version: 66.07
glider: 23
mission: 5
dive: 166
start: 12 20 110 13 6 18
data:
$ID,23
$MISSION,5
$DIVE,166
$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,-54751.988
$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,2680
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$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,0
$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
$GPS1,201210,125706,1917.354,12517.126,29,1.4,30,-2.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-55.6
$GPS2,201210,130525,1917.353,12517.091,46,1.3,46,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.078,-0.197
$KALMAN_X,-278476.2,-673.7,-229.7,203689.2,-1334.1
$KALMAN_Y,95414.9,417.0,109.5,-325685.2,1996.0
$MHEAD_RNG_PITCHd_Wd,203.9,147941,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.00,-146.0,0.0,0.0,0,95,0.00,0.00,-76.62,0.000,2,0.000,0.000,362,2702,2782,0,0,0,0,0,0
$GC,97,-1.00,-146.0,3.1,-1.4,15,150,10.18,1.70,-33.33,0.000,4,0.159,0.058,2140,3728,3669,0,0,0,0,0,0
$GC,401,-1.00,-146.0,48.3,-18.1,61,408,0.00,1.70,0.00,0.000,6,0.000,0.025,2139,2674,3669,0,0,0,0,0,0
$GC,662,-1.00,-146.0,99.1,-18.7,86,666,0.00,1.70,0.00,0.000,4,0.000,0.036,2140,3741,3670,0,0,0,0,0,0
$GC,921,-1.00,-146.0,140.9,-14.7,109,925,0.00,1.65,0.00,0.000,6,0.000,0.024,2139,2675,3671,0,0,0,0,0,0
$GC,1187,-1.00,-146.0,172.0,-10.3,134,1191,0.00,1.73,0.00,0.000,4,0.000,0.038,2140,3742,3672,0,0,0,0,0,0
$GC,1444,-1.00,-146.0,205.2,-12.4,155,1449,0.00,1.70,0.00,0.000,6,0.000,0.022,2140,2669,3672,0,0,0,0,0,0
$GC,1766,-1.00,-146.0,239.6,-9.9,171,1769,0.00,1.75,0.00,0.000,4,0.000,0.041,2139,3747,3672,0,0,0,0,0,0
$GC,2022,-1.00,-146.0,269.7,-11.8,182,2027,0.00,1.73,0.00,0.000,6,0.000,0.022,2140,2666,3672,0,0,0,0,0,0
$GC,2344,-1.00,-146.0,300.7,-8.6,198,2348,0.00,2.08,0.00,0.000,4,0.000,0.039,2140,1629,3670,0,0,0,0,0,0
$GC,2393,-1.00,-146.0,305.0,-8.1,199,2398,0.00,2.08,0.00,0.000,6,0.000,0.028,2139,2668,3670,0,0,0,0,0,0
$GC,2718,-1.00,-146.0,330.1,-8.1,207,2721,0.00,2.08,0.00,0.000,4,0.000,0.037,2140,1624,3669,0,0,0,0,0,0
$GC,2817,-1.00,-146.0,338.8,-8.7,209,2822,0.00,2.08,0.00,0.000,6,0.000,0.028,2140,2657,3669,0,0,0,0,0,0
$GC,3131,-1.00,-146.0,365.5,-8.8,217,3134,0.00,2.08,0.00,0.000,4,0.000,0.038,2140,1617,3667,0,0,0,0,0,0
$GC,3314,-1.00,-146.0,382.4,-8.7,221,3319,0.00,2.08,0.00,0.000,6,0.000,0.030,2140,2650,3666,0,0,0,0,0,0
$GC,3633,-1.00,-146.0,410.0,-8.2,229,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2649,3665,0,0,0,0,0,0
