version: 66.07
glider: 23
mission: 5
dive: 167
start: 12 20 110 20 33 24
data:
$ID,23
$MISSION,5
$DIVE,167
$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,-54768.711
$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,16
$R_STBD_OVSHOOT,37
$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
$GPS1,201210,202137,1915.513,12515.072,37,1.3,38,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-54.9
$GPS2,201210,203231,1915.373,12515.025,14,1.4,14,-2.3
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.210
$KALMAN_X,-281623.1,825.7,47.9,201493.5,-4042.7
$KALMAN_Y,98043.5,-186.6,-21.7,-331250.6,2611.1
$MHEAD_RNG_PITCHd_Wd,175.1,142781,-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,-80.43,0.000,2,0.000,0.000,367,2711,2869,0,0,0,0,0,0
$GC,109,-1.00,-146.0,3.3,-1.7,16,155,9.95,2.25,-27.23,0.000,4,0.150,0.045,2135,1610,3668,0,0,0,0,0,0
$GC,345,-1.00,-146.0,45.4,-19.7,52,351,0.00,2.12,0.00,0.000,6,0.000,0.024,2134,2689,3667,0,0,0,0,0,0
$GC,606,-1.00,-146.0,98.2,-21.1,77,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2689,3668,0,0,0,0,0,0
$GC,861,-1.00,-146.0,140.9,-12.4,101,865,0.00,1.67,0.00,0.000,4,0.000,0.039,2134,3733,3668,0,0,0,0,0,0
$GC,1119,-1.00,-146.0,174.7,-13.0,124,1123,0.00,1.70,0.00,0.000,6,0.000,0.023,2134,2659,3668,0,0,0,0,0,0
$GC,1395,-1.00,-146.0,206.5,-12.6,148,1398,0.00,1.75,0.00,0.000,4,0.000,0.038,2134,3738,3669,0,0,0,0,0,0
$GC,1652,-1.00,-146.0,240.4,-11.2,159,1656,0.00,1.67,0.00,0.000,6,0.000,0.023,2134,2684,3669,0,0,0,0,0,0
$GC,1973,-1.00,-146.0,271.7,-11.1,175,1976,0.00,1.75,0.00,0.000,4,0.000,0.041,2135,3741,3669,0,0,0,0,0,0
$GC,2224,-1.00,-146.0,302.4,-11.5,186,2229,0.00,1.70,0.00,0.000,6,0.000,0.022,2134,2674,3668,0,0,0,0,0,0
$GC,2567,-1.00,-146.0,338.1,-9.9,195,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2673,3667,0,0,0,0,0,0
$GC,2892,-1.00,-146.0,362.0,-6.6,203,2896,0.00,2.10,0.00,0.000,4,0.000,0.037,2134,1621,3665,0,0,0,0,0,0
$GC,3100,-1.00,-146.0,374.8,-6.2,207,3104,0.00,2.10,0.00,0.000,6,0.000,0.030,2134,2682,3664,0,0,0,0,0,0
$GC,3429,-1.00,-146.0,398.0,-7.1,215,3433,0.00,2.10,0.00,0.000,4,0.000,0.037,2134,1627,3663,0,0,0,0,0,0
$GC,3462,-1.00,-146.0,400.7,-8.2,215,3466,0.00,2.12,0.00,0.000,6,0.000,0.030,2134,2688,3662,0,0,0,0,0,0
$GC,3798,-1.00,-146.0,427.0,-8.2,224,3802,0.00,2.12,0.00,0.000,4,0.000,0.037,2134,1625,3660,0,0,0,0,0,0
$GC,4055,-1.00,-146.0,446.2,-6.6,229,4061,0.00,2.12,0.00,0.000,6,0.000,0.031,2134,2681,3658,0,0,0,0,0,0
$GC,4387,-1.00,-146.0,466.8,-6.2,238,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2680,3656,0,0,0,0,0,0
