version: 66.06
glider: 1
mission: 14
dive: 142
start: 10 22 109 2 51 26
data:
$ID,1
$MISSION,14
$DIVE,142
$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,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,-222325.11
$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,5
$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,81.699791
$FG_AHR_24V,4.6384406
$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
$GPS1,025159,6648.036,-5918.727,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,025712,6647.992,-5918.689,22,1.1,22,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.077,-0.221
$KALMAN_X,-42550.3,140.7,794.2,2313.8,721.9
$KALMAN_Y,33702.3,1220.2,1015.4,-44575.5,1390.6
$MHEAD_RNG_PITCHd_Wd,142.7,380910,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,82,0.00,0.00,-53.33,0.000,2,0.007,0.000,357,2126,2210,0,0,0,0,0,0
$GC,85,-0.99,-146.6,3.0,-2.1,11,143,10.35,3.30,-29.58,0.000,4,0.000,0.000,2516,483,3116,14,0,19,0,0,0
$GC,396,-0.74,-146.6,47.2,-11.0,50,406,0.43,3.60,0.00,0.007,6,0.000,0.000,2636,2487,3113,1,0,22,0,0,0
$GC,605,-0.69,-146.6,64.6,-8.1,70,623,0.50,3.42,0.00,0.007,4,0.000,0.000,2478,307,3116,0,0,20,0,0,0
$GC,875,-0.63,-146.6,87.4,-9.0,93,886,0.77,3.67,0.00,0.007,6,0.000,0.000,2649,2162,3115,1,0,20,0,0,0
$GC,1211,-0.70,-146.6,110.2,-6.6,125,1227,0.70,3.30,0.00,0.007,4,0.000,0.000,2478,500,3113,1,0,15,0,0,0
$GC,1480,-0.81,-146.6,127.6,-6.6,148,1491,0.52,2.60,0.00,0.007,6,0.000,0.000,2608,2195,3115,1,0,14,0,0,0
$GC,1816,-0.69,-146.6,155.7,-9.0,180,1835,0.43,4.18,0.00,0.007,4,0.000,0.000,2478,388,3120,1,0,23,0,0,0
$GC,2087,-0.75,-146.6,174.8,-6.4,203,2098,0.50,3.80,0.00,0.007,6,0.000,0.000,2604,2359,3116,1,0,20,0,0,0
$GC,2423,-0.83,-146.6,196.3,-6.3,235,2439,0.47,4.15,0.00,0.007,4,0.000,0.000,2478,400,3115,0,0,20,0,0,0
$GC,2691,-0.74,-146.6,217.5,-7.9,258,2703,0.60,4.15,0.00,0.007,6,0.000,0.000,2640,2269,3112,2,0,23,0,0,0
$GC,3028,-0.74,-146.6,241.4,-6.8,290,3044,1.12,3.42,0.00,0.007,4,0.000,0.000,2431,436,3120,2,0,15,0,0,0
$GC,3296,-0.74,-146.6,260.7,-7.1,313,3304,0.88,3.03,0.00,0.007,6,0.000,0.000,2591,2155,3116,1,0,15,0,0,0
$GC,3628,-0.74,-146.6,286.6,-7.7,345,3644,0.43,3.67,0.00,0.000,4,0.000,0.000,2502,408,3113,1,0,22,0,0,0
$GC,3895,-0.74,-146.6,307.0,-7.4,368,3903,0.32,3.20,0.00,0.007,6,0.007,0.000,2545,2175,3115,1,0,17,0,0,0
$GC,4221,-0.84,-146.6,328.7,-5.8,399,4237,0.32,2.85,0.00,0.007,4,0.000,0.000,2467,266,3113,1,0,18,0,0,0
$GC,4489,-0.95,-146.6,343.3,-5.2,422,4501,0.50,3.05,0.00,0.007,6,0.000,0.000,2635,2256,3114,1,0,16,0,0,0
