version: 66.06
glider: 1
mission: 14
dive: 47
start: 10 1 109 6 39 13
data:
$ID,1
$MISSION,14
$DIVE,47
$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,2
$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,-219888.53
$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,0
$R_STBD_OVSHOOT,2
$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,64.471565
$FG_AHR_24V,4.6383724
$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
$GPS1,063944,6700.328,-5745.051,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,064434,6700.312,-5745.034,9,1.1,9,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.128,0.195
$KALMAN_X,13735.0,1190.4,1913.4,11886.9,-1832.5
$KALMAN_Y,6829.6,1466.5,1248.2,4531.5,-736.8
$MHEAD_RNG_PITCHd_Wd,110.1,41487,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.99,-146.6,0.0,0.0,0,91,0.00,0.00,-62.70,0.000,2,0.007,0.000,378,1826,2415,0,0,0,0,0,0
$GC,95,-0.99,-146.6,3.1,-2.6,13,138,10.98,2.30,-22.75,0.000,4,0.000,0.000,2586,396,3111,6,0,12,0,0,0
$GC,345,-0.74,-146.6,36.3,-10.8,47,356,0.62,3.83,0.00,0.007,6,0.000,0.000,2473,2253,3106,2,0,22,0,0,0
$GC,554,-0.74,-146.6,53.1,-7.4,67,570,0.52,3.33,0.00,0.007,4,0.000,0.000,2614,509,3109,1,0,19,0,0,0
$GC,716,-0.74,-146.6,65.4,-6.8,81,732,0.50,3.42,0.00,0.000,6,0.000,0.000,2494,2309,3112,1,0,20,0,0,0
$GC,1046,-0.74,-146.6,94.5,-9.3,112,1053,0.50,2.45,0.00,0.007,4,0.000,0.000,2613,3701,3108,1,0,15,0,0,0
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1111,-0.31,0.0,100.1,10.0,116,1240,0.00,0.00,120.90,0.000,6,0.007,0.007,2609,1913,2514,0,0,0,0,0,0
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1243,0.99,146.6,111.0,0.0,129,1387,1.92,2.30,120.47,0.000,4,0.000,0.000,3016,576,1914,1,0,11,0,0,0
$GC,1640,2.65,571.3,139.5,-6.6,164,1934,1.35,2.70,264.38,0.000,6,0.000,0.000,3315,2200,616,2,0,12,0,3,0
$GC,2259,4.38,1037.9,185.1,-7.9,224,2273,0.00,0.00,4.00,0.000,6,0.007,0.007,3314,2198,605,0,0,0,0,0,0
$GC,2587,4.93,1484.1,208.9,-7.3,255,2603,0.00,2.78,0.12,0.007,4,0.007,0.000,3315,415,606,0,0,13,0,0,0
$GC,2855,5.48,1926.3,228.3,-7.1,278,2866,0.00,3.28,1.25,0.000,6,0.007,0.000,3318,2142,603,0,0,15,0,0,0
$GC,3191,6.06,2398.6,253.9,-8.1,310,3210,0.00,2.85,0.12,0.007,4,0.000,0.000,3316,330,608,0,0,13,0,0,0
$GC,3463,6.65,2880.5,275.6,-8.4,333,3473,0.00,3.60,0.68,0.000,6,0.007,0.000,3317,2222,605,0,0,19,0,0,0
$GC,3798,7.19,3320.3,300.4,-7.1,365,3815,0.00,3.33,0.12,0.007,4,0.000,0.000,3318,430,604,0,0,16,0,0,0
