version: 66.06
glider: 1
mission: 14
dive: 103
start: 10 14 109 2 16 50
data:
$ID,1
$MISSION,14
$DIVE,103
$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,-221325.14
$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,7
$R_STBD_OVSHOOT,6
$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,75.025993
$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
$GPS1,021742,6650.402,-5939.452,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,022308,6650.456,-5939.490,23,1.1,23,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,-0.195
$KALMAN_X,-38446.0,-638.1,-2359.4,-12878.6,1508.9
$KALMAN_Y,12621.3,175.5,-261.7,-16600.2,559.0
$MHEAD_RNG_PITCHd_Wd,128.4,394538,-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,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,92,0.00,0.00,-62.03,0.000,2,0.007,0.000,422,1932,2487,0,0,0,0,0,0
$GC,95,-0.99,-146.6,3.0,-1.9,13,143,10.20,2.95,-20.70,0.000,4,0.000,0.000,2523,3567,3111,10,0,16,0,0,0
$GC,222,-0.60,-146.6,20.7,-17.3,35,238,0.32,3.78,0.00,0.007,6,0.000,0.000,2566,1596,3111,1,0,19,0,0,0
$GC,426,-0.55,-146.6,44.8,-9.3,54,432,0.00,2.28,0.00,0.007,4,0.007,0.000,2566,188,3113,0,0,14,0,0,0
$GC,684,-0.49,-146.6,66.9,-9.2,76,695,0.85,4.38,0.00,0.007,6,0.000,0.000,2716,2354,3112,3,0,22,0,0,0
$GC,1020,-0.59,-146.6,93.7,-7.5,108,1036,1.05,2.50,0.00,0.000,4,0.000,0.000,2474,3786,3113,2,0,16,0,0,0
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1117,-0.31,0.0,100.3,7.3,115,1245,0.68,0.00,122.70,0.000,6,0.000,0.007,2677,1864,2504,1,0,0,0,0,0
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1251,0.99,146.6,111.8,0.0,128,1397,1.33,2.75,118.53,0.000,4,0.000,0.000,2977,3701,1913,1,0,16,0,0,0
$GC,1649,2.78,603.6,138.3,-7.6,163,1932,1.77,3.28,257.33,0.000,6,0.000,0.000,3372,1752,634,2,0,18,0,1,0
$GC,2247,4.44,1047.2,179.6,-7.2,221,2272,0.00,4.28,9.65,0.000,4,0.007,0.000,3374,3656,595,0,0,25,0,0,0
$GC,2525,4.98,1488.2,199.6,-7.1,245,2535,0.00,3.15,1.23,0.000,6,0.000,0.000,3375,1775,595,0,0,15,0,0,0
$GC,2860,5.52,1923.7,223.9,-6.9,277,2875,0.00,3.90,0.12,0.007,4,0.007,0.000,3369,3616,594,0,0,21,0,0,0
$GC,2991,6.12,2410.5,233.9,-8.6,288,3007,0.00,3.08,1.08,0.000,6,0.007,0.000,3371,1825,595,0,0,16,0,0,0
$GC,3321,6.62,2815.1,260.4,-5.9,319,3339,0.00,3.40,0.12,0.007,4,0.007,0.000,3370,3783,597,0,0,17,0,0,0
$GC,3591,7.10,3208.6,275.6,-5.6,342,3601,0.00,3.97,0.20,0.007,6,0.007,0.000,3369,1860,570,0,0,22,0,0,0
$GC,3926,7.58,3601.9,297.6,-5.6,374,3932,0.00,2.55,0.22,0.000,4,0.007,0.000,3374,511,594,0,0,11,0,0,0