$GC,4712,-1.00,-146.0,486.7,-6.4,246,4715,0.00,2.12,0.00,0.000,4,0.000,0.038,2134,1628,3654,0,0,0,0,0,0
$GC,4834,-1.00,-146.0,495.9,-7.1,248,4838,0.00,2.10,0.00,0.000,6,0.000,0.031,2134,2672,3652,0,0,0,0,0,0
$GC,5170,-1.00,-146.0,524.2,-8.7,257,5174,0.00,2.08,0.00,0.000,4,0.000,0.037,2134,1626,3649,0,0,0,0,0,0
$GC,5427,-1.00,-146.0,546.1,-8.3,262,5434,0.00,2.10,0.00,0.000,6,0.000,0.032,2134,2664,3647,0,0,0,0,0,0
$GC,5759,-1.00,-146.0,569.0,-6.2,271,5763,0.00,2.10,0.00,0.000,4,0.000,0.038,2134,1618,3644,0,0,0,0,0,0
$GC,6010,-1.00,-146.0,581.2,-4.6,276,6014,0.00,2.12,0.00,0.000,6,0.000,0.033,2134,2670,3643,0,0,0,0,0,0
$GC,6353,-1.00,-146.0,600.0,-6.0,285,6357,0.00,2.10,0.00,0.000,4,0.000,0.038,2134,1626,3641,0,0,0,0,0,0
$GC,6392,-1.00,-146.0,602.5,-6.2,286,6396,0.00,2.05,0.00,0.000,6,0.000,0.034,2134,2663,3641,0,0,0,0,0,0
$GC,6715,-1.00,-146.0,623.8,-6.5,294,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2663,3639,0,0,0,0,0,0
$GC,7040,-1.00,-146.0,642.7,-5.6,302,7044,0.00,2.08,0.00,0.000,4,0.000,0.039,2134,1624,3637,0,0,0,0,0,0
$GC,7185,-1.00,-146.0,650.5,-5.9,305,7189,0.00,2.05,0.00,0.000,6,0.000,0.035,2134,2654,3636,0,0,0,0,0,0
$GC,7497,-1.00,-146.0,669.3,-6.4,313,7501,0.00,2.08,0.00,0.000,4,0.000,0.041,2135,1626,3633,0,0,0,0,0,0
$GC,7755,-1.00,-146.0,684.5,-6.2,318,7761,0.00,2.08,0.00,0.000,6,0.000,0.036,2134,2639,3632,0,0,0,0,0,0
$GC,8086,-1.00,-146.0,704.7,-6.3,327,8090,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1625,3630,0,0,0,0,0,0
$GC,8342,-1.00,-146.0,721.1,-6.9,332,8347,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2636,3629,0,0,0,0,0,0
$GC,8680,-1.00,-146.0,739.7,-5.2,341,8684,0.00,2.08,0.00,0.000,4,0.000,0.042,2134,1616,3627,0,0,0,0,0,0
$GC,8831,-1.00,-146.0,747.0,-4.8,344,8834,0.00,2.05,0.00,0.000,6,0.000,0.038,2134,2645,3627,0,0,0,0,0,0
$GC,9179,-1.00,-146.0,763.1,-4.8,353,9182,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1619,3624,0,0,0,0,0,0
$GC,9396,-1.00,-146.0,774.1,-4.5,357,9403,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2632,3624,0,0,0,0,0,0
$GC,9728,-1.00,-146.0,791.0,-5.1,366,9732,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1624,3622,0,0,0,0,0,0
$GC,9828,-1.00,-146.0,796.2,-4.8,368,9832,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2633,3622,0,0,0,0,0,0
$GC,10147,-1.00,-146.0,812.9,-5.2,376,10150,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1627,3621,0,0,0,0,0,0
$GC,10230,-1.00,-146.0,817.4,-5.2,377,10236,0.00,2.05,0.00,0.000,6,0.000,0.038,2134,2626,3621,0,0,0,0,0,0
$GC,10561,-1.00,-146.0,834.8,-5.2,386,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2625,3620,0,0,0,0,0,0
