version: 66.07
glider: 23
mission: 5
dive: 233
start: 1 10 111 21 32 52
data:
$ID,23
$MISSION,5
$DIVE,233
$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,140
$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,-56496.461
$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,16
$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,2150
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,47
$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,0.00167
$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
$GPS1,100111,211906,1851.871,12420.418,35,1.7,42,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-47.5
$GPS2,100111,213201,1851.874,12420.556,12,1.9,29,-2.2
$SPEED_LIMITS,0.121,0.205
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.137,0.153
$KALMAN_X,-398914.4,749.2,764.7,224185.2,-4335.3
$KALMAN_Y,174627.5,-649.4,186.2,-451115.9,-730.4
$MHEAD_RNG_PITCHd_Wd,44.0,280443,-13.3,-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,-1.06,-135.8,0.0,0.0,0,59,0.00,0.00,-41.05,0.000,2,0.000,0.000,356,2159,1622,0,0,0,0,0,0
$GC,61,-1.06,-136.3,3.1,-0.6,8,184,9.60,1.88,-105.07,0.000,4,0.134,0.052,2124,3194,3627,0,0,0,0,0,0
$GC,436,-1.06,-136.3,43.3,-19.0,71,443,0.00,1.92,0.00,0.000,6,0.000,0.031,2124,2139,3627,0,0,0,0,0,0
$GC,698,-1.06,-136.3,93.1,-17.2,96,702,0.00,2.28,0.00,0.000,4,0.000,0.041,2124,1092,3627,0,0,0,0,0,0
$GC,893,-1.06,-136.3,127.5,-18.3,113,897,0.00,2.22,0.00,0.000,6,0.000,0.020,2124,2161,3627,0,0,0,0,0,0
$GC,1153,-1.06,-136.3,170.4,-13.8,137,1157,0.00,1.83,0.00,0.000,4,0.000,0.031,2124,3202,3627,0,0,0,0,0,0
$GC,1410,-1.06,-136.3,204.7,-11.9,158,1414,0.00,1.90,0.00,0.000,6,0.000,0.026,2105,2142,3628,0,0,0,0,0,0
$GC,1731,-1.06,-136.3,240.3,-11.0,174,1734,0.00,1.88,0.00,0.000,4,0.000,0.031,2124,3209,3628,0,0,0,0,0,0
$GC,1988,-1.06,-136.3,265.7,-9.9,185,1992,0.00,1.90,0.00,0.000,6,0.000,0.027,2111,2153,3628,0,0,0,0,0,0
$GC,2309,-1.06,-136.3,296.6,-9.3,201,2313,0.00,1.88,0.00,0.000,4,0.000,0.034,2124,3199,3627,0,0,0,0,0,0
$GC,2566,-1.06,-136.3,324.1,-12.2,207,2571,0.00,1.90,0.00,0.000,6,0.000,0.028,2098,2150,3626,0,0,0,0,0,0
$GC,2903,-1.06,-136.3,357.7,-9.2,216,2907,0.00,1.95,0.00,0.000,4,0.000,0.037,2124,3205,3624,0,0,0,0,0,0
$GC,3160,-1.06,-136.3,377.8,-8.0,221,3164,0.00,1.92,0.00,0.000,6,0.000,0.028,2106,2142,3623,0,0,0,0,0,0
$GC,3496,-1.06,-136.3,404.0,-8.3,230,3500,0.00,1.92,0.00,0.000,4,0.000,0.038,2124,3209,3621,0,0,0,0,0,0
$GC,3753,-1.06,-136.3,426.0,-8.1,235,3758,0.00,1.92,0.00,0.000,6,0.000,0.029,2100,2151,3619,0,0,0,0,0,0
$GC,4090,-1.06,-136.3,450.3,-7.0,244,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2151,3617,0,0,0,0,0,0
$GC,4415,-1.06,-136.3,473.5,-7.3,252,4419,0.00,1.92,0.00,0.000,4,0.000,0.039,2124,3208,3615,0,0,0,0,0,0
$GC,4673,-1.06,-136.3,487.4,-4.7,257,4677,0.00,1.92,0.00,0.000,6,0.000,0.030,2106,2150,3613,0,0,0,0,0,0
$GC,5010,-1.06,-136.3,506.9,-6.8,266,5013,0.00,1.98,0.00,0.000,4,0.000,0.041,2124,3202,3610,0,0,0,0,0,0
$GC,5266,-1.06,-136.3,525.2,-7.1,271,5271,0.00,1.92,0.00,0.000,6,0.000,0.029,2098,2142,3608,0,0,0,0,0,0
$GC,5604,-1.06,-136.3,545.5,-6.1,280,5607,0.00,1.92,0.00,0.000,4,0.000,0.041,2124,3208,3605,0,0,0,0,0,0
$GC,5861,-1.06,-136.3,561.9,-6.3,285,5865,0.00,1.92,0.00,0.000,6,0.000,0.031,2104,2154,3603,0,0,0,0,0,0
$GC,6198,-1.06,-136.3,580.7,-5.4,294,6202,0.00,1.92,0.00,0.000,4,0.000,0.043,2124,3198,3602,0,0,0,0,0,0