$GC,3958,-1.00,-146.0,433.5,-7.4,237,3962,0.00,2.08,0.00,0.000,4,0.000,0.039,2139,1625,3663,0,0,0,0,0,0
$GC,4023,-1.00,-146.0,438.8,-8.7,238,4028,0.00,2.08,0.00,0.000,6,0.000,0.031,2139,2650,3662,0,0,0,0,0,0
$GC,4366,-1.00,-146.0,470.2,-9.5,247,4370,0.00,2.08,0.00,0.000,4,0.000,0.038,2139,1617,3660,0,0,0,0,0,0
$GC,4443,-1.00,-146.0,477.3,-8.8,248,4447,0.00,2.08,0.00,0.000,6,0.000,0.031,2139,2645,3659,0,0,0,0,0,0
$GC,4780,-1.00,-146.0,505.3,-8.0,257,4783,0.00,2.05,0.00,0.000,4,0.000,0.039,2140,1622,3658,0,0,0,0,0,0
$GC,5014,-1.00,-146.0,520.6,-5.2,262,5019,0.00,2.05,0.00,0.000,6,0.000,0.032,2139,2635,3656,0,0,0,0,0,0
$GC,5328,-1.00,-146.0,535.0,-4.2,270,5331,0.00,2.03,0.00,0.000,4,0.000,0.040,2140,1628,3654,0,0,0,0,0,0
$GC,5360,-1.00,-146.0,536.7,-4.6,270,5365,0.00,2.05,0.00,0.000,6,0.000,0.033,2140,2635,3653,0,0,0,0,0,0
$GC,5697,-1.00,-146.0,555.4,-6.1,279,5701,0.00,2.05,0.00,0.000,4,0.000,0.041,2139,1618,3650,0,0,0,0,0,0
$GC,5786,-1.00,-146.0,561.8,-7.0,281,5790,0.00,2.08,0.00,0.000,6,0.000,0.034,2140,2635,3649,0,0,0,0,0,0
$GC,6111,-1.00,-146.0,583.4,-6.4,289,6115,0.00,2.05,0.00,0.000,4,0.000,0.041,2139,1619,3647,0,0,0,0,0,0
$GC,6216,-1.00,-146.0,589.5,-5.7,291,6220,0.00,2.08,0.00,0.000,6,0.000,0.034,2139,2634,3646,0,0,0,0,0,0
$GC,6565,-1.00,-146.0,608.1,-5.5,300,6569,0.00,2.05,0.00,0.000,4,0.000,0.041,2139,1628,3644,0,0,0,0,0,0
$GC,6822,-1.00,-146.0,623.6,-6.4,305,6826,0.00,2.05,0.00,0.000,6,0.000,0.035,2139,2627,3643,0,0,0,0,0,0
$GC,7159,-1.00,-146.0,645.3,-6.7,314,7162,0.00,2.05,0.00,0.000,4,0.000,0.041,2139,1625,3640,0,0,0,0,0,0
$GC,7416,-1.00,-146.0,663.9,-7.5,319,7420,0.00,2.03,0.00,0.000,6,0.000,0.036,2139,2609,3638,0,0,0,0,0,0
$GC,7753,-1.00,-146.0,686.3,-6.4,328,7757,0.00,2.03,0.00,0.000,4,0.000,0.042,2139,1621,3637,0,0,0,0,0,0
$GC,7926,-1.00,-146.0,696.0,-4.7,331,7932,0.00,2.03,0.00,0.000,6,0.000,0.037,2140,2604,3635,0,0,0,0,0,0
$GC,8258,-1.00,-146.0,711.7,-4.8,340,8261,0.00,2.03,0.00,0.000,4,0.000,0.043,2139,1622,3633,0,0,0,0,0,0
$GC,8352,-1.00,-146.0,716.6,-5.2,342,8356,0.00,2.03,0.00,0.000,6,0.000,0.038,2140,2599,3633,0,0,0,0,0,0
$GC,8677,-1.00,-146.0,735.8,-6.3,350,8681,0.00,2.00,0.00,0.000,4,0.000,0.043,2139,1619,3631,0,0,0,0,0,0
$GC,8771,-1.00,-146.0,742.4,-6.7,352,8776,0.00,2.03,0.00,0.000,6,0.000,0.038,2140,2594,3630,0,0,0,0,0,0
$GC,9097,-1.00,-146.0,764.5,-6.7,360,9101,0.00,2.00,0.00,0.000,4,0.000,0.043,2140,1622,3629,0,0,0,0,0,0
$GC,9277,-1.00,-146.0,775.9,-5.7,364,9280,0.00,2.00,0.00,0.000,6,0.000,0.038,2139,2595,3628,0,0,0,0,0,0
