0.000,22.416,4032.072,16084.218,1407.547,3412.354,821.367,33.368,1775.679,0.000,3280.466,3600.000,3.189,0.000
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$SENSOR_SECS,1388.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337176
$DATA_FILE_SIZE,78534,2329
$CAP_FILE_SIZE,306109,8
$CFSIZE,260165632,239427584
$ERRORS,0,0,8,0,0,32,0,0,1,0,0,263,2370,10,0
$SOUNDSPEED,1460.9
$GPS,251009,065135,6654.223,-5807.673,30,1.1,31,18.0