$GC,4158,8.17,4076.1,312.3,-8.2,394,4174,0.00,2.90,1.27,0.000,6,0.007,0.000,3371,2162,614,0,0,12,0,0,0
$GC,4488,8.65,4469.5,332.6,-5.6,425,4494,0.00,2.60,0.15,0.007,4,0.007,0.000,3368,3721,594,0,0,12,0,0,0
$GC,4747,9.21,4926.9,352.3,-7.6,447,4757,0.00,3.28,1.08,0.000,6,0.000,0.000,3372,1867,594,0,0,15,0,0,0
$GC,5082,9.71,5329.6,374.0,-5.9,479,5098,0.00,3.00,0.12,0.007,4,0.000,0.000,3371,3558,586,0,0,13,0,0,0
$GC,5269,10.27,5783.2,386.4,-7.5,495,5285,0.00,3.38,0.73,0.000,6,0.007,0.000,3370,1840,592,0,0,16,0,0,0
$GC,5599,10.76,6180.4,407.8,-5.7,526,5615,0.00,3.85,0.12,0.000,4,0.007,0.000,3374,3547,595,0,0,21,0,0,0
$GC,5867,11.24,6577.9,422.5,-5.7,549,5877,0.00,3.50,1.02,0.000,6,0.007,0.000,3371,1880,598,0,0,16,0,0,0
$GC,6202,11.75,6987.5,442.2,-6.1,581,6209,0.00,2.65,0.12,0.007,4,0.007,0.000,3371,443,595,0,0,13,0,0,0
$GC,6371,12.29,7427.6,453.5,-7.1,595,6382,0.00,3.08,1.62,0.000,6,0.007,0.000,3372,2100,595,0,0,14,0,0,0
$GC,6706,12.77,7821.8,473.2,-5.6,627,6723,0.00,2.85,0.12,0.007,4,0.007,0.000,3366,3684,596,0,0,12,0,0,0
$GC,6978,13.32,8267.7,493.0,-7.3,650,6988,0.00,3.03,1.10,0.000,6,0.000,0.000,3368,1827,604,0,0,15,0,0,0
$GC,7312,13.85,8696.4,515.9,-6.7,682,7328,0.00,3.35,0.00,0.007,4,0.007,0.000,3369,3635,596,0,0,14,0,0,0
$GC,7581,14.35,9104.7,532.8,-6.0,705,7587,0.00,3.12,0.00,0.007,6,0.007,0.000,3376,1860,597,0,0,11,0,0,0
$GC,7906,14.87,9524.7,553.0,-6.4,736,7921,0.00,3.78,0.00,0.007,4,0.007,0.000,3372,3550,599,0,0,22,0,0,0
$GC,8174,15.39,9944.7,569.5,-6.4,759,8182,0.00,3.17,0.00,0.007,6,0.000,0.000,3373,1917,598,0,0,18,0,0,0
$GC,8498,15.85,10326.0,587.3,-5.2,790,8505,0.00,2.72,0.00,0.007,4,0.007,0.000,3373,316,593,0,0,14,0,0,0
$GC,8620,16.34,10724.8,593.8,-5.7,800,8636,0.00,3.20,0.00,0.000,6,0.007,0.000,3371,2123,586,0,0,18,0,0,0
$GC,8950,16.82,11108.7,611.6,-5.3,831,8965,0.00,2.95,0.00,0.007,4,0.007,0.000,3369,3763,596,0,0,13,0,0,0
$GC,9055,17.32,11519.6,618.0,-6.1,840,9070,0.00,3.45,0.00,0.007,6,0.007,0.000,3372,1623,595,0,0,19,0,0,0
$GC,9385,17.82,11925.7,637.3,-6.0,871,9390,0.00,1.95,0.00,0.007,4,0.000,0.000,3375,465,596,0,0,9,0,0,0
$GC,9440,18.34,12348.5,640.8,-6.5,875,9448,0.00,2.67,0.00,0.007,6,0.007,0.000,3371,2175,595,0,0,11,0,0,0
$GC,9765,18.84,12750.2,659.9,-5.8,906,9770,0.00,2.40,0.00,0.007,4,0.007,0.000,3374,3709,600,0,0,11,0,0,0
$GC,10023,19.33,13150.9,675.1,-5.8,928,10032,0.00,3.03,0.00,0.007,6,0.007,0.000,3371,1898,586,0,0,16,0,0,0
$GC,10357,19.81,13538.2,695.5,-5.4,960,10372,0.00,3.03,0.00,0.007,4,0.007,0.000,3375,3623,595,0,0,14,0,0,0
$GC,10624,20.28,13924.7,710.1,-5.4,983,10634,0.00,3.50,0.00,0.007,6,0.007,0.000,3374,1909,594,0,0,18,0,0,0
