version: 66.07
glider: 23
mission: 5
dive: 179
start: 12 25 110 5 43 25
data:
$ID,23
$MISSION,5
$DIVE,179
$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,550
$T_MISSION,1100
$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,120
$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,-55028.613
$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,2370
$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,2570
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,42
$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
$GPS1,251210,053607,1855.116,12453.102,26,1.1,26,-2.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-58.6
$GPS2,251210,054232,1855.118,12453.066,11,1.5,11,-2.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.008,-0.182
$KALMAN_X,-306349.8,-647.8,-121.3,189984.3,-1813.8
$KALMAN_Y,132853.2,-634.7,209.9,-403349.1,3854.7
$MHEAD_RNG_PITCHd_Wd,185.0,88959,-12.1,-6.000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
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$GC,5032,-0.94,-116.8,430.8,-4.1,285,5037,0.00,2.25,0.00,0.000,6,0.000,0.031,2158,2574,3538,0,0,0,0,0,0
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$GC,5452,-0.94,-116.8,447.6,-4.2,295,5457,0.00,2.25,0.00,0.000,6,0.000,0.031,2158,2571,3535,0,0,0,0,0,0
$GC,5789,-0.94,-116.8,461.9,-4.4,304,5792,0.00,2.25,0.00,0.000,4,0.000,0.042,2158,1510,3533,0,0,0,0,0,0
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$GC,9742,-0.94,-116.8,632.8,-5.4,398,9747,0.00,1.75,0.00,0.000,6,0.000,0.027,2158,2556,3513,0,0,0,0,0,0
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$GC,19469,-0.94,-116.8,900.0,-2.5,631,19473,0.00,2.12,0.00,0.000,4,0.000,0.042,2158,1506,3493,0,0,0,0,0,0
$GC,19647,-0.94,-116.8,903.4,-2.0,635,19651,0.00,2.15,0.00,0.000,6,0.000,0.038,2158,2505,3492,0,0,0,0,0,0
$GC,19972,-0.94,-116.8,907.9,-1.4,643,19975,0.00,2.12,0.00,0.000,4,0.000,0.043,2158,1511,3493,0,0,0,0,0,0
$GC,20229,-0.94,-116.8,911.9,-2.2,648,20233,0.00,2.12,0.00,0.000,6,0.000,0.038,2158,2495,3492,0,0,0,0,0,0
$GC,20566,-0.94,-116.8,918.0,-1.9,657,20569,0.00,2.12,0.00,0.000,4,0.000,0.043,2158,1504,3492,0,0,0,0,0,0
$GC,20823,-0.94,-116.8,923.0,-1.8,662,20829,0.00,2.12,0.00,0.000,6,0.000,0.038,2158,2483,3492,0,0,0,0,0,0
$GC,21154,-0.94,-116.8,930.5,-2.3,671,21158,0.00,1.95,0.00,0.000,4,0.000,0.059,2158,3639,3491,0,0,0,0,0,0
$GC,21412,-0.94,-116.8,936.8,-2.8,676,21416,0.00,1.95,0.00,0.000,6,0.000,0.031,2158,2454,3491,0,0,0,0,0,0
$GC,21748,-0.94,-116.8,943.5,-1.9,685,21752,0.00,2.00,0.00,0.000,4,0.000,0.054,2158,3641,3491,0,0,0,0,0,0
