version: 66.07
glider: 23
mission: 5
dive: 225
start: 1 8 111 13 4 22
data:
$ID,23
$MISSION,5
$DIVE,225
$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,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,180
$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,400
$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,-56237.309
$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,2200
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00125
$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
$GPS1,080111,125501,1833.017,12417.522,40,1.6,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-56.7
$GPS2,080111,130331,1832.997,12417.459,15,1.2,33,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.017,0.229
$KALMAN_X,-393184.9,-640.5,1927.2,213319.3,-6517.1
$KALMAN_Y,181541.6,1214.1,2672.4,-497360.4,-14756.4
$MHEAD_RNG_PITCHd_Wd,357.8,314558,-11.1,-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,16,-0.96,-175.2,0.0,0.0,0,23,0.00,0.00,-5.78,0.000,2,0.000,0.000,359,2195,1586,0,0,0,0,0,0
$GC,26,-0.96,-175.2,3.1,-0.0,1,153,9.62,1.90,-109.22,0.000,4,0.130,0.050,2150,3268,3786,0,0,0,0,0,0
$GC,408,-0.96,-175.2,56.6,-18.2,59,412,0.00,1.88,0.00,0.000,6,0.000,0.028,2147,2192,3788,0,0,0,0,0,0
$GC,674,-0.96,-175.2,103.8,-18.7,84,678,0.00,1.83,0.00,0.000,4,0.000,0.028,2150,3267,3788,0,0,0,0,0,0
$GC,914,-0.96,-175.2,143.5,-14.8,105,920,0.00,1.88,0.00,0.000,6,0.000,0.027,2150,2196,3788,0,0,0,0,0,0
$GC,1175,-0.96,-175.2,178.3,-12.0,130,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2197,3789,0,0,0,0,0,0
$GC,1427,-0.96,-175.2,211.3,-13.1,150,1431,0.00,1.88,0.00,0.000,4,0.000,0.032,2149,3266,3791,0,0,0,0,0,0
$GC,1683,-0.96,-175.2,246.5,-14.1,161,1688,0.00,1.88,0.00,0.000,6,0.000,0.025,2148,2190,3790,0,0,0,0,0,0
$GC,2005,-0.96,-175.2,287.2,-12.6,177,2008,0.00,1.88,0.00,0.000,4,0.000,0.034,2149,3267,3791,0,0,0,0,0,0
$GC,2261,-0.96,-175.2,315.5,-9.9,185,2266,0.00,1.88,0.00,0.000,6,0.000,0.026,2128,2191,3790,0,0,0,0,0,0
$GC,2598,-0.96,-175.2,346.3,-9.5,194,2602,0.00,1.88,0.00,0.000,4,0.000,0.037,2149,3261,3788,0,0,0,0,0,0
$GC,2855,-0.96,-175.2,372.2,-9.3,199,2860,0.00,1.85,0.00,0.000,6,0.000,0.027,2132,2198,3787,0,0,0,0,0,0
$GC,3193,-0.96,-175.2,399.5,-8.1,208,3196,0.00,1.88,0.00,0.000,4,0.000,0.038,2149,3265,3786,0,0,0,0,0,0
$GC,3449,-0.96,-175.2,420.3,-7.1,213,3454,0.00,1.88,0.00,0.000,6,0.000,0.028,2119,2194,3784,0,0,0,0,0,0
$GC,3787,-0.96,-175.2,446.9,-8.3,222,3790,0.00,1.90,0.00,0.000,4,0.000,0.040,2149,3253,3781,0,0,0,0,0,0
