version: 66.07
glider: 23
mission: 5
dive: 69
start: 11 25 110 20 1 0
data:
$ID,23
$MISSION,5
$DIVE,69
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,366
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51028.59
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2430
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,251110,195237,2047.622,12550.341,25,1.2,25,-2.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.0
$GPS2,251110,200008,2047.575,12550.364,13,1.3,13,-2.7
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.090
$KALMAN_X,-147187.5,1025.3,116.3,127744.9,-3364.4
$KALMAN_Y,-45631.2,797.2,-354.5,-17472.8,-2436.2
$MHEAD_RNG_PITCHd_Wd,69.8,107572,-16.9,-9.016
$D_GRID,990
$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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,124,-1.28,-146.0,0.0,0.0,0,214,0.00,0.00,-86.75,0.000,2,0.000,0.000,366,2430,3057,0,0,0,0,0,0
$GC,216,-1.28,-146.0,3.4,-4.5,17,252,9.80,1.83,-18.00,0.000,4,0.162,0.059,2054,3486,3668,0,0,0,0,0,0
$GC,504,-1.28,-146.0,73.4,-18.8,55,509,0.00,1.75,0.00,0.000,6,0.000,0.024,2054,2417,3670,0,0,0,0,0,0
$GC,771,-1.28,-146.0,122.0,-17.4,80,775,0.00,1.80,0.00,0.000,4,0.000,0.039,2054,3480,3670,0,0,0,0,0,0
$GC,882,-1.28,-146.0,141.5,-16.2,90,886,0.00,1.67,0.00,0.000,6,0.000,0.022,2054,2446,3671,0,0,0,0,0,0
$GC,1149,-1.28,-146.0,183.1,-15.7,115,1152,0.00,2.10,0.00,0.000,4,0.000,0.036,2054,1382,3672,0,0,0,0,0,0
$GC,1371,-1.28,-146.0,214.3,-13.3,130,1376,0.00,2.12,0.00,0.000,6,0.000,0.024,2054,2462,3672,0,0,0,0,0,0
$GC,1698,-1.28,-146.0,254.7,-11.5,146,1702,0.00,1.70,0.00,0.000,4,0.000,0.044,2054,3485,3671,0,0,0,0,0,0
$GC,1955,-1.28,-146.0,284.8,-13.2,157,1960,0.00,1.70,0.00,0.000,6,0.000,0.024,2054,2454,3670,0,0,0,0,0,0
$GC,2294,-1.28,-146.0,328.8,-13.0,169,2297,0.00,1.73,0.00,0.000,4,0.000,0.044,2054,3482,3669,0,0,0,0,0,0
$GC,2551,-1.28,-146.0,360.2,-11.9,174,2555,0.00,1.65,0.00,0.000,6,0.000,0.025,2054,2474,3668,0,0,0,0,0,0
$GC,2887,-1.28,-146.0,394.6,-10.5,183,2891,0.00,1.73,0.00,0.000,4,0.000,0.046,2054,3481,3666,0,0,0,0,0,0
$GC,3144,-1.28,-146.0,421.9,-10.6,188,3149,0.00,1.67,0.00,0.000,6,0.000,0.026,2054,2458,3665,0,0,0,0,0,0
$GC,3481,-1.28,-146.0,454.3,-9.3,197,3485,0.00,2.12,0.00,0.000,4,0.000,0.038,2054,1384,3663,0,0,0,0,0,0
$GC,3738,-1.28,-146.0,476.9,-9.3,202,3743,0.00,2.17,0.00,0.000,6,0.000,0.031,2054,2474,3661,0,0,0,0,0,0
$GC,4075,-1.28,-146.0,510.0,-10.4,211,4078,0.00,2.15,0.00,0.000,4,0.000,0.039,2054,1383,3659,0,0,0,0,0,0
$GC,4258,-1.28,-146.0,529.4,-10.2,215,4264,0.00,2.20,0.00,0.000,6,0.000,0.033,2054,2482,3657,0,0,0,0,0,0