$GC,4067,7.71,3743.9,318.6,-6.5,388,4079,0.00,2.95,1.65,0.000,6,0.007,0.000,3319,2132,613,0,0,14,0,0,0
$GC,4404,8.26,4186.9,340.3,-7.2,420,4420,0.00,3.15,0.12,0.000,4,0.007,0.000,3317,488,605,0,0,15,0,0,0
$GC,4556,8.77,4603.2,351.1,-6.3,433,4572,0.00,3.25,0.82,0.000,6,0.007,0.000,3319,2339,611,0,0,16,0,0,0
$GC,4887,9.34,5069.6,375.9,-7.9,464,4902,0.00,3.40,0.12,0.000,4,0.007,0.000,3321,486,595,0,0,16,0,0,0
$GC,5154,9.92,5541.4,396.7,-8.1,487,5166,0.00,3.50,1.00,0.000,6,0.007,0.000,3320,2182,605,0,0,17,0,0,0
$GC,5491,10.47,5987.5,423.0,-7.3,519,5507,0.00,3.15,0.12,0.000,4,0.007,0.000,3319,410,607,0,0,15,0,0,0
$GC,5760,11.03,6440.6,442.8,-7.5,542,5770,0.00,3.05,1.58,0.000,6,0.007,0.000,3316,2163,606,0,0,14,0,0,0
$GC,6095,11.58,6891.2,468.1,-7.4,574,6113,0.00,2.90,0.12,0.007,4,0.007,0.000,3319,459,605,0,0,14,0,0,0
$GC,6239,12.15,7350.2,478.6,-7.7,586,6257,0.00,3.25,0.75,0.000,6,0.007,0.000,3320,2272,607,0,0,17,0,0,0
$GC,6571,12.67,7776.0,502.9,-6.6,617,6585,0.00,0.00,4.25,0.000,6,0.007,0.007,3318,2274,595,0,0,0,0,0,0
$GC,6900,13.21,8211.8,523.1,-6.9,648,6906,0.00,2.00,0.12,0.007,4,0.007,0.000,3317,3676,596,0,0,10,0,0,0
$GC,6941,13.71,8624.7,525.6,-6.2,651,6956,0.00,3.05,1.02,0.000,6,0.007,0.000,3318,1893,596,0,0,15,0,0,0
$GC,7270,14.24,9055.4,543.4,-6.8,682,7273,0.00,0.00,0.00,0.007,6,0.007,0.007,3312,1894,616,0,0,0,0,0,0
$GC,7592,14.71,9431.4,559.6,-5.0,712,7603,0.00,0.00,0.00,0.007,6,0.007,0.007,3318,1890,596,0,0,0,0,0,0
$GC,7918,15.18,9817.1,577.0,-5.3,743,7924,0.00,2.45,0.00,0.007,4,0.007,0.000,3318,442,593,0,0,12,0,0,0
$GC,8176,15.75,10278.2,594.8,-7.7,765,8182,0.00,3.15,0.00,0.007,6,0.007,0.000,3313,2214,594,0,0,15,0,0,0
$GC,8501,16.28,10709.4,617.4,-6.8,796,8517,0.00,3.10,0.00,0.007,4,0.007,0.000,3319,287,600,0,0,15,0,0,0
$GC,8769,16.82,11153.3,635.8,-7.2,819,8780,0.00,4.28,0.00,0.000,6,0.007,0.000,3318,2371,598,0,0,23,0,0,0
$GC,9105,17.35,11581.3,658.2,-6.7,851,9120,0.00,3.33,0.00,0.007,4,0.007,0.000,3312,476,596,0,0,18,0,0,0
$GC,9373,17.87,12006.9,675.7,-6.6,874,9382,0.00,2.70,0.00,0.007,6,0.007,0.000,3317,2138,595,0,0,14,0,0,0
$GC,9697,18.40,12433.0,697.4,-6.6,905,9712,0.00,3.15,0.00,0.007,4,0.007,0.000,3318,459,594,0,0,17,0,0,0
$GC,9796,18.94,12874.9,704.3,-7.1,913,9805,0.00,3.53,0.00,0.007,6,0.007,0.000,3320,2149,595,0,0,17,0,0,0
$GC,10130,19.50,13330.2,727.6,-7.6,945,10133,0.00,0.00,0.00,0.007,6,0.007,0.007,3316,2139,594,0,0,0,0,0,0