$GC,9607,-1.00,-146.0,792.8,-4.8,372,9610,0.00,2.00,0.00,0.000,4,0.000,0.042,2139,1628,3626,0,0,0,0,0,0
$GC,9837,-1.00,-146.0,804.0,-4.0,377,9841,0.00,1.98,0.00,0.000,6,0.000,0.038,2139,2586,3625,0,0,0,0,0,0
$GC,10161,-1.00,-146.0,819.2,-4.9,385,10165,0.00,1.98,0.00,0.000,4,0.000,0.042,2139,1621,3624,0,0,0,0,0,0
$GC,10222,-1.00,-146.0,822.7,-5.8,386,10226,0.00,2.00,0.00,0.000,6,0.000,0.038,2139,2580,3624,0,0,0,0,0,0
$GC,10536,-1.00,-146.0,838.6,-5.1,394,10539,0.00,1.98,0.00,0.000,4,0.000,0.042,2139,1617,3623,0,0,0,0,0,0
$GC,10676,-1.00,-146.0,845.8,-5.2,397,10679,0.00,2.00,0.00,0.000,6,0.000,0.038,2139,2585,3622,0,0,0,0,0,0
$GC,11000,-1.00,-146.0,862.0,-5.0,405,11003,0.00,1.98,0.00,0.000,4,0.000,0.042,2139,1620,3621,0,0,0,0,0,0
$GC,11045,-1.00,-146.0,864.5,-4.8,406,11048,0.00,1.98,0.00,0.000,6,0.000,0.038,2140,2576,3621,0,0,0,0,0,0
$GC,11375,-1.00,-146.0,879.9,-4.6,414,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2576,3620,0,0,0,0,0,0
$GC,11699,-1.00,-146.0,894.2,-4.3,422,11703,0.00,1.95,0.00,0.000,4,0.000,0.042,2139,1625,3619,0,0,0,0,0,0
$GC,11744,-1.00,-146.0,896.1,-4.6,423,11748,0.00,1.98,0.00,0.000,6,0.000,0.038,2139,2581,3619,0,0,0,0,0,0
$GC,12074,-1.00,-146.0,911.7,-5.0,431,12078,0.00,1.98,0.00,0.000,4,0.000,0.041,2139,1628,3618,0,0,0,0,0,0
$GC,12264,-1.00,-146.0,922.0,-5.2,435,12268,0.00,1.95,0.00,0.000,6,0.000,0.038,2140,2559,3618,0,0,0,0,0,0
$GC,12584,-1.00,-146.0,939.5,-5.6,443,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2558,3617,0,0,0,0,0,0
$GC,12908,-1.00,-146.0,956.5,-5.1,451,12911,0.00,1.95,0.00,0.000,4,0.000,0.042,2139,1618,3617,0,0,0,0,0,0
$GC,13165,-1.00,-146.0,968.7,-5.2,456,13169,0.00,1.95,0.00,0.000,6,0.000,0.038,2140,2553,3617,0,0,0,0,0,0
$GC,13503,-1.00,-146.0,982.4,-3.9,465,13507,0.00,1.92,0.00,0.000,4,0.000,0.041,2139,1625,3616,0,0,0,0,0,0
$GC,13653,-1.00,-146.0,988.6,-4.4,468,13658,0.00,1.95,0.00,0.000,6,0.000,0.038,2139,2553,3616,0,0,0,0,0,0
$STATE,13721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13721,begin apogee
$GC,13727,-0.33,0.0,991.3,3.9,470,13846,0.70,0.00,115.35,1.498,6,0.096,0.000,2283,1945,3071,0,0,0,0,0,0
$STATE,13846,end apogee,CONTROL_FINISHED_OK
$STATE,13847,begin climb
$GC,13848,1.00,146.0,989.8,0.0,473,13984,1.38,2.42,125.75,1.434,4,0.066,0.050,2574,872,2474,0,0,0,0,0,0
$GC,14028,1.00,146.0,974.9,9.8,477,14032,0.00,2.28,0.00,0.000,6,0.000,0.028,2574,1947,2471,0,0,0,0,0,0
$GC,14342,1.00,146.0,945.4,9.2,485,14346,0.00,2.33,0.00,0.000,4,0.000,0.050,2574,878,2468,0,0,0,0,0,0
