version: 66.07
glider: 23
mission: 5
dive: 234
start: 1 11 111 4 58 27
data:
$ID,23
$MISSION,5
$DIVE,234
$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,-56549.887
$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,14
$R_STBD_OVSHOOT,50
$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
$GPS1,110111,044827,1852.992,12421.223,27,2.6,47,-2.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-59.1
$GPS2,110111,045736,1853.013,12421.322,51,1.4,51,-2.2
$SPEED_LIMITS,0.121,0.205
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.080,0.189
$KALMAN_X,-398555.2,-1018.3,-323.0,228003.2,1518.5
$KALMAN_Y,172596.2,-302.2,-358.5,-446756.0,19.0
$MHEAD_RNG_PITCHd_Wd,339.3,278528,-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,14,begin dive
$GC,16,-1.06,-135.8,0.0,0.0,0,28,0.00,0.00,-10.73,0.000,2,0.000,0.000,359,2167,1709,0,0,0,0,0,0
$GC,31,-1.06,-136.3,3.0,-0.0,1,153,9.60,1.90,-102.32,0.000,4,0.134,0.049,2129,3193,3627,0,0,0,0,0,0
$GC,407,-1.06,-136.3,46.7,-18.9,35,412,0.00,1.92,0.00,0.000,6,0.000,0.033,2129,2128,3627,0,0,0,0,0,0
$GC,667,-1.06,-136.3,94.8,-17.7,60,670,0.00,1.88,0.00,0.000,4,0.000,0.029,2129,3196,3628,0,0,0,0,0,0
$GC,927,-1.06,-136.3,141.2,-18.7,83,931,0.00,1.90,0.00,0.000,6,0.000,0.031,2126,2144,3628,0,0,0,0,0,0
$GC,1193,-1.06,-136.3,178.8,-11.0,108,1196,0.00,1.88,0.00,0.000,4,0.000,0.030,2129,3197,3629,0,0,0,0,0,0
$GC,1451,-1.06,-136.3,212.4,-14.1,127,1454,0.00,1.88,0.00,0.000,6,0.000,0.028,2126,2148,3630,0,0,0,0,0,0
$GC,1771,-1.06,-136.3,245.3,-9.1,143,1775,0.00,1.88,0.00,0.000,4,0.000,0.032,2129,3197,3631,0,0,0,0,0,0
$GC,2028,-1.06,-136.3,271.3,-10.5,154,2033,0.00,1.90,0.00,0.000,6,0.000,0.026,2107,2143,3630,0,0,0,0,0,0
$GC,2369,-1.06,-136.3,304.3,-9.5,170,2373,0.00,1.90,0.00,0.000,4,0.000,0.035,2129,3199,3629,0,0,0,0,0,0
$GC,2627,-1.06,-136.3,327.8,-9.0,175,2631,0.00,1.90,0.00,0.000,6,0.000,0.028,2118,2154,3629,0,0,0,0,0,0
$GC,2963,-1.06,-136.3,356.3,-8.8,184,2967,0.00,2.33,0.00,0.000,4,0.000,0.044,2129,1082,3628,0,0,0,0,0,0
$GC,3219,-1.06,-136.3,378.4,-8.2,189,3226,0.00,2.25,0.00,0.000,6,0.000,0.025,2129,2143,3626,0,0,0,0,0,0
$GC,3550,-1.06,-136.3,407.1,-9.2,198,3555,0.00,2.30,0.00,0.000,4,0.000,0.044,2128,1084,3624,0,0,0,0,0,0
$GC,3639,-1.06,-136.3,414.6,-8.1,200,3643,0.00,2.28,0.00,0.000,6,0.000,0.025,2129,2147,3624,0,0,0,0,0,0
$GC,3963,-1.06,-136.3,440.6,-7.7,208,3967,0.00,1.88,0.00,0.000,4,0.000,0.038,2128,3203,3621,0,0,0,0,0,0