$GC,10886,-1.00,-146.0,850.4,-4.7,394,10890,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1620,3618,0,0,0,0,0,0
$GC,10991,-1.00,-146.0,855.2,-4.1,396,10995,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2627,3619,0,0,0,0,0,0
$GC,11304,-1.00,-146.0,869.0,-4.4,404,11308,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1622,3617,0,0,0,0,0,0
$GC,11415,-1.00,-146.0,874.0,-4.1,406,11419,0.00,2.05,0.00,0.000,6,0.000,0.038,2134,2630,3617,0,0,0,0,0,0
$GC,11763,-1.00,-146.0,889.2,-4.4,415,11766,0.00,2.05,0.00,0.000,4,0.000,0.042,2134,1625,3616,0,0,0,0,0,0
$GC,11840,-1.00,-146.0,893.1,-5.0,416,11844,0.00,2.05,0.00,0.000,6,0.000,0.038,2134,2614,3616,0,0,0,0,0,0
$GC,12177,-1.00,-146.0,911.3,-5.6,425,12181,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1626,3616,0,0,0,0,0,0
$GC,12334,-1.00,-146.0,920.4,-5.8,428,12338,0.00,2.00,0.00,0.000,6,0.000,0.039,2134,2613,3615,0,0,0,0,0,0
$GC,12681,-1.00,-146.0,940.9,-5.8,437,12685,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1624,3616,0,0,0,0,0,0
$GC,12933,-1.00,-146.0,953.6,-4.0,442,12937,0.00,2.03,0.00,0.000,6,0.000,0.038,2134,2596,3614,0,0,0,0,0,0
$GC,13275,-1.00,-146.0,965.5,-3.1,451,13279,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1624,3614,0,0,0,0,0,0
$GC,13465,-1.00,-146.0,970.3,-1.8,455,13469,0.00,2.00,0.00,0.000,6,0.000,0.039,2134,2581,3613,0,0,0,0,0,0
$GC,13784,-1.00,-146.0,977.2,-2.2,463,13787,0.00,1.98,0.00,0.000,4,0.000,0.041,2135,1626,3612,0,0,0,0,0,0
$GC,14041,-1.00,-146.0,983.6,-2.4,468,14045,0.00,1.98,0.00,0.000,6,0.000,0.038,2134,2566,3612,0,0,0,0,0,0
$STATE,14254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14254,begin apogee
$GC,14260,-0.33,0.0,991.0,3.6,474,14377,0.73,0.00,114.47,1.503,6,0.097,0.000,2283,1946,3071,0,0,0,0,0,0
$STATE,14396,end apogee,CONTROL_FINISHED_OK
$STATE,14396,begin climb
$GC,14398,1.00,146.0,989.7,0.0,477,14533,1.38,2.17,125.32,1.445,4,0.067,0.044,2575,3001,2475,0,0,0,0,0,0
$GC,14543,1.00,146.0,977.9,7.1,480,14547,0.00,2.10,0.00,0.000,6,0.000,0.032,2575,1933,2474,0,0,0,0,0,0
$GC,14885,1.00,146.0,945.9,9.3,489,14889,0.00,2.30,0.00,0.000,4,0.000,0.052,2575,872,2470,0,0,0,0,0,0
$GC,14951,1.00,146.0,939.5,9.3,490,14956,0.00,2.28,0.00,0.000,6,0.000,0.029,2575,1950,2469,0,0,0,0,0,0
$GC,15294,1.00,146.0,909.6,8.7,499,15298,0.00,2.33,0.00,0.000,4,0.000,0.051,2575,882,2468,0,0,0,0,0,0
$GC,15325,1.00,146.0,906.5,9.8,499,15332,0.00,2.22,0.00,0.000,6,0.000,0.029,2575,1942,2467,0,0,0,0,0,0
$GC,15656,1.00,146.0,877.0,8.9,508,15657,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1945,2467,0,0,0,0,0,0