$GC,10452,20.02,13747.2,749.5,-6.3,975,10468,0.00,3.55,0.00,0.000,4,0.007,0.000,3321,452,595,0,0,16,0,0,0
$GC,10720,20.53,14168.3,766.7,-6.5,998,10728,0.00,3.40,0.00,0.007,6,0.007,0.000,3317,2060,595,0,0,20,0,0,0
$GC,11045,21.03,14576.2,786.8,-6.0,1029,11051,0.00,2.78,0.00,0.007,4,0.007,0.000,3319,400,586,0,0,14,0,0,0
$GC,11304,21.53,14982.3,802.4,-6.0,1051,11313,0.00,3.47,0.00,0.007,6,0.007,0.000,3319,2193,598,0,0,19,0,0,0
$GC,11639,22.04,15392.8,823.5,-6.1,1083,11641,0.00,0.00,0.00,0.007,6,0.007,0.000,3318,2198,592,0,0,0,0,0,0
$GC,11959,22.56,15812.5,844.0,-6.4,1113,11974,0.00,3.08,0.00,0.000,4,0.007,0.000,3321,3484,593,0,0,15,0,0,0
$GC,12031,23.08,16235.4,848.7,-6.5,1119,12046,0.00,3.33,0.00,0.007,6,0.007,0.000,3318,1948,594,0,0,16,0,0,0
$GC,12360,23.55,16621.1,866.8,-5.3,1150,12379,0.00,3.67,0.12,0.007,4,0.007,0.000,3316,3653,598,0,0,20,0,0,0
$GC,12402,24.06,17039.7,869.5,-6.4,1153,12418,0.00,3.00,1.15,0.000,6,0.007,0.000,3316,1853,594,0,0,12,0,0,0
$GC,12733,23.80,17039.7,855.2,12.2,1184,12739,0.00,2.28,0.12,0.007,4,0.007,0.000,3318,469,600,0,0,10,0,0,0
$GC,12778,23.70,17039.7,850.8,8.6,1187,12788,0.00,3.03,1.83,0.000,6,0.007,0.000,3316,2342,591,0,0,14,0,0,0
$GC,13113,23.58,17039.7,825.2,8.6,1219,13131,0.00,0.00,4.40,0.000,6,0.007,0.007,3322,2344,586,0,0,0,0,0,0
$GC,13445,23.98,17069.7,804.9,6.1,1250,13459,0.00,0.00,4.10,0.000,6,0.007,0.000,3319,2353,577,0,0,0,0,0,0
$GC,13773,23.98,17069.7,777.7,7.3,1281,13779,0.00,2.45,0.15,0.007,4,0.007,0.000,3316,3651,577,0,0,13,0,0,0
$GC,13986,23.91,17069.7,762.2,8.0,1299,13998,0.00,2.88,2.05,0.000,6,0.007,0.000,3321,1903,574,0,0,12,0,0,0
$GC,14323,24.31,17098.7,742.2,6.1,1331,14343,0.00,3.38,0.12,0.007,4,0.000,0.000,3321,3654,576,0,0,18,0,0,0
$GC,14512,24.00,17098.7,722.2,12.1,1347,14531,0.00,3.30,0.70,0.000,6,0.007,0.000,3318,1828,576,0,0,18,0,0,0
$GC,14845,24.23,17154.3,701.5,5.2,1378,14852,0.00,2.53,0.12,0.007,4,0.007,0.000,3316,387,574,0,0,13,0,0,0
$GC,15104,24.11,17154.3,677.7,9.5,1400,15114,0.00,3.60,1.15,0.000,6,0.007,0.000,3318,2023,579,0,0,20,0,0,0
$GC,15440,24.19,17155.7,650.8,7.0,1432,15446,0.00,2.55,0.12,0.000,4,0.007,0.000,3316,415,571,0,0,10,0,0,0
$GC,15699,24.28,17155.7,632.1,7.0,1454,15710,0.00,2.72,1.92,0.000,6,0.007,0.000,3317,2062,576,0,0,14,0,0,0
$GC,16035,24.30,17176.7,606.2,6.3,1486,16052,0.00,2.92,0.12,0.007,4,0.007,0.000,3316,460,578,0,0,15,0,0,0
$GC,16304,24.43,17176.7,588.9,8.4,1509,16315,0.00,3.17,1.62,0.000,6,0.007,0.000,3317,2339,566,0,0,18,0,0,0