$GC,4220,-1.06,-136.3,458.9,-7.1,213,4225,0.00,1.92,0.00,0.000,6,0.000,0.028,2105,2146,3620,0,0,0,0,0,0
$GC,4557,-1.06,-136.3,481.9,-7.2,222,4561,0.00,1.92,0.00,0.000,4,0.000,0.039,2128,3216,3617,0,0,0,0,0,0
$GC,4612,-1.06,-136.3,486.3,-7.7,223,4617,0.00,1.95,0.00,0.000,6,0.000,0.028,2107,2140,3617,0,0,0,0,0,0
$GC,4931,-1.06,-136.3,509.3,-7.1,231,4934,0.00,1.98,0.00,0.000,4,0.000,0.040,2129,3207,3615,0,0,0,0,0,0
$GC,4969,-1.06,-136.3,512.2,-7.5,231,4975,0.00,1.92,0.00,0.000,6,0.000,0.029,2098,2153,3615,0,0,0,0,0,0
$GC,5300,-1.06,-136.3,536.2,-7.4,240,5304,0.00,2.33,0.00,0.000,4,0.000,0.044,2129,1090,3611,0,0,0,0,0,0
$GC,5478,-1.06,-136.3,550.5,-7.1,244,5482,0.00,2.30,0.00,0.000,6,0.000,0.028,2128,2154,3610,0,0,0,0,0,0
$GC,5803,-1.06,-136.3,570.4,-5.8,252,5807,0.00,1.90,0.00,0.000,4,0.000,0.042,2128,3210,3608,0,0,0,0,0,0
$GC,5983,-1.06,-136.3,581.1,-5.7,256,5987,0.00,1.92,0.00,0.000,6,0.000,0.030,2121,2131,3607,0,0,0,0,0,0
$GC,6312,-1.06,-136.3,604.2,-7.6,264,6316,0.00,1.95,0.00,0.000,4,0.000,0.043,2128,3206,3605,0,0,0,0,0,0
$GC,6513,-1.06,-136.3,618.5,-7.1,268,6518,0.00,1.92,0.00,0.000,6,0.000,0.030,2097,2148,3603,0,0,0,0,0,0
$GC,6862,-1.06,-136.3,639.6,-5.9,277,6866,0.00,1.92,0.00,0.000,4,0.000,0.044,2129,3206,3602,0,0,0,0,0,0
$GC,7057,-1.06,-136.3,652.6,-6.8,281,7062,0.00,1.95,0.00,0.000,6,0.000,0.031,2101,2143,3601,0,0,0,0,0,0
$GC,7371,-1.06,-136.3,674.4,-7.1,289,7375,0.00,1.98,0.00,0.000,4,0.000,0.045,2128,3219,3599,0,0,0,0,0,0
$GC,7453,-1.06,-136.3,680.3,-7.2,290,7460,0.00,1.98,0.00,0.000,6,0.000,0.031,2089,2139,3598,0,0,0,0,0,0
$GC,7785,-1.06,-136.3,700.8,-6.2,299,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2138,3596,0,0,0,0,0,0
$GC,8110,-1.06,-136.3,721.3,-6.3,307,8114,0.00,2.30,0.00,0.000,4,0.000,0.048,2129,1090,3594,0,0,0,0,0,0
$GC,8204,-1.06,-136.3,727.8,-7.7,309,8208,0.00,2.33,0.00,0.000,6,0.000,0.034,2129,2148,3594,0,0,0,0,0,0
$GC,8524,-1.06,-136.3,747.3,-6.0,317,8527,0.00,1.95,0.00,0.000,4,0.000,0.048,2128,3223,3592,0,0,0,0,0,0
$GC,8660,-1.06,-136.3,756.4,-6.5,320,8664,0.00,1.98,0.00,0.000,6,0.000,0.032,2115,2142,3591,0,0,0,0,0,0
$GC,8990,-1.06,-136.3,778.3,-6.8,328,8993,0.00,1.98,0.00,0.000,4,0.000,0.047,2128,3220,3590,0,0,0,0,0,0
$GC,9162,-1.06,-136.3,790.6,-7.2,331,9169,0.00,1.98,0.00,0.000,6,0.000,0.032,2086,2141,3589,0,0,0,0,0,0
$GC,9494,-1.06,-136.3,809.5,-5.4,340,9498,0.00,2.00,0.00,0.000,4,0.000,0.048,2128,3218,3588,0,0,0,0,0,0
$GC,9651,-1.06,-136.3,818.0,-5.8,343,9655,0.00,1.92,0.00,0.000,6,0.000,0.033,2119,2143,3587,0,0,0,0,0,0