$GC,15981,1.00,146.0,846.6,9.4,516,15985,0.00,2.30,0.00,0.000,4,0.000,0.050,2575,877,2467,0,0,0,0,0,0
$GC,16013,1.00,146.0,843.3,10.6,516,16018,0.00,2.22,0.00,0.000,6,0.000,0.029,2576,1940,2467,0,0,0,0,0,0
$GC,16350,1.00,146.0,811.3,9.6,525,16351,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1944,2467,0,0,0,0,0,0
$GC,16675,1.00,146.0,780.0,9.7,533,16679,0.00,2.28,0.00,0.000,4,0.000,0.048,2575,871,2466,0,0,0,0,0,0
$GC,16702,1.00,146.0,777.3,9.5,533,16706,0.00,2.17,0.00,0.000,6,0.000,0.029,2575,1935,2467,0,0,0,0,0,0
$GC,17032,1.00,146.0,744.3,10.0,541,17036,0.00,2.28,0.00,0.000,4,0.000,0.050,2576,882,2466,0,0,0,0,0,0
$GC,17070,1.00,146.0,740.1,11.2,541,17076,0.00,2.17,0.00,0.000,6,0.000,0.028,2576,1917,2467,0,0,0,0,0,0
$GC,17401,1.00,146.0,706.2,10.2,550,17405,0.00,2.05,0.00,0.000,4,0.000,0.040,2575,3013,2466,0,0,0,0,0,0
$GC,17433,1.00,146.0,702.7,10.3,550,17440,0.00,2.10,0.00,0.000,6,0.000,0.033,2576,1920,2466,0,0,0,0,0,0
$GC,17764,1.00,146.0,669.3,10.0,559,17768,0.00,2.22,0.00,0.000,4,0.000,0.050,2575,883,2466,0,0,0,0,0,0
$GC,17796,1.00,146.0,665.8,10.1,559,17801,0.00,2.22,0.00,0.000,6,0.000,0.028,2575,1947,2466,0,0,0,0,0,0
$GC,18133,1.00,146.0,636.0,8.3,568,18137,0.00,2.30,0.00,0.000,4,0.000,0.049,2576,878,2466,0,0,0,0,0,0
$GC,18183,1.00,146.0,631.9,8.5,569,18187,0.00,2.15,0.00,0.000,6,0.000,0.028,2575,1932,2466,0,0,0,0,0,0
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$STATE,26005,end climb,SURFACE_DEPTH_REACHED
$STATE,26005,begin surface coast
$FINISH,1.6,1.012830
$STATE,26029,end surface coast,CONTROL_FINISHED_OK
$STATE,26029,begin surface
$SM_CCo,26064,26.85,0.560,0,0,950,520.04
$SM_GC,2.58,0.00,0.00,26.85,0.000,0.000,0.560,360,2612,950,-9.20,-1.92,520.04
$IRIDIUM_FIX,1906.95,12514.48,140612,141402
$TT8_MAMPS,0.048321
$HUMID,1078804506
$TCM_TEMP,25.00
$XPDR_PINGS,312
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,2054422528
$AR_CDRIVE_SIZE,2098135040
$24V_AH,23.5,28.942
$10V_AH,9.9,14.700
$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
$DEVICE_SECS,22.225,222.425,508.925,26.850,0.000,58.340,70.254,347.246,78.000,0.000,16.094,2044.774,20372.752,684.650,3440.903,232.363,33.368,2252.071,0.000,2835.907,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,667.143,0.000,0.000,0.000,0.000,0.000,0.000,22236.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.781,0.000,0.000
$MEM,354880
$DATA_FILE_SIZE,36670,983
$CAP_FILE_SIZE,223136,0
$CFSIZE,260034560,246423552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,035025,1913.688,12512.998,31,1.6,50,-2.3