$GC,4027,-0.96,-175.2,469.0,-9.9,227,4031,0.00,1.85,0.00,0.000,6,0.000,0.028,2130,2199,3779,0,0,0,0,0,0
$GC,4340,-0.96,-175.2,496.8,-8.9,235,4343,0.00,1.85,0.00,0.000,4,0.000,0.041,2149,3257,3776,0,0,0,0,0,0
$GC,4456,-0.96,-175.2,507.7,-9.2,237,4461,0.00,1.88,0.00,0.000,6,0.000,0.030,2132,2197,3775,0,0,0,0,0,0
$GC,4799,-0.96,-175.2,537.7,-8.8,246,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2197,3772,0,0,0,0,0,0
$GC,5124,-0.96,-175.2,563.6,-7.6,254,5128,0.00,1.88,0.00,0.000,4,0.000,0.043,2149,3262,3770,0,0,0,0,0,0
$GC,5253,-0.96,-175.2,573.2,-7.0,256,5258,0.00,1.88,0.00,0.000,6,0.000,0.030,2125,2188,3769,0,0,0,0,0,0
$GC,5583,-0.96,-175.2,597.3,-7.8,265,5587,0.00,2.33,0.00,0.000,4,0.000,0.042,2149,1141,3766,0,0,0,0,0,0
$GC,5693,-0.96,-175.2,607.5,-9.4,267,5698,0.00,2.33,0.00,0.000,6,0.000,0.030,2149,2194,3765,0,0,0,0,0,0
$GC,6035,-0.96,-175.2,639.6,-9.7,276,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2194,3763,0,0,0,0,0,0
$GC,6361,-0.96,-175.2,664.2,-6.8,284,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2194,3760,0,0,0,0,0,0
$GC,6686,-0.96,-175.2,683.3,-5.9,292,6690,0.00,2.38,0.00,0.000,4,0.000,0.044,2149,1133,3757,0,0,0,0,0,0
$GC,6746,-0.96,-175.2,687.4,-7.4,293,6751,0.00,2.38,0.00,0.000,6,0.000,0.034,2149,2223,3757,0,0,0,0,0,0
$GC,7059,-0.96,-175.2,710.1,-7.7,301,7063,0.00,2.40,0.00,0.000,4,0.000,0.044,2150,1143,3755,0,0,0,0,0,0
$GC,7102,-0.96,-175.2,713.8,-8.3,302,7106,0.00,2.35,0.00,0.000,6,0.000,0.035,2149,2194,3754,0,0,0,0,0,0
$GC,7428,-0.96,-175.2,733.6,-5.6,310,7431,0.00,1.90,0.00,0.000,4,0.000,0.048,2149,3269,3752,0,0,0,0,0,0
$GC,7505,-0.96,-175.2,737.8,-5.0,311,7509,0.00,1.92,0.00,0.000,6,0.000,0.031,2130,2188,3751,0,0,0,0,0,0
$GC,7842,-0.96,-175.2,750.8,-3.9,320,7846,0.00,1.95,0.00,0.000,4,0.000,0.047,2149,3270,3750,0,0,0,0,0,0
$GC,7995,-0.96,-175.2,759.2,-6.3,323,7999,0.00,1.88,0.00,0.000,6,0.000,0.032,2142,2187,3749,0,0,0,0,0,0
$GC,8307,-0.96,-175.2,781.0,-7.3,331,8311,0.00,1.95,0.00,0.000,4,0.000,0.048,2149,3280,3748,0,0,0,0,0,0
$GC,8368,-0.96,-175.2,786.0,-8.9,332,8372,0.00,1.92,0.00,0.000,6,0.000,0.032,2124,2192,3747,0,0,0,0,0,0
$GC,8681,-0.96,-175.2,807.6,-6.4,340,8685,0.00,1.92,0.00,0.000,4,0.000,0.048,2149,3273,3745,0,0,0,0,0,0
$GC,8817,-0.96,-175.2,815.8,-6.2,343,8821,0.00,1.90,0.00,0.000,6,0.000,0.033,2141,2192,3744,0,0,0,0,0,0
$GC,9147,-0.96,-175.2,833.8,-5.7,351,9151,0.00,2.33,0.00,0.000,4,0.000,0.046,2149,1139,3742,0,0,0,0,0,0
$GC,9213,-0.96,-175.2,837.9,-6.2,352,9218,0.00,2.40,0.00,0.000,6,0.000,0.035,2150,2212,3742,0,0,0,0,0,0