$GC,10000,-1.06,-136.3,835.6,-5.2,352,10003,0.00,1.98,0.00,0.000,4,0.000,0.048,2129,3221,3586,0,0,0,0,0,0
$GC,10061,-1.06,-136.3,839.0,-5.1,353,10065,0.00,1.98,0.00,0.000,6,0.000,0.032,2111,2138,3585,0,0,0,0,0,0
$GC,10374,-1.06,-136.3,852.5,-4.1,361,10378,0.00,2.00,0.00,0.000,4,0.000,0.048,2129,3227,3584,0,0,0,0,0,0
$GC,10498,-1.06,-136.3,857.5,-4.1,363,10502,0.00,1.92,0.00,0.000,6,0.000,0.032,2119,2150,3583,0,0,0,0,0,0
$GC,10835,-1.06,-136.3,867.5,-2.8,372,10839,0.00,2.33,0.00,0.000,4,0.000,0.048,2128,1090,3583,0,0,0,0,0,0
$GC,10929,-1.06,-136.3,871.1,-4.0,374,10933,0.00,2.30,0.00,0.000,6,0.000,0.035,2129,2163,3582,0,0,0,0,0,0
$GC,11248,-1.06,-136.3,885.0,-4.7,382,11252,0.00,1.95,0.00,0.000,4,0.000,0.050,2129,3218,3581,0,0,0,0,0,0
$GC,11505,-1.06,-136.3,898.8,-5.4,387,11510,0.00,1.98,0.00,0.000,6,0.000,0.033,2106,2141,3581,0,0,0,0,0,0
$GC,11843,-1.06,-136.3,913.8,-4.2,396,11846,0.00,2.00,0.00,0.000,4,0.000,0.048,2129,3218,3579,0,0,0,0,0,0
$GC,12100,-1.06,-136.3,925.3,-4.6,401,12104,0.00,1.98,0.00,0.000,6,0.000,0.033,2112,2141,3578,0,0,0,0,0,0
$GC,12437,-1.06,-136.3,938.5,-3.9,410,12441,0.00,1.98,0.00,0.000,4,0.000,0.049,2128,3215,3578,0,0,0,0,0,0
$GC,12695,-1.06,-136.3,948.8,-3.8,415,12699,0.00,1.98,0.00,0.000,6,0.000,0.033,2108,2140,3577,0,0,0,0,0,0
$GC,13032,-1.06,-136.3,960.6,-3.5,424,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2140,3576,0,0,0,0,0,0
$GC,13357,-1.06,-136.3,973.0,-3.9,432,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2140,3576,0,0,0,0,0,0
$GC,13682,-1.06,-136.3,986.6,-4.3,440,13686,0.00,2.28,0.00,0.000,4,0.000,0.048,2128,1094,3575,0,0,0,0,0,0
$STATE,13752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13752,begin apogee
$GC,13758,-0.31,0.0,990.3,4.9,441,13868,0.77,0.00,107.15,1.506,6,0.098,0.000,2289,1864,3071,0,0,0,0,0,0
$STATE,13869,end apogee,CONTROL_FINISHED_OK
$STATE,13869,begin climb
$GC,13871,1.06,136.3,991.0,0.0,444,13999,1.42,2.20,117.88,1.443,4,0.061,0.042,2590,2914,2515,0,0,0,0,0,0
$GC,14015,1.06,136.3,979.9,8.4,448,14019,0.00,2.12,0.00,0.000,6,0.000,0.035,2590,1872,2512,0,0,0,0,0,0
$GC,14340,1.06,136.3,946.9,10.5,456,14344,0.00,2.22,0.00,0.000,4,0.000,0.051,2590,790,2509,0,0,0,0,0,0
$GC,14394,1.06,136.3,940.8,10.7,457,14398,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,1869,2508,0,0,0,0,0,0
$GC,14707,1.06,136.3,910.4,9.5,465,14710,0.00,2.05,0.00,0.000,4,0.000,0.038,2590,2912,2509,0,0,0,0,0,0
