version: 66.06
glider: 1
mission: 14
dive: 82
start: 10 9 109 6 14 53
data:
$ID,1
$MISSION,14
$DIVE,82
$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,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,-220856.17
$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,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,71.057938
$FG_AHR_24V,4.6384068
$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
$GPS1,061537,6651.620,-5822.302,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,062039,6651.604,-5822.626,21,1.1,21,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.101,-0.211
$KALMAN_X,3608.6,-1585.9,-6508.4,6059.9,3489.5
$KALMAN_Y,6294.9,-446.4,-1713.9,-5984.6,582.7
$MHEAD_RNG_PITCHd_Wd,136.4,362444,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-58.55,0.000,2,0.007,0.000,404,2253,2394,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.2,-2.2,12,132,10.43,2.65,-23.70,0.000,4,0.000,0.000,2537,3639,3112,12,0,15,0,0,0
$GC,138,-0.26,-146.6,7.8,-10.1,21,154,0.75,3.80,0.00,0.007,6,0.000,0.000,2724,1753,3112,1,0,22,0,0,0
$GC,221,0.06,-146.6,22.4,-18.4,34,227,0.00,2.12,0.00,0.007,4,0.007,0.000,2725,228,3109,0,0,9,0,0,0
$GC,243,0.25,-146.6,26.2,-16.1,35,255,0.40,4.03,0.00,0.007,6,0.000,0.000,2825,2138,3110,1,0,23,0,0,0
$GC,455,0.25,-146.6,42.8,-6.9,55,470,0.65,2.92,0.00,0.007,4,0.000,0.000,2694,3619,3108,1,0,19,0,0,0
$GC,643,0.25,-146.6,57.9,-8.6,71,652,0.47,2.65,0.00,0.007,6,0.000,0.000,2838,1921,3110,1,0,12,0,0,0
$GC,968,0.25,-146.6,87.8,-8.6,102,983,0.52,2.72,0.00,0.007,4,0.000,0.000,2693,423,3109,1,0,14,0,0,0
$GC,1089,0.25,-146.6,98.6,-8.9,112,1097,0.40,3.17,0.00,0.007,6,0.000,0.000,2824,2368,3110,1,0,17,0,0,0
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1122,-0.31,0.0,100.9,8.2,115,1250,1.10,0.00,121.62,0.000,6,0.000,0.007,2571,1844,2506,2,0,0,0,0,0
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1255,0.99,146.6,110.6,0.0,128,1393,2.00,2.58,121.40,0.000,4,0.000,0.000,3047,593,1908,3,0,13,0,1,0
$GC,1562,2.73,606.4,134.6,-7.7,156,1851,1.45,2.55,262.98,0.000,6,0.000,0.000,3326,2222,602,2,0,10,0,1,0
$GC,2165,4.41,1079.0,180.9,-8.1,214,2181,0.00,3.97,0.12,0.000,4,0.007,0.000,3327,413,601,0,0,20,0,0,0
$GC,2332,4.97,1533.4,193.0,-7.5,228,2343,0.00,3.33,1.27,0.000,6,0.007,0.000,3330,2323,604,0,0,16,0,0,0
$GC,2668,5.52,1979.7,218.0,-7.3,260,2684,0.00,3.60,0.12,0.007,4,0.007,0.000,3328,479,601,0,0,17,0,0,0
$GC,2937,6.16,2501.4,242.3,-9.7,283,2947,0.00,3.33,0.98,0.000,6,0.007,0.000,3328,2232,604,0,0,17,0,0,0
$GC,3271,6.71,2951.0,270.8,-7.4,315,3278,0.00,2.50,0.12,0.000,4,0.007,0.000,3327,3741,600,0,0,12,0,0,0