$GC,22006,-0.94,-116.8,948.1,-1.9,690,22010,0.00,1.98,0.00,0.000,6,0.000,0.031,2158,2444,3491,0,0,0,0,0,0
$GC,22342,-0.94,-116.8,951.9,-1.1,699,22346,0.00,2.00,0.00,0.000,4,0.000,0.055,2158,3632,3491,0,0,0,0,0,0
$GC,22391,-0.94,-116.8,952.6,-1.0,700,22396,0.00,1.95,0.00,0.000,6,0.000,0.031,2158,2451,3491,0,0,0,0,0,0
$STATE,22552,end dive,NO_VERTICAL_VELOCITY
$STATE,22552,begin apogee
$GC,22557,-0.33,0.0,953.9,0.0,704,22649,0.68,0.00,89.50,1.485,6,0.098,0.000,2295,1871,3071,0,0,0,0,0,0
$STATE,22668,end apogee,CONTROL_FINISHED_OK
$STATE,22668,begin climb
$GC,22669,0.94,116.8,952.1,0.0,706,22775,1.30,0.00,101.82,1.432,6,0.069,0.000,2571,1872,2594,0,0,0,0,0,0
$GC,23076,0.94,116.8,916.9,8.5,716,23080,0.00,2.28,0.00,0.000,4,0.000,0.050,2571,787,2587,0,0,0,0,0,0
$GC,23114,0.94,116.8,913.2,9.2,717,23118,0.00,2.15,0.00,0.000,6,0.000,0.030,2571,1861,2588,0,0,0,0,0,0
$GC,23443,0.94,116.8,882.1,9.5,725,23447,0.00,2.08,0.00,0.000,4,0.000,0.041,2571,2926,2587,0,0,0,0,0,0
$GC,23543,0.94,116.8,872.5,10.3,727,23547,0.00,2.10,0.00,0.000,6,0.000,0.036,2571,1864,2586,0,0,0,0,0,0
$GC,23861,0.94,116.8,842.8,9.3,735,23865,0.00,2.05,0.00,0.000,4,0.000,0.040,2571,2925,2586,0,0,0,0,0,0
$GC,23893,0.94,116.8,839.7,8.8,735,23900,0.00,2.10,0.00,0.000,6,0.000,0.035,2571,1865,2586,0,0,0,0,0,0
$GC,24224,0.94,116.8,808.2,9.6,744,24228,0.00,2.05,0.00,0.000,4,0.000,0.040,2571,2926,2586,0,0,0,0,0,0
$GC,24269,0.94,116.8,803.8,11.5,745,24272,0.00,2.03,0.00,0.000,6,0.000,0.035,2571,1875,2586,0,0,0,0,0,0
$GC,24598,0.94,116.8,771.0,10.0,753,24602,0.00,2.03,0.00,0.000,4,0.000,0.040,2571,2919,2586,0,0,0,0,0,0
$GC,24658,0.94,116.8,764.8,9.4,754,24663,0.00,2.03,0.00,0.000,6,0.000,0.035,2571,1882,2586,0,0,0,0,0,0
$GC,24970,0.94,116.8,733.9,10.0,762,24974,0.00,2.00,0.00,0.000,4,0.000,0.039,2571,2925,2585,0,0,0,0,0,0
$GC,25082,0.94,116.8,722.7,8.5,764,25086,0.00,2.03,0.00,0.000,6,0.000,0.035,2571,1885,2585,0,0,0,0,0,0
$GC,25429,0.94,116.8,690.0,9.3,773,25433,0.00,2.00,0.00,0.000,4,0.000,0.038,2571,2925,2585,0,0,0,0,0,0
$GC,25495,0.94,116.8,683.4,12.1,774,25500,0.00,2.00,0.00,0.000,6,0.000,0.034,2571,1891,2585,0,0,0,0,0,0
$GC,25843,0.94,116.8,649.5,9.9,783,25847,0.00,1.98,0.00,0.000,4,0.000,0.038,2571,2927,2585,0,0,0,0,0,0
$GC,25881,0.94,116.8,645.6,9.4,783,25887,0.00,2.03,0.00,0.000,6,0.000,0.033,2571,1887,2585,0,0,0,0,0,0
$GC,26212,0.94,116.8,613.8,9.5,792,26216,0.00,1.95,0.00,0.000,4,0.000,0.038,2571,2922,2585,0,0,0,0,0,0
$GC,26244,0.94,116.8,610.9,9.0,792,26249,0.00,1.98,0.00,0.000,6,0.000,0.033,2571,1897,2585,0,0,0,0,0,0