$GC,14745,1.06,136.3,906.7,9.1,465,14751,0.00,2.15,0.00,0.000,6,0.000,0.037,2590,1854,2508,0,0,0,0,0,0
$GC,15076,1.06,136.3,872.5,10.9,474,15080,0.00,2.10,0.00,0.000,4,0.000,0.037,2590,2911,2508,0,0,0,0,0,0
$GC,15103,1.06,136.3,869.4,10.9,474,15107,0.00,2.12,0.00,0.000,6,0.000,0.037,2590,1859,2508,0,0,0,0,0,0
$GC,15440,1.06,136.3,832.2,10.9,483,15444,0.00,2.17,0.00,0.000,4,0.000,0.052,2590,792,2507,0,0,0,0,0,0
$GC,15479,1.06,136.3,827.8,12.1,484,15483,0.00,2.15,0.00,0.000,6,0.000,0.028,2590,1874,2507,0,0,0,0,0,0
$GC,15803,1.06,136.3,797.6,9.2,492,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1876,2507,0,0,0,0,0,0
$GC,16127,1.06,136.3,767.0,9.8,500,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1877,2506,0,0,0,0,0,0
$GC,16452,1.06,136.3,736.5,9.0,508,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1876,2507,0,0,0,0,0,0
$GC,16777,1.06,136.3,708.4,8.9,516,16781,0.00,2.22,0.00,0.000,4,0.000,0.049,2590,790,2507,0,0,0,0,0,0
$GC,16826,1.06,136.3,703.3,10.6,517,16831,0.00,2.15,0.00,0.000,6,0.000,0.028,2590,1868,2507,0,0,0,0,0,0
$GC,17145,1.06,136.3,669.1,10.8,525,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1871,2507,0,0,0,0,0,0
$GC,17470,1.06,136.3,636.9,9.4,533,17474,0.00,2.03,0.00,0.000,4,0.000,0.036,2590,2910,2507,0,0,0,0,0,0
$GC,17491,1.06,136.3,634.9,8.1,533,17496,0.00,2.10,0.00,0.000,6,0.000,0.034,2590,1861,2507,0,0,0,0,0,0
$GC,17840,1.06,136.3,604.8,8.5,542,17841,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1861,2507,0,0,0,0,0,0
$GC,18164,1.06,136.3,574.1,9.8,550,18168,0.00,2.08,0.00,0.000,4,0.000,0.035,2590,2915,2507,0,0,0,0,0,0
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$STATE,25272,end climb,SURFACE_DEPTH_REACHED
$STATE,25272,begin surface coast
$FINISH,2.2,1.021552
$STATE,25306,end surface coast,CONTROL_FINISHED_OK
$STATE,25307,begin surface
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$XPDR_PINGS,66
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$10V_AH,10.0,23.687
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,198.350,381.400,37.975,0.000,29.066,42.600,325.106,16.500,0.000,52.797,2088.240,19745.943,596.381,3159.944,307.282,33.367,2065.728,0.000,2704.062,0.000,0.546,0.000
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$SENSOR_SECS,630.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354916
$DATA_FILE_SIZE,33426,925
$CAP_FILE_SIZE,265019,0
$CFSIZE,260034560,239661056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,120230,1856.426,12419.595,36,1.1,42,-2.2