$GC,10959,20.80,14350.4,728.7,-6.6,1015,10974,0.00,3.95,0.00,0.007,4,0.007,0.000,3372,3578,598,0,0,20,0,0,0
$GC,11137,21.33,14774.5,741.2,-6.6,1030,11146,0.00,3.20,0.00,0.007,6,0.007,0.000,3368,1853,593,0,0,18,0,0,0
$GC,11471,21.80,15162.7,760.6,-5.4,1062,11485,0.00,3.12,0.00,0.007,4,0.007,0.000,3371,3589,594,0,0,11,0,0,0
$GC,11711,22.30,15564.2,773.3,-5.8,1083,11726,0.00,3.38,0.00,0.007,6,0.007,0.000,3372,1841,594,0,0,19,0,0,0
$GC,12040,22.79,15968.0,791.6,-5.9,1114,12055,0.00,2.80,0.00,0.007,4,0.007,0.000,3372,236,591,0,0,14,0,0,0
$GC,12307,23.23,16322.5,804.6,-4.3,1137,12317,0.00,3.38,0.00,0.000,6,0.007,0.000,3371,2233,596,0,0,17,0,0,0
$GC,12641,23.75,16743.5,823.3,-6.5,1169,12648,0.00,2.55,0.15,0.000,4,0.007,0.000,3375,3615,596,0,0,13,0,0,0
$GC,12901,24.20,17114.8,837.4,-4.9,1191,12912,0.00,3.35,1.17,0.000,6,0.007,0.001,3374,1834,593,0,0,16,0,0,0
$GC,13237,24.65,17477.6,852.5,-4.6,1223,13252,0.00,2.88,0.12,0.007,4,0.000,0.000,3373,3541,595,0,0,12,0,0,0
$GC,13504,25.19,17915.4,867.0,-7.0,1246,13516,0.00,2.67,1.55,0.000,6,0.007,0.000,3371,1918,598,0,0,15,0,0,0
$GC,13841,25.65,18292.5,885.6,-5.1,1278,13857,0.00,3.40,0.12,0.000,4,0.007,0.000,3370,470,596,0,0,18,0,0,0
$GC,13938,26.16,18704.6,891.1,-6.2,1286,13954,0.00,2.95,1.17,0.000,6,0.007,0.000,3372,2035,598,0,0,13,0,0,0
$GC,14269,26.41,18910.8,895.5,0.4,1317,14276,0.00,2.65,0.17,0.000,4,0.007,0.000,3372,3448,592,0,0,13,0,0,0
$GC,14380,26.50,18982.1,894.1,4.7,1326,14395,0.00,3.28,0.80,0.000,6,0.007,0.000,3374,1895,596,0,0,15,0,0,0
$GC,14709,26.50,18982.1,866.4,7.5,1357,14725,0.00,3.12,0.15,0.007,4,0.007,0.000,3373,240,597,0,0,16,0,0,0
$GC,14888,26.44,18982.1,853.5,8.1,1372,14900,0.00,3.70,0.82,0.000,6,0.000,0.000,3370,2065,593,0,0,20,0,0,0
$GC,15224,26.61,19024.4,833.5,5.7,1404,15231,0.00,2.70,0.12,0.000,4,0.007,0.000,3371,565,589,0,0,12,0,0,0
$GC,15315,26.42,19024.4,825.5,11.1,1411,15325,0.00,2.92,1.60,0.000,6,0.007,0.000,3372,2157,595,0,0,14,0,0,0
$GC,15650,26.43,19028.3,803.2,6.9,1443,15667,0.00,3.05,0.12,0.000,4,0.007,0.000,3373,494,594,0,0,13,0,0,0
$GC,15690,26.19,19028.3,798.8,10.9,1446,15707,0.00,3.40,0.57,0.000,6,0.007,0.000,3371,2335,594,0,0,19,0,0,0
$GC,16021,25.84,19028.3,739.5,12.8,1477,16036,0.00,3.20,0.17,0.000,4,0.007,0.000,3367,620,594,0,0,16,0,0,0
$GC,16120,25.68,19028.3,728.4,11.2,1485,16131,0.00,2.92,1.90,0.000,6,0.007,0.000,3371,2129,594,0,0,14,0,0,0
$GC,16456,25.87,19059.8,706.8,6.0,1517,16471,0.00,4.07,0.22,0.007,4,0.007,0.000,3372,371,594,0,0,25,0,0,0
