version: 66.07
glider: 23
mission: 5
dive: 152
start: 12 16 110 6 22 5
data:
$ID,23
$MISSION,5
$DIVE,152
$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,471
$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,-53149.109
$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,2360
$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,2690
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,35
$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
$GPS1,161210,060925,1937.535,12549.818,39,1.3,40,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-48.0
$GPS2,161210,062113,1937.407,12549.663,30,1.3,30,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.050,-0.206
$KALMAN_X,-232512.2,442.3,-82.4,212651.1,-3586.4
$KALMAN_Y,59444.4,-783.9,262.3,-251541.4,1368.9
$MHEAD_RNG_PITCHd_Wd,196.1,215195,-12.7,-7.006
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.00,-146.0,0.0,0.0,0,107,0.00,0.00,-80.53,0.000,2,0.000,0.000,359,2702,2863,0,0,0,0,0,0
$GC,109,-1.00,-146.0,3.2,-1.8,16,155,10.10,1.75,-27.98,0.000,4,0.155,0.058,2134,3744,3669,0,0,0,0,0,0
$GC,408,-1.00,-146.0,54.1,-20.0,60,412,0.00,1.73,0.00,0.000,6,0.000,0.028,2134,2675,3669,0,0,0,0,0,0
$GC,675,-1.00,-146.0,104.6,-20.4,85,678,0.00,1.70,0.00,0.000,4,0.000,0.037,2134,3742,3669,0,0,0,0,0,0
$GC,932,-1.00,-146.0,144.8,-16.1,108,936,0.00,1.67,0.00,0.000,6,0.000,0.025,2134,2695,3669,0,0,0,0,0,0
$GC,1199,-1.00,-146.0,184.5,-15.1,133,1202,0.00,1.70,0.00,0.000,4,0.000,0.039,2134,3744,3670,0,0,0,0,0,0
$GC,1456,-1.00,-146.0,216.5,-12.1,150,1460,0.00,1.67,0.00,0.000,6,0.000,0.023,2134,2695,3670,0,0,0,0,0,0
$GC,1777,-1.00,-146.0,254.2,-11.9,166,1780,0.00,1.70,0.00,0.000,4,0.000,0.041,2134,3740,3671,0,0,0,0,0,0
$GC,1895,-1.00,-146.0,269.0,-12.0,171,1898,0.00,1.67,0.00,0.000,6,0.000,0.025,2134,2680,3670,0,0,0,0,0,0
$GC,2220,-1.00,-146.0,301.6,-8.7,187,2224,0.00,2.05,0.00,0.000,4,0.000,0.040,2134,1635,3669,0,0,0,0,0,0
$GC,2466,-1.00,-146.0,320.5,-7.5,192,2471,0.00,2.08,0.00,0.000,6,0.000,0.030,2134,2681,3668,0,0,0,0,0,0
$GC,2814,-1.00,-146.0,351.5,-9.8,201,2818,0.00,2.08,0.00,0.000,4,0.000,0.038,2134,1623,3666,0,0,0,0,0,0
$GC,2902,-1.00,-146.0,361.1,-10.3,203,2906,0.00,2.10,0.00,0.000,6,0.000,0.030,2134,2686,3665,0,0,0,0,0,0
$GC,3226,-1.00,-146.0,394.0,-10.1,211,3230,0.00,2.10,0.00,0.000,4,0.000,0.038,2134,1623,3664,0,0,0,0,0,0
$GC,3426,-1.00,-146.0,408.0,-6.0,215,3431,0.00,2.08,0.00,0.000,6,0.000,0.031,2134,2667,3663,0,0,0,0,0,0
$GC,3769,-1.00,-146.0,426.0,-5.4,224,3773,0.00,2.05,0.00,0.000,4,0.000,0.038,2135,1623,3661,0,0,0,0,0,0