$GC,14373,1.00,146.0,942.3,10.3,485,14380,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1935,2468,0,0,0,0,0,0
$GC,14704,1.00,146.0,914.4,8.1,494,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1941,2468,0,0,0,0,0,0
$GC,15030,1.00,146.0,890.6,7.3,502,15033,0.00,2.30,0.00,0.000,4,0.000,0.051,2574,874,2467,0,0,0,0,0,0
$GC,15061,1.00,146.0,887.9,7.9,502,15066,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1933,2467,0,0,0,0,0,0
$GC,15399,1.00,146.0,861.9,7.9,511,15403,0.00,2.30,0.00,0.000,4,0.000,0.050,2573,874,2466,0,0,0,0,0,0
$GC,15424,1.00,146.0,859.5,9.0,511,15429,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1934,2466,0,0,0,0,0,0
$GC,15761,1.00,146.0,828.2,9.7,520,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1941,2465,0,0,0,0,0,0
$GC,16087,1.00,146.0,795.4,10.1,528,16091,0.00,2.28,0.00,0.000,4,0.000,0.051,2575,881,2465,0,0,0,0,0,0
$GC,16119,1.00,146.0,791.9,10.2,528,16123,0.00,2.17,0.00,0.000,6,0.000,0.029,2574,1918,2465,0,0,0,0,0,0
$GC,16456,1.00,146.0,758.6,9.7,537,16460,0.00,2.25,0.00,0.000,4,0.000,0.050,2574,880,2465,0,0,0,0,0,0
$GC,16494,1.00,146.0,754.7,11.0,538,16498,0.00,2.15,0.00,0.000,6,0.000,0.029,2574,1929,2465,0,0,0,0,0,0
$GC,16818,1.00,146.0,722.0,10.4,546,16819,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1936,2465,0,0,0,0,0,0
$GC,17142,1.00,146.0,689.5,9.8,554,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1936,2465,0,0,0,0,0,0
$GC,17467,1.00,146.0,659.3,9.1,562,17471,0.00,2.30,0.00,0.000,4,0.000,0.051,2574,868,2464,0,0,0,0,0,0
$GC,17498,1.00,146.0,656.2,8.7,562,17505,0.00,2.17,0.00,0.000,6,0.000,0.028,2574,1912,2465,0,0,0,0,0,0
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$STATE,25890,end climb,SURFACE_DEPTH_REACHED
$STATE,25890,begin surface coast
$FINISH,1.7,1.022630
$STATE,25925,end surface coast,CONTROL_FINISHED_OK
$STATE,25925,begin surface
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$HUMID,1078777410
$TCM_TEMP,24.90
$XPDR_PINGS,44
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$10V_AH,10.0,14.545
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.050,230.900,385.525,100.400,0.000,28.851,40.918,277.899,11.000,0.000,48.699,2247.795,20045.227,685.557,3289.532,257.960,33.370,2249.926,0.000,2858.001,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,36648,1006
$CAP_FILE_SIZE,288582,0
$CFSIZE,260034560,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201210,202137,1915.513,12515.072,37,1.3,38,-2.3