$GC,3530,7.34,3464.2,291.5,-9.4,337,3541,0.00,4.12,0.32,0.000,6,0.007,0.000,3325,1574,599,0,0,21,0,0,0
$GC,3865,7.82,3857.1,310.7,-5.6,369,3881,0.00,3.85,0.12,0.000,4,0.007,0.000,3326,3665,600,0,0,19,0,0,0
$GC,4133,8.38,4308.0,331.7,-7.4,392,4143,0.00,3.08,1.30,0.000,6,0.000,0.000,3322,2003,598,0,0,12,0,0,0
$GC,4468,8.87,4706.3,351.5,-5.7,424,4483,0.00,2.72,0.12,0.007,4,0.007,0.000,3330,3707,619,0,0,14,0,0,0
$GC,4495,9.43,5165.6,353.5,-7.7,426,4511,0.00,3.28,0.95,0.000,6,0.000,0.000,3323,1876,599,0,0,16,0,0,0
$GC,4825,9.95,5580.9,379.7,-6.3,457,4842,0.00,3.53,0.12,0.007,4,0.007,0.000,3326,3642,598,0,0,17,0,0,0
$GC,5094,10.46,5996.1,396.4,-6.3,480,5106,0.00,3.58,0.90,0.000,6,0.000,0.000,3324,1795,602,0,0,21,0,0,0
$GC,5430,10.98,6425.8,420.0,-6.7,512,5448,0.00,3.42,0.12,0.000,4,0.007,0.000,3329,3664,601,0,0,18,0,0,0
$GC,5563,11.48,6825.6,427.6,-5.8,523,5578,0.00,3.40,0.55,0.000,6,0.007,0.000,3329,1875,594,0,0,20,0,0,0
$GC,5892,11.97,7225.0,446.8,-5.8,554,5908,0.00,2.92,0.12,0.000,4,0.007,0.000,3334,3606,600,0,0,15,0,0,0
$GC,6048,12.47,7632.6,455.7,-6.0,567,6058,0.00,3.05,1.23,0.000,6,0.007,0.000,3324,1800,601,0,0,16,0,0,0
$GC,6383,13.05,8107.1,481.8,-8.2,599,6398,0.00,3.28,0.12,0.000,4,0.007,0.000,3325,3783,601,0,0,18,0,0,0
$GC,6651,13.56,8517.8,498.9,-6.1,622,6662,0.00,3.62,0.62,0.000,6,0.007,0.000,3325,1863,600,0,0,16,0,0,0
$GC,6987,14.16,9004.1,524.6,-8.5,654,6993,0.00,2.65,0.00,0.000,4,0.007,0.000,3326,621,601,0,0,14,0,0,0
$GC,7177,14.68,9432.2,540.4,-6.7,670,7184,0.00,2.53,0.00,0.007,6,0.007,0.000,3329,2231,610,0,0,13,0,0,0
$GC,7502,15.21,9859.7,561.9,-6.7,701,7508,0.00,2.28,0.00,0.007,4,0.007,0.000,3327,3661,604,0,0,12,0,0,0
$GC,7603,15.76,10311.5,569.2,-7.4,709,7612,0.00,3.65,0.00,0.007,6,0.007,0.000,3327,1916,599,0,0,23,0,0,0
$GC,7937,16.29,10739.6,592.5,-6.7,741,7943,0.00,2.28,0.00,0.007,4,0.000,0.000,3326,464,597,0,0,11,0,0,0
$GC,8195,16.83,11180.7,610.9,-7.1,763,8204,0.00,3.05,0.00,0.000,6,0.007,0.000,3330,2148,602,0,0,17,0,0,0
$GC,8529,17.36,11609.9,633.9,-6.7,795,8545,0.00,3.15,0.00,0.007,4,0.007,0.000,3327,408,600,0,0,18,0,0,0
$GC,8797,17.90,12050.7,651.5,-7.1,818,8806,0.00,3.47,0.00,0.007,6,0.007,0.000,3327,2271,600,0,0,18,0,0,0
$GC,9131,18.42,12471.6,673.6,-6.5,850,9146,0.00,3.85,0.00,0.007,4,0.007,0.000,3328,409,602,0,0,19,0,0,0
$GC,9304,18.95,12904.5,685.3,-6.8,865,9319,0.00,3.05,0.00,0.007,6,0.007,0.000,3327,2032,661,0,0,17,0,0,0
$GC,9633,19.47,13326.3,707.8,-6.5,896,9648,0.00,2.90,0.00,0.007,4,0.007,0.000,3326,3743,600,0,0,15,0,0,0
$GC,9900,20.01,13761.8,725.2,-6.9,919,9907,0.00,3.17,0.00,0.007,6,0.007,0.000,3328,1896,603,0,0,16,0,0,0