$GC,9558,-0.96,-175.2,857.0,-5.3,361,9562,0.00,1.90,0.00,0.000,4,0.000,0.051,2149,3258,3740,0,0,0,0,0,0
$GC,9648,-0.96,-175.2,862.3,-5.7,363,9651,0.00,1.88,0.00,0.000,6,0.000,0.033,2141,2194,3740,0,0,0,0,0,0
$GC,9978,-0.96,-175.2,880.2,-5.4,371,9982,0.00,2.33,0.00,0.000,4,0.000,0.046,2149,1142,3739,0,0,0,0,0,0
$GC,10044,-0.96,-175.2,884.2,-5.3,372,10048,0.00,2.35,0.00,0.000,6,0.000,0.036,2149,2191,3739,0,0,0,0,0,0
$GC,10387,-0.96,-175.2,901.7,-4.8,381,10391,0.00,1.92,0.00,0.000,4,0.000,0.051,2149,3276,3738,0,0,0,0,0,0
$GC,10442,-0.96,-175.2,904.6,-5.4,382,10447,0.00,1.92,0.00,0.000,6,0.000,0.033,2130,2193,3738,0,0,0,0,0,0
$GC,10762,-0.96,-175.2,918.8,-4.4,390,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2193,3737,0,0,0,0,0,0
$GC,11086,-0.96,-175.2,930.9,-3.5,398,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2194,3736,0,0,0,0,0,0
$GC,11411,-0.96,-175.2,943.6,-4.0,406,11415,0.00,1.98,0.00,0.000,4,0.000,0.050,2149,3282,3735,0,0,0,0,0,0
$GC,11612,-0.96,-175.2,952.8,-4.1,410,11616,0.00,1.95,0.00,0.000,6,0.000,0.033,2128,2189,3734,0,0,0,0,0,0
$GC,11962,-0.96,-175.2,969.7,-5.3,419,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2190,3733,0,0,0,0,0,0
$GC,12285,-0.96,-175.2,989.7,-6.4,427,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2189,3732,0,0,0,0,0,0
$STATE,12324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12324,begin apogee
$GC,12329,-0.33,0.0,992.5,6.6,428,12473,0.65,0.00,140.38,1.502,6,0.095,0.000,2282,1864,3071,0,0,0,0,0,0
$STATE,12474,end apogee,CONTROL_FINISHED_OK
$STATE,12474,begin climb
$GC,12476,0.96,175.2,995.2,0.0,431,12635,1.38,2.33,151.05,1.442,4,0.067,0.050,2570,797,2356,0,0,0,0,0,0
$GC,12652,0.96,178.1,983.6,6.9,436,12657,0.00,2.22,0.00,0.000,6,0.000,0.030,2570,1870,2354,0,0,0,0,0,0
$GC,12978,0.96,178.1,953.6,9.9,444,12982,0.00,2.28,0.00,0.000,4,0.000,0.051,2570,795,2350,0,0,0,0,0,0
$GC,13032,0.96,178.1,947.7,10.3,445,13037,0.00,2.20,0.00,0.000,6,0.000,0.029,2570,1873,2350,0,0,0,0,0,0
$GC,13345,0.96,178.1,913.8,11.3,453,13350,0.00,2.30,0.00,0.000,4,0.000,0.052,2570,777,2349,0,0,0,0,0,0
$GC,13422,0.96,178.1,904.5,11.1,454,13429,0.00,2.20,0.00,0.000,6,0.000,0.030,2570,1867,2349,0,0,0,0,0,0
$GC,13754,0.96,178.1,865.4,11.7,463,13758,0.00,2.28,0.00,0.000,4,0.000,0.052,2570,779,2348,0,0,0,0,0,0
$GC,13802,0.96,178.1,859.4,12.3,464,13807,0.00,2.20,0.00,0.000,6,0.000,0.030,2570,1869,2348,0,0,0,0,0,0
$GC,14121,0.96,178.1,821.8,12.0,472,14125,0.00,2.28,0.00,0.000,4,0.000,0.051,2570,776,2347,0,0,0,0,0,0