$GC,16483,25.99,19059.8,704.8,7.1,1519,16499,0.00,3.17,0.88,0.000,6,0.007,0.000,3370,2120,595,0,0,15,0,0,0
$GC,16813,26.17,19079.1,682.5,6.4,1550,16819,0.00,2.53,0.12,0.007,4,0.007,0.000,3372,3655,592,0,0,13,0,0,0
$GC,17072,26.01,19079.1,656.5,10.2,1572,17083,0.00,3.50,0.95,0.000,6,0.007,0.000,3374,1706,592,0,0,20,0,0,0
$GC,17408,26.59,19079.1,628.1,9.4,1604,17423,0.00,3.03,0.12,0.007,4,0.000,0.000,3373,188,595,0,0,18,0,0,0
$GC,17560,26.63,19079.1,613.1,10.1,1617,17576,0.00,3.67,0.22,0.007,6,0.007,0.000,3367,2310,598,0,0,23,0,0,0
$GC,17890,26.41,19079.1,571.9,13.0,1648,17896,0.00,2.28,0.12,0.000,4,0.007,0.000,3375,3709,598,0,0,12,0,0,0
$GC,18070,26.65,19120.8,558.7,5.7,1663,18082,0.00,3.33,0.85,0.000,6,0.007,0.000,3374,1946,592,0,0,18,0,0,0
$GC,18406,26.68,19145.3,534.4,6.2,1695,18422,0.00,3.08,0.20,0.007,4,0.007,0.000,3371,3523,575,0,0,18,0,0,0
$GC,18674,26.56,19145.3,515.2,11.2,1718,18685,0.00,3.20,1.60,0.000,6,0.007,0.000,3374,1875,595,0,0,15,0,0,0
$GC,19009,26.62,19145.3,477.3,8.1,1750,19025,0.00,3.53,0.12,0.007,4,0.007,0.000,3372,3591,596,0,0,19,0,0,0
$GC,19277,26.76,19145.3,457.8,7.8,1773,19288,0.00,3.25,1.50,0.000,6,0.007,0.000,3374,1681,597,0,0,19,0,0,0
$GC,19613,26.63,19145.3,423.1,11.0,1805,19629,0.00,2.90,0.12,0.007,4,0.000,0.000,3370,3548,593,0,0,14,0,0,0
$GC,19881,26.73,19145.9,401.5,7.0,1828,19891,0.00,3.85,0.28,0.007,6,0.000,0.000,3369,1717,594,0,0,21,0,0,0
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$STATE,24593,end climb,SURFACE_DEPTH_REACHED
$STATE,24593,begin surface coast
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$STATE,24622,end surface coast,CONTROL_FINISHED_OK
$STATE,24622,begin surface
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$RAFOS,0,1255493049,4.083333,4.069167,80,0,0,0,0,0,553,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1077935200
$INTERNAL_PRESSURE,15.8103
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,259.071
$10V_AH,10.7,39.296
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,75.253
$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
$DEVICE_SECS,30.775,295.400,548.750,0.000,0.000,0.000,0.000,101.727,0.000,0.000,24.266,3920.569,16653.941,1347.089,2436.614,693.224,33.355,1634.239,0.000,2314.237,3600.000,2.686,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1383.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,75411,2279
$CAP_FILE_SIZE,295279,8
$CFSIZE,260165632,244191232
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,37,1497,1,0
$SOUNDSPEED,1459.3
$GPS,141009,091759,6648.254,-5944.990,10,1.1,10,18.0