$GC,10232,20.53,14189.9,746.9,-6.7,951,10246,0.00,3.20,0.00,0.007,4,0.000,0.000,3333,3479,598,0,0,14,0,0,0
$GC,10499,21.07,14622.3,765.1,-6.8,974,10506,0.00,3.10,0.00,0.007,6,0.007,0.000,3325,1783,598,0,0,15,0,0,0
$GC,10830,21.61,15062.0,787.9,-7.1,1006,10845,0.00,3.03,0.00,0.000,4,0.007,0.000,3327,3643,601,0,0,16,0,0,0
$GC,10929,22.16,15515.3,795.0,-7.5,1014,10939,0.00,3.53,0.00,0.007,6,0.007,0.000,3329,1914,599,0,0,15,0,0,0
$GC,11263,22.68,15937.6,818.2,-6.5,1046,11269,0.00,2.30,0.00,0.007,4,0.007,0.000,3330,429,604,0,0,11,0,0,0
$GC,11342,23.22,16377.5,823.7,-7.1,1052,11348,0.00,2.92,0.00,0.007,6,0.007,0.000,3330,2213,603,0,0,13,0,0,0
$GC,11673,23.76,16812.4,847.0,-6.9,1084,11680,0.00,2.60,0.12,0.007,4,0.007,0.000,3333,3646,601,0,0,13,0,0,0
$GC,11795,24.06,17054.0,849.7,-0.7,1094,11811,0.00,3.30,0.73,0.000,6,0.007,0.000,3329,1872,601,0,0,18,0,0,0
$GC,12125,23.98,17054.0,824.6,7.2,1125,12141,0.00,3.12,0.12,0.007,4,0.007,0.000,3327,480,600,0,0,15,0,0,0
$GC,12377,23.83,17054.0,805.3,8.4,1147,12393,0.00,2.88,1.27,0.000,6,0.007,0.000,3323,2153,601,0,0,13,0,0,0
$GC,12707,24.24,17102.1,787.9,5.5,1178,12714,0.00,2.53,0.12,0.007,4,0.007,0.000,3325,3679,600,0,0,11,0,0,0
$GC,12771,24.10,17102.1,783.2,8.0,1183,12786,0.00,3.45,0.62,0.000,6,0.000,0.000,3330,1927,622,0,0,16,0,0,0
$GC,13100,24.12,17116.3,759.7,6.6,1214,13116,0.00,2.95,0.12,0.000,4,0.007,0.000,3328,438,600,0,0,16,0,0,0
$GC,13209,24.06,17116.3,751.4,8.7,1223,13224,0.00,3.50,0.47,0.000,6,0.007,0.000,3327,2234,594,0,0,19,0,0,0
$GC,13538,24.06,17116.3,728.0,7.4,1254,13554,0.00,3.12,0.12,0.007,4,0.007,0.000,3327,235,599,0,0,15,0,0,0
$GC,13576,24.00,17116.3,725.0,7.7,1257,13592,0.00,3.42,0.55,0.000,6,0.007,0.000,3327,2459,600,0,0,18,0,0,0
$GC,13906,24.00,17116.3,703.7,7.1,1288,13921,0.00,4.15,0.25,0.000,4,0.007,0.000,3328,467,599,0,0,20,0,0,0
$GC,14041,23.67,17116.3,688.6,12.5,1299,14052,0.00,2.92,1.12,0.000,6,0.007,0.000,3326,2134,600,0,0,16,0,0,0
$GC,14377,23.75,17127.1,666.6,6.7,1331,14394,0.00,3.25,0.12,0.007,4,0.007,0.000,3327,473,602,0,0,16,0,0,0
$GC,14398,23.75,17127.1,664.8,8.0,1332,14411,0.00,3.60,1.50,0.000,6,0.007,0.000,3329,2319,599,0,0,21,0,0,0
$GC,14735,23.91,17162.1,644.4,5.9,1364,14751,0.00,2.92,0.12,0.007,4,0.000,0.000,3329,515,597,0,0,16,0,0,0
$GC,14807,23.96,17162.1,637.9,9.3,1370,14824,0.00,3.15,0.85,0.000,6,0.007,0.000,3326,2274,608,0,0,18,0,0,0
$GC,15138,23.96,17162.1,617.0,8.8,1401,15155,0.00,3.05,0.15,0.007,4,0.007,0.000,3325,502,600,0,0,14,0,0,0
$GC,15357,23.81,17162.1,592.2,10.5,1420,15373,0.00,3.50,0.55,0.000,6,0.007,0.000,3327,2201,616,0,0,17,0,0,0
$GC,15687,23.97,17162.1,565.1,7.2,1451,15694,0.00,2.58,0.12,0.007,4,0.000,0.000,3329,3477,601,0,0,14,0,0,0