$GC,4583,-1.28,-146.0,561.9,-9.7,223,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2482,3656,0,0,0,0,0,0
$GC,4908,-1.28,-146.0,589.8,-8.2,231,4912,0.00,1.70,0.00,0.000,4,0.000,0.054,2054,3493,3653,0,0,0,0,0,0
$GC,4985,-1.28,-146.0,596.5,-8.9,232,4990,0.00,1.67,0.00,0.000,6,0.000,0.030,2054,2485,3652,0,0,0,0,0,0
$GC,5322,-1.28,-146.0,621.3,-7.2,241,5325,0.00,1.70,0.00,0.000,4,0.000,0.054,2054,3486,3648,0,0,0,0,0,0
$GC,5411,-1.28,-146.0,628.2,-8.1,243,5415,0.00,1.67,0.00,0.000,6,0.000,0.031,2054,2465,3648,0,0,0,0,0,0
$GC,5740,-1.28,-146.0,652.5,-7.4,251,5744,0.00,2.17,0.00,0.000,4,0.000,0.047,2054,1382,3646,0,0,0,0,0,0
$GC,5772,-1.28,-146.0,654.8,-6.9,251,5779,0.00,2.25,0.00,0.000,6,0.000,0.038,2054,2497,3646,0,0,0,0,0,0
$GC,6104,-1.28,-146.0,675.7,-6.5,260,6107,0.00,1.73,0.00,0.000,4,0.000,0.058,2054,3484,3644,0,0,0,0,0,0
$GC,6287,-1.28,-146.0,688.2,-6.8,264,6292,0.00,1.67,0.00,0.000,6,0.000,0.032,2054,2484,3642,0,0,0,0,0,0
$GC,6612,-1.28,-146.0,709.6,-6.7,272,6615,0.00,1.73,0.00,0.000,4,0.000,0.058,2054,3494,3640,0,0,0,0,0,0
$GC,6757,-1.28,-146.0,720.3,-7.7,275,6761,0.00,1.70,0.00,0.000,6,0.000,0.034,2054,2481,3639,0,0,0,0,0,0
$GC,7075,-1.28,-146.0,741.3,-6.4,283,7078,0.00,1.75,0.00,0.000,4,0.000,0.060,2054,3486,3637,0,0,0,0,0,0
$GC,7264,-1.28,-146.0,754.5,-6.7,287,7269,0.00,1.65,0.00,0.000,6,0.000,0.033,2054,2501,3635,0,0,0,0,0,0
$GC,7583,-1.28,-146.0,775.4,-6.6,295,7587,0.00,2.25,0.00,0.000,4,0.000,0.048,2054,1379,3633,0,0,0,0,0,0
$GC,7648,-1.28,-146.0,779.6,-6.6,296,7653,0.00,2.25,0.00,0.000,6,0.000,0.041,2054,2491,3632,0,0,0,0,0,0
$GC,7991,-1.28,-146.0,801.1,-6.2,305,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2491,3631,0,0,0,0,0,0
$GC,8316,-1.28,-146.0,820.0,-5.7,313,8319,0.00,1.73,0.00,0.000,4,0.000,0.060,2054,3494,3629,0,0,0,0,0,0
$GC,8573,-1.28,-146.0,835.1,-6.4,318,8577,0.00,1.65,0.00,0.000,6,0.000,0.032,2054,2501,3628,0,0,0,0,0,0
$GC,8910,-1.28,-146.0,853.9,-5.8,327,8913,0.00,1.73,0.00,0.000,4,0.000,0.058,2054,3497,3626,0,0,0,0,0,0
$GC,9093,-1.28,-146.0,865.5,-7.0,331,9098,0.00,1.67,0.00,0.000,6,0.000,0.035,2054,2495,3626,0,0,0,0,0,0
$GC,9418,-1.28,-146.0,884.8,-6.0,339,9421,0.00,2.22,0.00,0.000,4,0.000,0.048,2054,1382,3625,0,0,0,0,0,0
$GC,9472,-1.28,-146.0,888.1,-5.8,340,9477,0.00,2.28,0.00,0.000,6,0.000,0.041,2054,2509,3625,0,0,0,0,0,0
$GC,9785,-1.28,-146.0,905.5,-5.4,348,9789,0.00,1.67,0.00,0.000,4,0.000,0.059,2054,3483,3624,0,0,0,0,0,0
$GC,9991,-1.28,-146.0,918.0,-6.3,352,9996,0.00,1.65,0.00,0.000,6,0.000,0.034,2054,2501,3623,0,0,0,0,0,0
$GC,10334,-1.28,-146.0,935.1,-4.8,361,10337,0.00,1.70,0.00,0.000,4,0.000,0.058,2054,3497,3621,0,0,0,0,0,0