$GC,3812,-1.00,-146.0,428.3,-5.5,225,3816,0.00,2.08,0.00,0.000,6,0.000,0.031,2134,2660,3660,0,0,0,0,0,0
$GC,4136,-1.00,-146.0,448.4,-7.0,233,4140,0.00,2.05,0.00,0.000,4,0.000,0.038,2134,1633,3658,0,0,0,0,0,0
$GC,4387,-1.00,-146.0,469.8,-8.8,238,4392,0.00,2.05,0.00,0.000,6,0.000,0.032,2134,2651,3656,0,0,0,0,0,0
$GC,4730,-1.00,-146.0,499.6,-8.2,247,4734,0.00,2.05,0.00,0.000,4,0.000,0.040,2134,1629,3653,0,0,0,0,0,0
$GC,4987,-1.00,-146.0,516.6,-6.0,252,4992,0.00,2.05,0.00,0.000,6,0.000,0.033,2134,2644,3651,0,0,0,0,0,0
$GC,5324,-1.00,-146.0,541.4,-8.2,261,5327,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1624,3648,0,0,0,0,0,0
$GC,5384,-1.00,-146.0,547.0,-9.3,262,5389,0.00,2.05,0.00,0.000,6,0.000,0.033,2134,2640,3647,0,0,0,0,0,0
$GC,5697,-1.00,-146.0,574.5,-8.8,270,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2640,3646,0,0,0,0,0,0
$GC,6022,-1.00,-146.0,598.8,-7.1,278,6026,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1623,3643,0,0,0,0,0,0
$GC,6076,-1.00,-146.0,603.0,-7.5,279,6081,0.00,2.08,0.00,0.000,6,0.000,0.035,2134,2648,3642,0,0,0,0,0,0
$GC,6395,-1.00,-146.0,624.8,-7.1,287,6399,0.00,1.83,0.00,0.000,4,0.000,0.054,2135,3744,3641,0,0,0,0,0,0
$GC,6421,-1.00,-146.0,626.9,-7.9,287,6426,0.00,1.80,0.00,0.000,6,0.000,0.027,2134,2630,3640,0,0,0,0,0,0
$GC,6765,-1.00,-146.0,648.8,-6.2,296,6768,0.00,2.03,0.00,0.000,4,0.000,0.044,2134,1624,3638,0,0,0,0,0,0
$GC,6989,-1.00,-146.0,661.1,-5.9,301,6993,0.00,2.05,0.00,0.000,6,0.000,0.037,2134,2648,3636,0,0,0,0,0,0
$GC,7313,-1.00,-146.0,679.4,-5.6,309,7316,0.00,1.88,0.00,0.000,4,0.000,0.058,2134,3751,3635,0,0,0,0,0,0
$GC,7368,-1.00,-146.0,682.8,-5.9,310,7372,0.00,1.83,0.00,0.000,6,0.000,0.028,2134,2627,3634,0,0,0,0,0,0
$GC,7686,-1.00,-146.0,699.1,-4.9,318,7690,0.00,2.00,0.00,0.000,4,0.000,0.048,2134,1633,3632,0,0,0,0,0,0
$GC,7741,-1.00,-146.0,701.8,-4.5,319,7745,0.00,2.05,0.00,0.000,6,0.000,0.040,2134,2638,3631,0,0,0,0,0,0
$GC,8060,-1.00,-146.0,714.3,-3.9,327,8063,0.00,1.88,0.00,0.000,4,0.000,0.059,2134,3753,3630,0,0,0,0,0,0
$GC,8284,-1.00,-146.0,726.1,-5.8,332,8288,0.00,1.77,0.00,0.000,6,0.000,0.030,2134,2631,3629,0,0,0,0,0,0
$GC,8613,-1.00,-146.0,746.5,-6.4,340,8617,0.00,2.03,0.00,0.000,4,0.000,0.046,2134,1626,3627,0,0,0,0,0,0
$GC,8764,-1.00,-146.0,756.2,-6.6,343,8768,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2644,3626,0,0,0,0,0,0
$GC,9077,-1.00,-146.0,774.6,-5.8,351,9080,0.00,2.05,0.00,0.000,4,0.000,0.043,2134,1629,3625,0,0,0,0,0,0
$GC,9188,-1.00,-146.0,780.9,-5.5,353,9192,0.00,2.05,0.00,0.000,6,0.000,0.040,2134,2631,3625,0,0,0,0,0,0