$GC,15946,23.81,17162.1,536.2,12.6,1473,15956,0.00,3.08,1.48,0.000,6,0.007,0.000,3330,1809,600,0,0,14,0,0,0
$GC,16281,23.96,17162.1,504.0,7.3,1505,16297,0.00,3.90,0.12,0.007,4,0.007,0.000,3328,3679,588,0,0,22,0,0,0
$GC,16302,24.11,17162.1,502.5,7.4,1506,16312,0.00,3.28,0.90,0.000,6,0.007,0.000,3328,1832,600,0,0,18,0,0,0
$GC,16637,23.96,17162.1,466.8,12.0,1538,16653,0.00,2.97,0.12,0.000,4,0.007,0.000,3326,3603,599,0,0,13,0,0,0
$GC,16905,24.11,17162.1,441.0,7.4,1561,16915,0.00,2.85,1.98,0.000,6,0.007,0.000,3325,1907,603,0,0,15,0,0,0
$GC,17240,23.96,17162.1,406.4,12.9,1593,17256,0.00,3.20,0.17,0.000,4,0.007,0.000,3329,532,600,0,0,20,0,0,0
$GC,17447,24.11,17162.1,384.0,9.0,1611,17464,0.00,3.03,0.95,0.000,6,0.007,0.000,3327,2180,603,0,0,18,0,0,0
$GC,17778,23.97,17162.1,355.0,12.1,1642,17795,0.00,2.83,0.12,0.007,4,0.007,0.000,3327,449,601,0,0,11,0,0,0
$GC,17979,23.90,17162.1,331.7,9.8,1659,17990,0.00,3.12,1.85,0.000,6,0.007,0.000,3324,2199,597,0,0,12,0,0,0
$GC,18315,23.98,17162.1,306.2,7.2,1691,18330,0.00,4.15,0.15,0.000,4,0.007,0.000,3327,398,599,0,0,23,0,0,0
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$GC,19050,24.16,17165.6,240.4,6.9,1757,19067,0.00,2.95,1.10,0.000,6,0.007,0.000,3325,2029,600,0,0,16,0,0,0
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$STATE,21774,end climb,SURFACE_DEPTH_REACHED
$STATE,21775,begin surface coast
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$STATE,21815,end surface coast,CONTROL_FINISHED_OK
$STATE,21815,begin surface
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$RAFOS,0,1255089849,12.083333,12.069167,80,0,0,0,0,0,755,0,0,0,0,0
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$RAFOS,0,1255075451,8.083333,8.069722,80,0,0,0,0,0,741,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078149851
$INTERNAL_PRESSURE,16.3094
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,243.019
$10V_AH,10.7,37.391
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,71.260
$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,32.700,281.575,539.700,0.000,0.000,0.000,0.000,93.360,0.000,0.000,22.607,3463.667,14686.133,1316.307,2131.862,639.367,33.337,1585.747,0.000,2033.830,2880.000,3.304,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
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$SENSOR_SECS,1234.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337132
$DATA_FILE_SIZE,69099,2032
$CAP_FILE_SIZE,265374,8
$CFSIZE,260165632,246333440
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,44,1439,2,0
$SOUNDSPEED,1461.4
$GPS,091009,122852,6651.565,-5828.142,8,1.1,9,18.0