$GC,10513,-1.28,-146.0,944.0,-4.8,365,10517,0.00,1.65,0.00,0.000,6,0.000,0.035,2054,2507,3620,0,0,0,0,0,0
$GC,10842,-1.28,-146.0,957.0,-3.7,373,10846,0.00,1.70,0.00,0.000,4,0.000,0.058,2054,3489,3620,0,0,0,0,0,0
$GC,11004,-1.28,-146.0,964.1,-4.6,376,11008,0.00,1.65,0.00,0.000,6,0.000,0.035,2054,2508,3619,0,0,0,0,0,0
$GC,11346,-1.28,-146.0,979.0,-4.5,385,11350,0.00,2.25,0.00,0.000,4,0.000,0.046,2054,1379,3618,0,0,0,0,0,0
$GC,11445,-1.28,-146.0,983.9,-4.9,387,11449,0.00,2.28,0.00,0.000,6,0.000,0.041,2054,2507,3618,0,0,0,0,0,0
$STATE,11594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11594,begin apogee
$GC,11598,-0.33,0.0,991.3,5.0,391,11717,1.08,0.00,115.18,1.479,6,0.107,0.000,2266,1949,3071,0,0,0,0,0,0
$STATE,11764,end apogee,CONTROL_FINISHED_OK
$STATE,11764,begin climb
$GC,11765,1.28,146.0,990.4,0.0,394,11900,1.65,2.38,124.30,1.428,4,0.067,0.055,2616,887,2474,0,0,0,0,0,0
$GC,11988,1.28,146.0,962.6,14.1,399,11993,0.00,2.22,0.00,0.000,6,0.000,0.031,2615,1956,2470,0,0,0,0,0,0
$GC,12301,1.28,146.0,919.1,14.1,407,12305,0.00,2.28,0.00,0.000,4,0.000,0.055,2616,884,2467,0,0,0,0,0,0
$GC,12327,1.28,146.0,915.0,14.1,407,12332,0.00,2.20,0.00,0.000,6,0.000,0.031,2616,1950,2468,0,0,0,0,0,0
$GC,12664,1.28,146.0,866.9,14.5,416,12668,0.00,2.25,0.00,0.000,4,0.000,0.056,2616,894,2468,0,0,0,0,0,0
$GC,12692,1.28,146.0,862.7,15.4,416,12696,0.00,2.15,0.00,0.000,6,0.000,0.031,2616,1954,2467,0,0,0,0,0,0
$GC,13022,1.28,146.0,817.1,13.5,424,13026,0.00,2.25,0.00,0.000,4,0.000,0.055,2616,891,2467,0,0,0,0,0,0
$GC,13065,1.28,146.0,810.7,15.2,425,13070,0.00,2.17,0.00,0.000,6,0.000,0.032,2616,1945,2466,0,0,0,0,0,0
$GC,13394,1.28,146.0,767.2,13.0,433,13398,0.00,2.22,0.00,0.000,4,0.000,0.055,2616,892,2466,0,0,0,0,0,0
$GC,13422,1.28,146.0,763.3,13.8,433,13426,0.00,2.10,0.00,0.000,6,0.000,0.031,2616,1938,2465,0,0,0,0,0,0
$GC,13757,1.28,146.0,717.6,13.7,442,13761,0.00,2.25,0.00,0.000,4,0.000,0.055,2615,885,2465,0,0,0,0,0,0
$GC,13806,1.28,146.0,710.3,14.2,443,13811,0.00,2.15,0.00,0.000,6,0.000,0.031,2615,1925,2465,0,0,0,0,0,0
$GC,14125,1.28,146.0,669.3,12.6,451,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1929,2464,0,0,0,0,0,0
$GC,14450,1.28,146.0,631.9,11.4,459,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1930,2464,0,0,0,0,0,0
$GC,14775,1.28,146.0,595.3,11.1,467,14779,0.00,2.20,0.00,0.000,4,0.000,0.054,2616,889,2464,0,0,0,0,0,0
$GC,14818,1.28,146.0,590.1,11.9,468,14823,0.00,2.12,0.00,0.000,6,0.000,0.030,2616,1925,2464,0,0,0,0,0,0
$GC,15142,1.28,146.0,554.7,10.9,476,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1929,2464,0,0,0,0,0,0