$GC,9536,-1.00,-146.0,798.3,-4.9,362,9540,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1627,3623,0,0,0,0,0,0
$GC,9793,-1.00,-146.0,810.2,-4.6,367,9797,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2614,3621,0,0,0,0,0,0
$GC,10130,-1.00,-146.0,825.3,-4.8,376,10133,0.00,1.98,0.00,0.000,4,0.000,0.042,2134,1630,3620,0,0,0,0,0,0
$GC,10360,-1.00,-146.0,836.7,-5.0,381,10364,0.00,1.98,0.00,0.000,6,0.000,0.040,2134,2614,3619,0,0,0,0,0,0
$GC,10684,-1.00,-146.0,856.4,-6.4,389,10687,0.00,2.00,0.00,0.000,4,0.000,0.042,2134,1628,3618,0,0,0,0,0,0
$GC,10867,-1.00,-146.0,868.2,-6.6,393,10872,0.00,2.00,0.00,0.000,6,0.000,0.039,2134,2598,3617,0,0,0,0,0,0
$GC,11192,-1.00,-146.0,888.5,-6.1,401,11196,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1610,3617,0,0,0,0,0,0
$GC,11437,-1.00,-146.0,900.3,-4.3,406,11442,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2590,3615,0,0,0,0,0,0
$GC,11786,-1.00,-146.0,911.7,-3.0,415,11789,0.00,1.95,0.00,0.000,4,0.000,0.041,2134,1634,3615,0,0,0,0,0,0
$GC,12043,-1.00,-146.0,918.6,-2.6,420,12047,0.00,1.98,0.00,0.000,6,0.000,0.039,2134,2588,3614,0,0,0,0,0,0
$GC,12380,-1.00,-146.0,927.6,-2.8,429,12384,0.00,1.95,0.00,0.000,4,0.000,0.041,2134,1621,3614,0,0,0,0,0,0
$GC,12632,-1.00,-146.0,935.2,-3.1,434,12636,0.00,1.98,0.00,0.000,6,0.000,0.039,2134,2574,3613,0,0,0,0,0,0
$GC,12974,-1.00,-146.0,949.3,-4.4,443,12977,0.00,1.90,0.00,0.000,4,0.000,0.041,2134,1631,3613,0,0,0,0,0,0
$GC,13051,-1.00,-146.0,953.0,-4.5,444,13055,0.00,1.98,0.00,0.000,6,0.000,0.040,2134,2580,3613,0,0,0,0,0,0
$GC,13388,-1.00,-146.0,970.7,-5.4,453,13392,0.00,1.95,0.00,0.000,4,0.000,0.060,2134,3745,3613,0,0,0,0,0,0
$GC,13645,-1.00,-146.0,986.4,-5.2,458,13650,0.00,1.90,0.00,0.000,6,0.000,0.030,2134,2574,3611,0,0,0,0,0,0
$STATE,13737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13737,begin apogee
$GC,13742,-0.33,0.0,990.9,4.8,461,13860,0.73,0.00,114.32,1.501,6,0.094,0.000,2283,1953,3071,0,0,0,0,0,0
$STATE,13863,end apogee,CONTROL_FINISHED_OK
$STATE,13863,begin climb
$GC,13865,1.00,146.0,990.2,0.0,464,14000,1.38,2.40,125.07,1.442,4,0.066,0.054,2574,895,2474,0,0,0,0,0,0
$GC,14028,1.00,146.0,977.2,9.8,468,14031,0.00,2.22,0.00,0.000,6,0.000,0.030,2574,1967,2473,0,0,0,0,0,0
$GC,14356,1.00,146.0,945.0,9.7,476,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1971,2469,0,0,0,0,0,0
$GC,14682,1.00,146.0,912.0,10.3,484,14686,0.00,2.35,0.00,0.000,4,0.000,0.053,2574,888,2468,0,0,0,0,0,0
$GC,14758,1.00,146.0,903.4,9.9,485,14765,0.00,2.22,0.00,0.000,6,0.000,0.030,2574,1946,2468,0,0,0,0,0,0