$GC,4825,-0.95,-146.6,366.1,-7.1,454,4842,0.82,3.28,0.00,0.007,4,0.000,0.000,2454,371,3114,2,0,17,0,0,0
$GC,5095,-1.00,-146.6,380.9,-5.3,477,5107,0.57,3.12,0.00,0.007,6,0.013,0.000,2653,2373,3116,2,0,15,0,0,0
$GC,5432,-1.06,-146.6,398.3,-4.8,509,5447,0.90,3.88,0.00,0.007,4,0.000,0.000,2426,394,3113,1,0,21,0,0,0
$GC,5700,-1.12,-146.6,411.2,-5.3,532,5711,0.32,3.20,0.00,0.014,6,0.014,0.000,2464,2055,3114,1,0,15,0,0,0
$GC,6035,-0.98,-146.6,435.8,-7.9,564,6050,0.00,3.10,0.00,0.007,4,0.007,0.000,2471,402,3116,0,0,14,0,0,0
$GC,6302,-1.04,-146.6,453.4,-6.7,587,6311,0.00,3.40,0.00,0.007,6,0.007,0.000,2466,2215,3114,0,0,17,0,0,0
$GC,6636,-1.10,-146.6,474.8,-6.6,619,6653,0.00,3.40,0.00,0.007,4,0.007,0.000,2465,369,3114,0,0,18,0,0,0
$GC,6906,-1.16,-146.6,492.0,-6.2,642,6912,0.00,2.75,0.00,0.007,6,0.007,0.000,2464,2135,3113,0,0,12,0,0,0
$GC,7232,-1.21,-146.6,510.6,-5.6,673,7248,0.25,3.38,0.00,0.007,4,0.007,0.000,2379,472,3113,0,0,15,0,0,0
$GC,7500,-1.21,-146.6,525.9,-5.5,696,7510,0.32,3.22,0.00,0.007,6,0.000,0.000,2431,2122,3115,1,0,15,0,0,0
$GC,7835,-1.21,-146.6,543.4,-5.9,728,7850,0.00,3.40,0.00,0.000,4,0.007,0.000,2432,193,3114,0,0,19,0,0,0
$GC,8103,-1.11,-146.6,561.9,-6.8,751,8113,0.73,3.85,0.00,0.007,6,0.000,0.000,2557,2114,3109,2,0,21,0,0,0
$GC,8438,-1.17,-146.6,581.3,-5.6,783,8453,0.62,2.85,0.00,0.007,4,0.000,0.000,2389,441,3115,1,0,13,0,0,0
$GC,8706,-1.23,-146.6,596.7,-5.8,806,8717,0.55,3.08,0.00,0.007,6,0.000,0.000,2502,2208,3114,1,0,17,0,0,0
$GC,9042,-1.35,-146.6,617.7,-5.7,838,9060,0.68,3.33,0.00,0.007,4,0.000,0.000,2367,394,3115,1,0,15,0,0,0
$GC,9312,-1.26,-146.6,634.1,-6.8,861,9322,0.30,3.20,0.00,0.007,6,0.000,0.000,2458,2025,3114,1,0,16,0,0,0
$GC,9647,-1.36,-146.6,651.6,-5.5,893,9663,0.28,3.03,0.00,0.007,4,0.007,0.000,2344,412,3117,0,0,16,0,0,0
$GC,9916,-1.49,-146.6,666.8,-5.0,916,9928,0.52,3.10,0.00,0.007,6,0.000,0.000,2450,2105,3115,1,0,15,0,0,0
$GC,10253,-1.59,-146.6,684.6,-4.9,948,10270,0.77,3.17,0.00,0.007,4,0.000,0.000,2284,459,3114,1,0,17,0,0,0
$GC,10523,-1.66,-146.6,698.5,-5.3,971,10529,0.32,2.75,0.00,0.000,6,0.013,0.000,2371,2152,3114,1,0,12,0,0,0
$GC,10848,-1.55,-146.6,720.7,-6.8,1002,10863,0.00,3.88,0.00,0.007,4,0.007,0.000,2368,424,3082,0,0,22,0,0,0
$GC,11116,-1.64,-146.6,736.2,-5.1,1025,11126,0.40,3.30,0.00,0.007,6,0.000,0.000,2277,2358,3107,1,0,17,0,0,0
$GC,11451,-1.76,-146.6,755.3,-5.4,1057,11467,0.57,3.65,0.00,0.007,4,0.000,0.000,2444,444,3113,2,0,22,0,0,0
$GC,11720,-1.68,-146.6,771.4,-6.7,1080,11731,0.85,3.72,0.00,0.000,6,0.000,0.000,2272,2248,3116,3,0,19,0,0,0