$GC,15468,1.28,146.0,520.8,10.0,484,15471,0.00,2.20,0.00,0.000,4,0.000,0.054,2616,888,2464,0,0,0,0,0,0
$GC,15510,1.28,146.0,516.0,11.3,485,15516,0.00,2.12,0.00,0.000,6,0.000,0.028,2616,1931,2464,0,0,0,0,0,0
$GC,15835,1.28,146.0,480.6,11.4,493,15839,0.00,2.20,0.00,0.000,4,0.000,0.053,2616,882,2464,0,0,0,0,0,0
$GC,15866,1.28,146.0,476.8,12.3,493,15873,0.00,2.10,0.00,0.000,6,0.000,0.028,2616,1920,2464,0,0,0,0,0,0
$GC,16197,1.28,146.0,438.1,11.4,502,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1923,2464,0,0,0,0,0,0
$GC,16522,1.28,146.0,404.8,9.9,510,16526,0.00,2.15,0.00,0.000,4,0.000,0.052,2616,890,2465,0,0,0,0,0,0
$GC,16567,1.28,146.0,400.5,9.1,511,16570,0.00,2.08,0.00,0.000,6,0.000,0.028,2616,1918,2465,0,0,0,0,0,0
$GC,16896,1.28,146.0,370.7,9.2,519,16899,0.00,2.17,0.00,0.000,4,0.000,0.053,2616,882,2466,0,0,0,0,0,0
$GC,16940,1.28,146.0,366.1,9.9,520,16944,0.00,2.08,0.00,0.000,6,0.000,0.027,2616,1912,2466,0,0,0,0,0,0
$GC,17268,1.29,151.3,336.7,8.8,528,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1916,2466,0,0,0,0,0,0
$GC,17593,1.30,156.4,308.7,8.8,536,17607,0.00,2.22,8.73,0.822,4,0.000,0.051,2616,891,2432,0,0,0,0,0,0
$GC,17629,1.30,156.4,305.3,10.0,536,17636,0.00,2.05,0.00,0.000,6,0.000,0.024,2616,1904,2432,0,0,0,0,0,0
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$GC,20429,1.46,308.2,44.2,9.9,744,20435,0.00,1.95,0.00,0.000,6,0.000,0.018,2648,1867,1810,0,0,0,0,0,0
$GC,20693,1.54,377.8,28.1,6.1,771,20754,0.12,0.00,56.42,0.629,6,0.061,0.000,2689,1869,1529,0,0,0,0,0,0
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$STATE,20978,end climb,SURFACE_DEPTH_REACHED
$STATE,20978,begin surface coast
$FINISH,1.2,1.009022
$STATE,21006,end surface coast,CONTROL_FINISHED_OK
$STATE,21006,begin surface
$SM_CCo,21091,56.95,0.585,0,0,950,520.04
$SM_GC,1.92,0.00,0.00,56.95,0.000,0.000,0.585,362,2445,950,-9.10,0.42,520.04
$IRIDIUM_FIX,2040.99,12549.95,200512,080811
$TT8_MAMPS,0.033748
$HUMID,1078746442
$TCM_TEMP,24.90
$XPDR_PINGS,385
$24V_AH,23.5,10.530
$10V_AH,9.9,4.658
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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
$DEVICE_SECS,22.925,165.125,449.450,56.950,0.000,29.435,38.174,141.415,96.250,0.000,15.321,1695.731,16133.876,642.466,3053.956,124.735,33.362,1946.597,0.000,2362.706,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,560.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354740
$DATA_FILE_SIZE,30078,828
$CAP_FILE_SIZE,182669,0
$CFSIZE,260034560,254590976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261110,015630,2046.971,12552.475,41,1.4,41,-2.7