$GC,15089,1.00,146.0,869.4,10.0,494,15093,0.00,2.33,0.00,0.000,4,0.000,0.054,2574,889,2467,0,0,0,0,0,0
$GC,15144,1.00,146.0,863.7,9.9,495,15148,0.00,2.20,0.00,0.000,6,0.000,0.030,2575,1940,2466,0,0,0,0,0,0
$GC,15457,1.00,146.0,833.8,9.5,503,15461,0.00,2.28,0.00,0.000,4,0.000,0.054,2575,894,2466,0,0,0,0,0,0
$GC,15488,1.00,146.0,830.5,10.4,503,15495,0.00,2.17,0.00,0.000,6,0.000,0.029,2574,1933,2466,0,0,0,0,0,0
$GC,15820,1.00,146.0,799.4,9.2,512,15824,0.00,2.28,0.00,0.000,4,0.000,0.055,2574,889,2466,0,0,0,0,0,0
$GC,15851,1.00,146.0,796.4,9.9,512,15857,0.00,2.20,0.00,0.000,6,0.000,0.029,2574,1936,2466,0,0,0,0,0,0
$GC,16182,1.00,146.0,766.4,9.0,521,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1940,2465,0,0,0,0,0,0
$GC,16507,1.00,146.0,734.1,10.3,529,16511,0.00,2.28,0.00,0.000,4,0.000,0.055,2574,890,2465,0,0,0,0,0,0
$GC,16556,1.00,146.0,728.5,11.3,530,16561,0.00,2.15,0.00,0.000,6,0.000,0.028,2574,1921,2465,0,0,0,0,0,0
$GC,16875,1.00,146.0,696.5,9.8,538,16878,0.00,2.05,0.00,0.000,4,0.000,0.041,2575,3019,2465,0,0,0,0,0,0
$GC,16935,1.00,146.0,690.4,10.0,539,16940,0.00,2.10,0.00,0.000,6,0.000,0.035,2574,1930,2465,0,0,0,0,0,0
$GC,17248,1.00,146.0,659.0,10.3,547,17252,0.00,2.03,0.00,0.000,4,0.000,0.037,2574,3010,2465,0,0,0,0,0,0
$GC,17269,1.00,146.0,656.6,11.3,547,17274,0.00,2.08,0.00,0.000,6,0.000,0.036,2574,1938,2465,0,0,0,0,0,0
$GC,17617,1.00,146.0,623.7,8.6,556,17621,0.00,2.28,0.00,0.000,4,0.000,0.056,2574,874,2465,0,0,0,0,0,0
$GC,17688,1.00,146.0,618.0,8.5,557,17693,0.00,2.20,0.00,0.000,6,0.000,0.027,2574,1941,2465,0,0,0,0,0,0
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$STATE,25717,end climb,SURFACE_DEPTH_REACHED
$STATE,25717,begin surface coast
$FINISH,1.8,1.012729
$STATE,25741,end surface coast,CONTROL_FINISHED_OK
$STATE,25741,begin surface
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$HUMID,1078787732
$TCM_TEMP,25.30
$XPDR_PINGS,474
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2093514752
$AR_CDRIVE_SIZE,2098135040
$24V_AH,23.5,25.838
$10V_AH,10.0,12.721
$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
$DEVICE_SECS,22.625,225.225,590.300,0.000,0.000,58.913,69.827,388.536,118.500,0.000,31.883,2081.786,19868.885,711.367,3690.086,219.793,33.363,2370.897,0.000,3031.738,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,668.880,0.000,0.000,0.000,0.000,0.000,0.000,22043.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.614,0.000,0.000
$MEM,354880
$DATA_FILE_SIZE,36636,986
$CAP_FILE_SIZE,229279,0
$CFSIZE,260034560,247873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161210,133437,1936.067,12546.215,38,2.0,39,-2.4