$GC,14187,0.96,178.1,813.8,12.4,473,14192,0.00,2.20,0.00,0.000,6,0.000,0.030,2570,1868,2348,0,0,0,0,0,0
$GC,14530,0.96,178.1,775.9,10.8,482,14534,0.00,2.25,0.00,0.000,4,0.000,0.051,2570,791,2347,0,0,0,0,0,0
$GC,14585,0.96,178.1,769.7,11.5,483,14589,0.00,2.12,0.00,0.000,6,0.000,0.030,2570,1868,2347,0,0,0,0,0,0
$GC,14903,0.96,178.1,736.3,10.3,491,14907,0.00,2.25,0.00,0.000,4,0.000,0.051,2570,775,2347,0,0,0,0,0,0
$GC,14951,0.96,178.1,730.9,10.4,492,14956,0.00,2.20,0.00,0.000,6,0.000,0.029,2570,1869,2347,0,0,0,0,0,0
$GC,15270,0.96,178.1,701.3,8.8,500,15274,0.00,2.25,0.00,0.000,4,0.000,0.051,2570,776,2346,0,0,0,0,0,0
$GC,15302,0.96,178.1,698.3,8.8,500,15309,0.00,2.17,0.00,0.000,6,0.000,0.028,2570,1861,2346,0,0,0,0,0,0
$GC,15634,0.96,178.1,667.5,9.7,509,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1865,2347,0,0,0,0,0,0
$GC,15959,0.96,178.1,635.6,9.5,517,15963,0.00,2.22,0.00,0.000,4,0.000,0.049,2570,786,2346,0,0,0,0,0,0
$GC,16041,0.96,178.1,627.5,10.2,518,16048,0.00,2.15,0.00,0.000,6,0.000,0.028,2570,1865,2346,0,0,0,0,0,0
$GC,16373,0.96,178.1,597.2,9.3,527,16377,0.00,2.22,0.00,0.000,4,0.000,0.048,2570,775,2346,0,0,0,0,0,0
$GC,16433,0.96,178.1,591.1,9.9,528,16438,0.00,2.17,0.00,0.000,6,0.000,0.028,2570,1868,2346,0,0,0,0,0,0
$GC,16782,0.96,178.1,559.7,8.7,537,16786,0.00,2.22,0.00,0.000,4,0.000,0.048,2570,777,2346,0,0,0,0,0,0
$GC,16836,0.96,178.1,554.7,8.6,538,16840,0.00,2.17,0.00,0.000,6,0.000,0.027,2570,1870,2346,0,0,0,0,0,0
$GC,17149,0.96,178.1,528.9,8.2,546,17151,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1873,2346,0,0,0,0,0,0
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$STATE,23601,end climb,SURFACE_DEPTH_REACHED
$STATE,23602,begin surface coast
$FINISH,2.2,1.000869
$STATE,23640,end surface coast,CONTROL_FINISHED_OK
$STATE,23640,begin surface
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$HUMID,1078921926
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$XPDR_PINGS,54
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$10V_AH,10.0,22.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.475,193.400,455.175,19.025,0.000,22.671,42.343,317.686,13.500,0.000,34.700,1981.588,18345.941,663.089,2903.642,285.675,33.360,2020.700,0.000,2487.112,0.000,0.545,0.000
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$SENSOR_SECS,612.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,33354,902
$CAP_FILE_SIZE,251251,0
$CFSIZE,260034560,240537600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080111,194027,1835.168,12417.466,28,2.3,48,-2.2