$GC,12056,-1.77,-146.6,792.2,-5.4,1112,12072,0.57,3.20,0.00,0.007,4,0.000,0.000,2409,537,3117,2,0,18,0,0,0
$GC,12325,-1.86,-146.6,806.8,-5.2,1135,12335,0.93,2.92,0.00,0.007,6,0.000,0.000,2226,2236,3114,1,0,14,0,0,0
$GC,12660,-1.95,-146.6,825.7,-5.6,1167,12677,0.40,3.17,0.00,0.007,4,0.000,0.000,2317,457,3114,1,0,15,0,0,0
$GC,12930,-2.04,-146.6,839.4,-5.7,1190,12941,0.52,3.20,0.00,0.007,6,0.000,0.000,2196,2184,3117,1,0,16,0,0,0
$GC,13266,-1.98,-146.6,861.8,-6.2,1222,13283,0.55,2.90,0.00,0.007,4,0.000,0.000,2343,468,3116,1,0,16,0,0,0
$GC,13536,-2.07,-146.6,876.4,-5.1,1245,13546,0.70,3.50,0.00,0.000,6,0.000,0.000,2195,2136,3117,1,0,17,0,0,0
$GC,13871,-2.15,-146.6,894.2,-5.3,1277,13887,0.30,3.25,0.00,0.007,4,0.007,0.000,2280,400,3115,1,0,15,0,0,0
$STATE,13964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13964,begin apogee
$GC,13975,-0.31,0.0,900.3,7.3,1285,14142,1.85,0.00,149.80,0.000,6,0.000,0.007,2692,2261,2506,2,0,0,0,2,0
$STATE,14145,end apogee,CONTROL_FINISHED_OK
$STATE,14146,begin climb
$GC,14148,0.99,146.6,912.7,0.0,1302,14304,1.40,3.08,140.07,0.000,4,0.000,0.000,3022,3615,1920,2,0,17,0,1,0
$GC,14559,2.57,522.6,935.6,-5.0,1339,14925,1.27,3.20,322.15,0.000,6,0.000,0.000,3301,1871,609,1,0,14,0,5,0
$GC,15252,2.20,522.6,957.0,7.8,1406,15269,0.73,3.22,0.03,0.007,4,0.000,0.000,3113,3572,612,1,0,18,0,0,0
$GC,15521,2.20,522.6,933.3,7.4,1429,15534,0.73,2.92,1.30,0.000,6,0.000,0.000,3236,1834,605,1,0,14,0,0,0
$GC,15858,2.20,522.6,907.1,7.6,1461,15875,0.30,3.28,0.00,0.007,4,0.007,0.000,3142,3553,609,1,0,18,0,0,0
$GC,16127,2.06,522.6,885.3,8.1,1484,16138,0.00,3.62,1.15,0.000,6,0.007,0.000,3138,1906,611,0,0,17,0,0,0
$GC,16463,2.21,532.7,865.7,6.7,1516,16479,0.38,4.07,0.00,0.007,4,0.000,0.000,3245,3529,599,1,0,25,0,0,0
$GC,16731,2.72,532.7,845.2,7.8,1539,16743,0.57,2.90,1.33,0.000,6,0.000,0.000,3333,1893,611,2,0,15,0,0,0
$GC,17068,2.52,532.7,812.0,12.0,1571,17084,0.80,0.00,3.53,0.000,6,0.000,0.007,3167,1892,608,2,0,0,0,0,0
$GC,17398,2.52,532.7,778.6,8.4,1602,17414,0.52,3.20,0.00,0.007,4,0.000,0.000,3298,3686,604,1,0,13,0,0,0
$GC,17666,2.44,532.7,753.8,11.2,1625,17678,0.55,3.53,0.77,0.000,6,0.000,0.000,3130,1580,605,1,0,17,0,0,0
$GC,18003,2.63,557.0,731.9,6.2,1657,18018,1.25,3.40,3.42,0.000,4,0.000,0.000,3336,3443,596,2,0,16,0,0,0
$GC,18271,2.52,557.0,706.6,10.0,1681,18288,0.65,3.28,0.15,0.000,6,0.000,0.000,3200,1799,597,2,0,20,0,0,0
$GC,18602,2.66,566.2,682.9,6.7,1712,18618,0.45,3.25,0.00,0.007,4,0.019,0.000,3327,3647,597,1,0,14,0,0,0