$GC,26581,0.94,116.8,580.6,8.8,801,26584,0.00,1.95,0.00,0.000,4,0.000,0.038,2572,2924,2585,0,0,0,0,0,0
$GC,26641,0.94,116.8,575.6,9.0,802,26645,0.00,1.98,0.00,0.000,6,0.000,0.032,2571,1898,2585,0,0,0,0,0,0
$GC,26954,0.94,116.8,552.2,7.4,810,26958,0.00,1.95,0.00,0.000,4,0.000,0.036,2571,2919,2585,0,0,0,0,0,0
$GC,27014,0.94,116.8,547.5,7.3,811,27019,0.00,1.95,0.00,0.000,6,0.000,0.032,2571,1901,2586,0,0,0,0,0,0
$GC,27327,0.94,116.8,524.3,7.9,819,27331,0.00,1.98,0.00,0.000,4,0.000,0.036,2571,2921,2585,0,0,0,0,0,0
$GC,27372,0.94,116.8,520.5,8.4,820,27376,0.00,1.90,0.00,0.000,6,0.000,0.033,2571,1906,2587,0,0,0,0,0,0
$GC,27701,0.94,116.8,492.6,8.3,828,27705,0.00,2.33,0.00,0.000,4,0.000,0.052,2571,799,2586,0,0,0,0,0,0
$GC,27715,0.94,116.8,491.5,7.4,828,27720,0.00,2.28,0.00,0.000,6,0.000,0.025,2571,1916,2586,0,0,0,0,0,0
$GC,28064,0.94,116.8,467.0,7.0,837,28068,0.00,1.90,0.00,0.000,4,0.000,0.035,2571,2923,2586,0,0,0,0,0,0
$GC,28118,0.94,116.8,462.9,6.5,838,28123,0.00,1.95,0.00,0.000,6,0.000,0.031,2571,1906,2586,0,0,0,0,0,0
$GC,28437,0.94,116.8,440.9,6.9,846,28440,0.00,1.88,0.00,0.000,4,0.000,0.033,2571,2920,2588,0,0,0,0,0,0
$GC,28486,0.94,116.8,437.2,9.4,847,28490,0.00,1.92,0.00,0.000,6,0.000,0.031,2571,1913,2587,0,0,0,0,0,0
$GC,28810,0.94,116.8,413.6,7.3,855,28814,0.00,2.35,0.00,0.000,4,0.000,0.052,2571,797,2587,0,0,0,0,0,0
$GC,28853,0.94,116.8,410.4,7.1,856,28857,0.00,2.25,0.00,0.000,6,0.000,0.023,2571,1914,2588,0,0,0,0,0,0
$GC,29177,0.94,116.8,389.6,6.4,864,29180,0.00,1.90,0.00,0.000,4,0.000,0.033,2571,2923,2589,0,0,0,0,0,0
$GC,29203,0.94,116.8,387.7,6.2,864,29208,0.00,1.95,0.00,0.000,6,0.000,0.031,2571,1910,2589,0,0,0,0,0,0
$GC,29545,0.94,116.8,365.1,6.4,873,29550,0.00,2.33,0.00,0.000,4,0.000,0.051,2571,800,2590,0,0,0,0,0,0
$GC,29566,0.94,116.8,363.6,6.5,873,29571,0.00,2.25,0.00,0.000,6,0.000,0.023,2572,1916,2590,0,0,0,0,0,0
$GC,29909,0.94,116.8,341.6,6.7,882,29913,0.00,2.40,0.00,0.000,4,0.000,0.051,2571,790,2591,0,0,0,0,0,0
$GC,29968,0.94,116.8,336.8,7.6,883,29973,0.00,2.22,0.00,0.000,6,0.000,0.021,2571,1901,2590,0,0,0,0,0,0
$GC,30317,0.94,117.0,314.9,6.0,892,30321,0.00,1.92,0.00,0.000,4,0.000,0.031,2571,2924,2592,0,0,0,0,0,0
$GC,30354,0.94,117.0,312.3,6.8,892,30360,0.00,1.95,0.00,0.000,6,0.000,0.030,2571,1910,2593,0,0,0,0,0,0
$GC,30667,0.95,131.8,294.0,5.5,903,30686,0.00,0.00,13.70,0.842,6,0.000,0.000,2572,1910,2533,0,0,0,0,0,0
$GC,30995,0.97,143.5,276.1,5.6,919,31009,0.00,0.00,11.43,0.802,6,0.000,0.000,2571,1910,2485,0,0,0,0,0,0
$GC,31304,0.97,143.5,257.9,6.0,934,31309,0.00,2.33,0.00,0.000,4,0.000,0.050,2571,798,2485,0,0,0,0,0,0