$GC,6427,-1.06,-136.3,595.5,-6.6,299,6432,0.00,1.92,0.00,0.000,6,0.000,0.031,2104,2143,3600,0,0,0,0,0,0
$GC,6752,-1.06,-136.3,617.4,-7.1,307,6756,0.00,1.98,0.00,0.000,4,0.000,0.043,2124,3227,3598,0,0,0,0,0,0
$GC,6919,-1.06,-136.3,629.2,-7.0,310,6923,0.00,1.98,0.00,0.000,6,0.000,0.031,2108,2145,3596,0,0,0,0,0,0
$GC,7256,-1.06,-136.3,648.1,-5.3,319,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2145,3594,0,0,0,0,0,0
$GC,7581,-1.06,-136.3,665.3,-5.3,327,7584,0.00,1.95,0.00,0.000,4,0.000,0.045,2124,3200,3592,0,0,0,0,0,0
$GC,7838,-1.06,-136.3,681.5,-6.0,332,7842,0.00,1.95,0.00,0.000,6,0.000,0.032,2102,2138,3590,0,0,0,0,0,0
$GC,8175,-1.06,-136.3,701.4,-6.1,341,8179,0.00,1.98,0.00,0.000,4,0.000,0.047,2124,3204,3589,0,0,0,0,0,0
$GC,8432,-1.06,-136.3,719.0,-7.3,346,8437,0.00,1.95,0.00,0.000,6,0.000,0.032,2102,2142,3588,0,0,0,0,0,0
$GC,8769,-1.06,-136.3,740.1,-6.2,355,8773,0.00,1.95,0.00,0.000,4,0.000,0.047,2124,3193,3586,0,0,0,0,0,0
$GC,9027,-1.06,-136.3,755.4,-5.7,360,9031,0.00,1.92,0.00,0.000,6,0.000,0.032,2107,2143,3584,0,0,0,0,0,0
$GC,9363,-1.06,-136.3,772.0,-4.9,369,9367,0.00,1.92,0.00,0.000,4,0.000,0.046,2124,3193,3583,0,0,0,0,0,0
$GC,9499,-1.06,-136.3,779.0,-4.6,372,9503,0.00,1.90,0.00,0.000,6,0.000,0.033,2113,2146,3582,0,0,0,0,0,0
$GC,9830,-1.06,-136.3,794.0,-4.4,380,9833,0.00,1.92,0.00,0.000,4,0.000,0.047,2124,3195,3581,0,0,0,0,0,0
$GC,10054,-1.06,-136.3,804.4,-4.4,385,10058,0.00,1.90,0.00,0.000,6,0.000,0.033,2113,2146,3580,0,0,0,0,0,0
$GC,10385,-1.06,-136.3,818.8,-4.5,393,10388,0.00,1.92,0.00,0.000,4,0.000,0.047,2124,3197,3578,0,0,0,0,0,0
$GC,10597,-1.06,-136.3,829.4,-5.1,397,10601,0.00,1.92,0.00,0.000,6,0.000,0.032,2101,2149,3578,0,0,0,0,0,0
$GC,10934,-1.06,-136.3,846.4,-5.1,406,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2150,3577,0,0,0,0,0,0
$GC,11259,-1.06,-136.3,862.6,-4.8,414,11263,0.00,2.33,0.00,0.000,4,0.000,0.048,2124,1092,3576,0,0,0,0,0,0
$GC,11382,-1.06,-136.3,869.3,-4.9,416,11388,0.00,2.30,0.00,0.000,6,0.000,0.035,2123,2148,3576,0,0,0,0,0,0
$GC,11713,-1.06,-136.3,884.0,-4.2,425,11716,0.00,1.92,0.00,0.000,4,0.000,0.049,2123,3210,3575,0,0,0,0,0,0
$GC,11849,-1.06,-136.3,889.8,-4.4,428,11852,0.00,1.92,0.00,0.000,6,0.000,0.033,2114,2147,3574,0,0,0,0,0,0
$GC,12179,-1.06,-136.3,902.2,-3.6,436,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2146,3574,0,0,0,0,0,0
$GC,12503,-1.06,-136.3,913.5,-3.5,444,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2146,3573,0,0,0,0,0,0
$GC,12828,-1.06,-136.3,924.3,-3.1,452,12832,0.00,2.33,0.00,0.000,4,0.000,0.047,2124,1091,3572,0,0,0,0,0,0
$GC,12928,-1.06,-136.3,927.6,-3.8,454,12932,0.00,2.33,0.00,0.000,6,0.000,0.035,2124,2163,3572,0,0,0,0,0,0
$GC,13246,-1.06,-136.3,936.4,-2.8,462,13250,0.00,1.90,0.00,0.000,4,0.000,0.049,2124,3206,3571,0,0,0,0,0,0
$GC,13302,-1.06,-136.3,938.4,-3.6,463,13306,0.00,1.95,0.00,0.000,6,0.000,0.033,2110,2144,3570,0,0,0,0,0,0
$GC,13621,-1.06,-136.3,947.3,-2.9,471,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2144,3569,0,0,0,0,0,0
$GC,13946,-1.06,-136.3,957.6,-3.3,479,13949,0.00,1.95,0.00,0.000,4,0.000,0.048,2124,3205,3569,0,0,0,0,0,0
$GC,14204,-1.06,-136.3,967.7,-3.9,484,14207,0.00,1.92,0.00,0.000,6,0.000,0.033,2112,2142,3569,0,0,0,0,0,0
$GC,14541,-1.06,-136.3,980.9,-3.9,493,14544,0.00,2.00,0.00,0.000,4,0.000,0.049,2124,3218,3569,0,0,0,0,0,0
$STATE,14757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14757,begin apogee