$GC,16639,24.43,17176.7,561.0,8.2,1541,16646,0.00,2.65,0.15,0.007,4,0.007,0.000,3320,3562,574,0,0,17,0,0,0
$GC,16702,24.37,17176.7,555.0,10.1,1546,16718,0.00,3.10,0.90,0.000,6,0.007,0.000,3319,1908,576,0,0,17,0,0,0
$GC,17031,24.37,17176.7,524.9,9.0,1577,17046,0.00,3.03,0.15,0.000,4,0.007,0.000,3315,199,575,0,0,19,0,0,0
$GC,17107,24.37,17176.7,518.0,9.3,1583,17118,0.00,4.28,0.93,0.000,6,0.007,0.000,3317,2361,587,0,0,22,0,0,0
$GC,17443,24.37,17176.7,492.6,8.8,1615,17449,0.00,2.15,0.12,0.007,4,0.000,0.000,3317,3601,577,0,0,12,0,0,0
$GC,17489,24.19,17176.7,487.1,12.6,1618,17499,0.00,3.00,1.33,0.000,6,0.007,0.000,3320,1853,579,0,0,14,0,0,0
$GC,17824,24.19,17176.7,456.3,11.2,1650,17831,0.00,2.58,0.12,0.007,4,0.007,0.000,3319,513,569,0,0,13,0,0,0
$GC,18083,23.72,17176.7,416.8,18.4,1672,18094,0.00,3.12,1.85,0.000,6,0.007,0.000,3317,2156,575,0,0,12,0,0,0
$GC,18418,23.64,17176.7,374.6,10.4,1704,18425,0.00,2.65,0.12,0.007,4,0.007,0.000,3317,3765,574,0,0,12,0,0,0
$GC,18564,23.64,17176.7,359.8,9.8,1716,18575,0.00,4.70,0.20,0.007,6,0.000,0.000,3319,1860,570,0,0,27,0,0,0
$GC,18900,23.69,17176.7,332.3,8.1,1748,18906,0.00,2.12,0.12,0.007,4,0.007,0.000,3318,457,577,0,0,10,0,0,0
$GC,18956,23.75,17176.7,327.5,8.4,1752,18966,0.00,3.15,1.48,0.000,6,0.000,0.000,3315,2224,575,0,0,16,0,0,0
$GC,19290,23.75,17176.7,299.4,8.2,1784,19296,0.00,2.25,0.15,0.000,4,0.007,0.000,3317,3524,578,0,0,9,0,0,0
$GC,19308,23.69,17176.7,297.8,9.3,1785,19324,0.00,2.80,1.30,0.000,6,0.007,0.000,3320,1915,569,0,0,14,0,0,0
$GC,19637,23.69,17176.7,269.6,8.3,1816,19644,0.00,2.28,0.12,0.000,4,0.007,0.000,3319,348,573,0,0,14,0,0,0
$GC,19705,23.75,17176.7,264.0,8.5,1821,19719,0.00,2.67,2.10,0.000,6,0.000,0.000,3320,2125,578,0,0,14,0,0,0
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$STATE,22892,begin surface coast
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$XPDR_PINGS,-1
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$10V_AH,10.7,34.225
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,64.683
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1284.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336860
$DATA_FILE_SIZE,72364,2133
$CAP_FILE_SIZE,267681,0
$CFSIZE,260165632,249749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,27,1252,3,0
$SOUNDSPEED,1462.3
$CURRENT,0.111, 73.0,1
$GPS,011009,131230,6658.321,-5737.493,18,1.1,18,18.0