$GC,31360,0.97,146.4,254.4,5.9,936,31365,0.00,2.25,0.00,0.000,6,0.000,0.021,2572,1921,2485,0,0,0,0,0,0
$GC,31675,1.01,181.6,239.8,4.8,952,31709,0.00,0.00,32.03,0.819,6,0.000,0.000,2571,1921,2330,0,0,0,0,0,0
$GC,32005,1.03,199.2,219.9,5.4,968,32027,0.10,2.45,15.68,0.760,4,0.074,0.049,2603,792,2258,0,0,0,0,0,0
$GC,32076,1.03,199.2,215.2,7.8,971,32081,0.00,2.28,0.00,0.000,6,0.000,0.020,2602,1926,2257,0,0,0,0,0,0
$GC,32397,1.03,199.2,194.2,7.1,990,32398,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1925,2258,0,0,0,0,0,0
$GC,32650,1.03,204.4,176.9,5.8,1014,32654,0.00,2.45,0.00,0.000,4,0.000,0.050,2602,786,2259,0,0,0,0,0,0
$GC,32722,1.03,204.4,172.4,6.9,1020,32726,0.00,2.20,0.00,0.000,6,0.000,0.019,2602,1904,2259,0,0,0,0,0,0
$GC,32983,1.23,383.7,158.8,-0.2,1044,33139,0.15,2.47,147.77,0.740,4,0.058,0.053,2646,799,1505,0,0,0,0,0,0
$GC,33161,1.42,555.4,146.5,0.1,1061,33308,0.10,2.25,137.20,0.713,6,0.037,0.020,2696,1914,806,0,0,0,0,0,0
$GC,33562,1.61,732.3,108.4,-0.1,1100,33624,0.12,1.88,55.65,0.667,4,0.063,0.026,2732,2924,524,0,0,0,0,0,0
$GC,33651,1.80,906.5,98.2,-0.0,1108,33658,0.10,2.05,0.00,0.000,6,0.038,0.038,2763,1890,522,0,0,0,0,0,0
$GC,33912,1.99,1085.0,63.8,-0.2,1133,33917,0.17,1.92,0.00,0.000,4,0.050,0.028,2816,2922,521,0,0,0,0,0,0
$GC,33989,2.18,1257.8,54.1,0.0,1139,33996,0.12,2.17,0.00,0.000,6,0.059,0.045,2858,1844,521,0,0,0,0,0,0
$STATE,34222,end climb,SURFACE_DEPTH_REACHED
$STATE,34222,begin surface coast
$FINISH,1.7,0.999509
$STATE,34505,end surface coast,CONTROL_FINISHED_OK
$STATE,34505,begin surface
$SM_CCo,34602,0.00,0.000,0,0,521,625.52
$SM_GC,2.44,10.82,0.00,0.00,0.024,0.000,0.000,366,2594,521,-9.15,0.68,625.52
$IRIDIUM_FIX,1850.98,12455.97,180612,151528
$TT8_MAMPS,0.047554
$HUMID,1078752893
$TCM_TEMP,25.60
$XPDR_PINGS,218
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,2031845376
$AR_CDRIVE_SIZE,2098135040
$24V_AH,23.4,31.367
$10V_AH,9.9,16.509
$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,23.900,282.400,604.775,0.000,0.000,25.634,33.361,212.271,54.500,0.000,12.904,2634.462,26921.740,808.761,4380.362,263.718,33.376,2905.101,0.000,3937.234,0.000,0.546,0.000
$DEVICE_MAMPS,156.468,59.059,1484.912,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,829.670,0.000,0.000,0.000,0.000,0.000,0.000,29445.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.314,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,43345,1221
$CAP_FILE_SIZE,286613,0
$CFSIZE,260034560,244948992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251210,152206,1854.292,12452.086,41,1.4,41,-2.3