$GC,14764,-0.31,0.0,990.2,3.7,497,14873,0.80,0.00,106.07,1.509,6,0.100,0.000,2289,1873,3071,0,0,0,0,0,0
$STATE,14874,end apogee,CONTROL_FINISHED_OK
$STATE,14874,begin climb
$GC,14876,1.06,136.3,990.1,0.0,500,14999,1.42,0.00,118.65,1.453,6,0.061,0.000,2590,1873,2515,0,0,0,0,0,0
$GC,15294,1.06,136.3,951.7,9.5,511,15298,0.00,2.22,0.00,0.000,4,0.000,0.048,2590,784,2510,0,0,0,0,0,0
$GC,15325,1.06,136.3,948.4,10.9,511,15332,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,1863,2509,0,0,0,0,0,0
$GC,15657,1.06,136.3,908.8,11.8,520,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1866,2508,0,0,0,0,0,0
$GC,15982,1.06,136.3,872.4,11.1,528,15986,0.00,2.25,0.00,0.000,4,0.000,0.051,2590,777,2508,0,0,0,0,0,0
$GC,16037,1.06,136.3,865.9,11.6,529,16041,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,1865,2508,0,0,0,0,0,0
$GC,16356,1.06,136.3,830.3,11.2,537,16360,0.00,2.22,0.00,0.000,4,0.000,0.050,2590,786,2507,0,0,0,0,0,0
$GC,16382,1.06,136.3,827.1,11.2,537,16387,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,1870,2507,0,0,0,0,0,0
$GC,16719,1.06,136.3,789.8,11.1,546,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1874,2507,0,0,0,0,0,0
$GC,17044,1.06,136.3,752.5,11.5,554,17048,0.00,2.22,0.00,0.000,4,0.000,0.049,2590,791,2506,0,0,0,0,0,0
$GC,17075,1.06,136.3,748.6,11.0,554,17082,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,1871,2506,0,0,0,0,0,0
$GC,17407,1.06,136.3,713.1,10.3,563,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1874,2506,0,0,0,0,0,0
$GC,17732,1.06,136.3,682.7,8.9,571,17735,0.00,2.03,0.00,0.000,4,0.000,0.037,2590,2915,2506,0,0,0,0,0,0
$GC,17769,1.06,136.3,679.3,8.9,571,17776,0.00,2.12,0.00,0.000,6,0.000,0.035,2590,1855,2507,0,0,0,0,0,0
$GC,18101,1.06,136.3,650.0,9.1,580,18105,0.00,2.15,0.00,0.000,4,0.000,0.048,2589,788,2507,0,0,0,0,0,0
$GC,18127,1.06,136.3,647.3,9.6,580,18131,0.00,2.15,0.00,0.000,6,0.000,0.027,2590,1870,2507,0,0,0,0,0,0
$GC,18464,1.06,136.3,616.0,9.3,589,18465,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1873,2507,0,0,0,0,0,0
$GC,18789,1.06,136.3,585.1,9.8,597,18790,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1873,2507,0,0,0,0,0,0
$GC,19114,1.06,136.3,553.6,9.3,605,19115,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1873,2506,0,0,0,0,0,0
$GC,19439,1.06,136.3,525.4,8.6,613,19440,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1873,2507,0,0,0,0,0,0
$GC,19764,1.06,136.3,493.4,10.3,621,19765,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1873,2508,0,0,0,0,0,0
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$STATE,25948,end climb,SURFACE_DEPTH_REACHED
$STATE,25948,begin surface coast
$FINISH,2.3,1.010248
$STATE,25988,end surface coast,CONTROL_FINISHED_OK
$STATE,25988,begin surface
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$IRIDIUM_FIX,1844.15,12421.83,050712,151536
$TT8_MAMPS,0.029146
$HUMID,1078861281
$TCM_TEMP,25.40
$XPDR_PINGS,62
$24V_AH,23.4,41.291
$10V_AH,10.0,23.596
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.050,185.675,380.225,42.425,0.000,49.570,74.725,453.753,15.500,0.000,30.673,2190.869,20212.545,637.206,3424.162,346.918,33.362,2148.468,0.000,2838.656,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,681.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36683,1004
$CAP_FILE_SIZE,277206,0
$CFSIZE,260034560,239742976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,044827,1852.992,12421.223,27,2.6,47,-2.2