$GC,18870,3.04,586.4,663.3,6.4,1735,18881,0.00,3.15,1.15,0.000,6,0.007,0.000,3332,1832,597,0,0,13,0,0,0
$GC,19206,2.60,586.4,621.4,19.0,1767,19222,0.40,2.92,0.00,0.007,4,0.000,0.000,3223,3647,593,1,0,17,0,0,0
$GC,19473,2.60,586.4,578.5,10.5,1790,19485,0.32,3.25,1.80,0.000,6,0.000,0.000,3261,1826,601,1,0,13,0,0,0
$GC,19809,2.71,586.4,553.1,8.5,1822,19826,0.57,3.25,0.00,0.007,4,0.000,0.000,3392,3680,597,2,0,18,0,0,0
$GC,20077,2.71,586.4,527.6,8.8,1845,20090,0.55,3.22,1.50,0.000,6,0.000,0.000,3195,1719,592,1,0,16,0,0,0
$GC,20415,2.87,586.4,498.8,7.1,1877,20433,0.65,3.95,0.03,0.007,4,0.000,0.000,3341,3496,599,1,0,24,0,0,0
$GC,20685,2.87,586.4,475.7,9.4,1900,20697,0.00,3.38,1.50,0.000,6,0.000,0.000,3344,1697,598,0,0,18,0,0,0
$GC,21022,2.95,586.4,444.3,7.8,1932,21038,0.00,3.55,0.12,0.007,4,0.007,0.000,3340,3585,600,0,0,17,0,0,0
$GC,21291,3.09,616.3,426.0,6.1,1955,21302,0.00,2.78,1.50,0.000,6,0.007,0.000,3343,1909,597,0,0,14,0,0,0
$GC,21627,3.24,638.1,403.1,6.3,1987,21644,0.00,3.50,0.12,0.007,4,0.007,0.000,3342,3681,596,0,0,20,0,0,0
$GC,21896,3.68,666.7,383.0,6.1,2010,21907,0.00,3.70,0.85,0.000,6,0.007,0.000,3343,1830,601,0,0,18,0,0,0
$GC,22231,2.90,666.7,329.2,28.2,2042,22247,0.00,3.22,0.12,0.007,4,0.007,0.000,3341,3424,599,0,0,16,0,0,0
$GC,22499,2.78,666.7,263.8,11.8,2065,22512,0.30,2.33,1.92,0.000,6,0.007,0.000,3254,2031,601,1,0,10,0,0,0
$GC,22836,2.78,666.7,227.8,9.2,2097,22853,0.43,2.88,0.00,0.000,4,0.000,0.000,3340,3644,597,1,0,13,0,0,0
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$GC,23440,2.88,666.7,176.2,7.8,2152,23457,0.75,2.92,0.03,0.007,4,0.000,0.000,3356,3566,597,0,0,16,0,0,0
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$STATE,25494,end climb,SURFACE_DEPTH_REACHED
$STATE,25494,begin surface coast
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078212666
$INTERNAL_PRESSURE,16.2946
$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,42.477
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,81.938
$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
$DEVICE_SECS,63.825,282.875,640.725,0.000,0.000,0.000,0.000,98.214,0.000,0.000,23.089,4053.067,17102.807,1447.670,2639.963,699.482,33.354,1782.950,0.000,2510.888,3600.000,2.107,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1424.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,78581,2361
$CAP_FILE_SIZE,300460,8
$CFSIZE,260165632,240594944
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,107,1445,8,0
$SOUNDSPEED,1460.3
$GPS,221009,100724,6649.404,-5911.599,28,1.1,28,18.0