version: 66.07
glider: 23
mission: 5
dive: 235
start: 1 11 111 12 21 13
data:
$ID,23
$MISSION,5
$DIVE,235
$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,-56564.867
$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,15
$R_STBD_OVSHOOT,45
$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
$GPS1,110111,120230,1856.426,12419.595,36,1.1,42,-2.2
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-59.4
$GPS2,110111,122020,1856.255,12419.501,12,1.2,12,-2.2
$SPEED_LIMITS,0.121,0.205
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.053,0.198
$KALMAN_X,-400228.8,-250.8,-342.2,225808.8,1196.9
$KALMAN_Y,171334.7,913.7,356.8,-441431.6,-3233.7
$MHEAD_RNG_PITCHd_Wd,347.2,272161,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.06,-136.0,0.0,0.0,0,28,0.00,0.00,-10.77,0.000,2,0.000,0.000,357,2151,1709,0,0,0,0,0,0
$GC,31,-1.06,-136.3,3.1,-0.0,1,147,9.62,1.90,-100.25,0.000,4,0.136,0.051,2124,3206,3627,0,0,0,0,0,0
$GC,400,-1.06,-136.3,49.8,-15.7,35,403,0.00,1.92,0.00,0.000,6,0.000,0.028,2124,2137,3628,0,0,0,0,0,0
$GC,666,-1.06,-136.3,97.7,-17.9,60,669,0.00,1.90,0.00,0.000,4,0.000,0.029,2124,3201,3628,0,0,0,0,0,0
$GC,710,-1.06,-136.3,106.1,-18.7,64,714,0.00,1.88,0.00,0.000,6,0.000,0.029,2124,2152,3628,0,0,0,0,0,0
$GC,976,-1.06,-136.3,151.8,-17.0,89,980,0.00,2.28,0.00,0.000,4,0.000,0.040,2124,1086,3628,0,0,0,0,0,0
$GC,993,-1.06,-136.3,154.6,-16.0,90,997,0.00,2.20,0.00,0.000,6,0.000,0.020,2124,2151,3628,0,0,0,0,0,0
$GC,1253,-1.06,-136.3,191.3,-13.0,114,1256,0.00,1.85,0.00,0.000,4,0.000,0.030,2124,3214,3629,0,0,0,0,0,0
$GC,1510,-1.06,-136.3,225.4,-11.6,129,1514,0.00,1.92,0.00,0.000,6,0.000,0.026,2108,2146,3629,0,0,0,0,0,0
$GC,1831,-1.06,-136.3,259.0,-9.7,145,1835,0.00,1.88,0.00,0.000,4,0.000,0.032,2124,3205,3630,0,0,0,0,0,0
$GC,1914,-1.06,-136.3,267.2,-9.8,148,1920,0.00,1.92,0.00,0.000,6,0.000,0.027,2124,2140,3629,0,0,0,0,0,0
$GC,2230,-1.06,-136.3,296.1,-9.8,164,2234,0.00,2.25,0.00,0.000,4,0.000,0.042,2124,1092,3629,0,0,0,0,0,0
$GC,2487,-1.06,-136.3,321.2,-9.2,170,2493,0.00,2.25,0.00,0.000,6,0.000,0.023,2124,2152,3628,0,0,0,0,0,0
$GC,2818,-1.06,-136.3,347.2,-7.4,179,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2151,3628,0,0,0,0,0,0
$GC,3143,-1.06,-136.3,376.8,-9.9,187,3146,0.00,1.90,0.00,0.000,4,0.000,0.038,2124,3210,3626,0,0,0,0,0,0
$GC,3400,-1.06,-136.3,402.9,-9.6,192,3404,0.00,1.92,0.00,0.000,6,0.000,0.028,2102,2149,3624,0,0,0,0,0,0
$GC,3737,-1.06,-136.3,428.9,-7.7,201,3741,0.00,1.90,0.00,0.000,4,0.000,0.038,2124,3205,3622,0,0,0,0,0,0
$GC,3995,-1.06,-136.3,449.7,-8.3,206,3998,0.00,1.92,0.00,0.000,6,0.000,0.029,2113,2147,3620,0,0,0,0,0,0
$GC,4331,-1.06,-136.3,476.2,-7.8,215,4334,0.00,1.92,0.00,0.000,4,0.000,0.039,2124,3200,3617,0,0,0,0,0,0
$GC,4588,-1.06,-136.3,494.0,-6.2,220,4593,0.00,1.92,0.00,0.000,6,0.000,0.029,2107,2144,3616,0,0,0,0,0,0
$GC,4925,-1.06,-136.3,515.5,-6.6,229,4929,0.00,1.98,0.00,0.000,4,0.000,0.040,2124,3210,3615,0,0,0,0,0,0
$GC,5181,-1.06,-136.3,536.3,-7.7,234,5186,0.00,1.95,0.00,0.000,6,0.000,0.028,2099,2137,3612,0,0,0,0,0,0
$GC,5519,-1.06,-136.3,561.0,-7.2,243,5523,0.00,2.25,0.00,0.000,4,0.000,0.044,2124,1094,3609,0,0,0,0,0,0
$GC,5648,-1.06,-136.3,569.8,-6.9,246,5652,0.00,2.28,0.00,0.000,6,0.000,0.029,2124,2161,3608,0,0,0,0,0,0
$GC,5973,-1.06,-136.3,587.6,-5.2,254,5977,0.00,1.90,0.00,0.000,4,0.000,0.042,2124,3215,3606,0,0,0,0,0,0
$GC,6230,-1.06,-136.3,602.8,-6.2,259,6235,0.00,1.95,0.00,0.000,6,0.000,0.030,2105,2152,3604,0,0,0,0,0,0
$GC,6568,-1.06,-136.3,621.4,-5.5,268,6571,0.00,1.92,0.00,0.000,4,0.000,0.043,2124,3205,3602,0,0,0,0,0,0
$GC,6719,-1.06,-136.3,629.9,-6.3,271,6723,0.00,1.90,0.00,0.000,6,0.000,0.030,2116,2140,3601,0,0,0,0,0,0
$GC,7031,-1.06,-136.3,645.4,-4.7,279,7035,0.00,1.98,0.00,0.000,4,0.000,0.043,2124,3209,3601,0,0,0,0,0,0
$GC,7272,-1.06,-136.3,658.2,-5.9,284,7276,0.00,1.95,0.00,0.000,6,0.000,0.031,2104,2146,3599,0,0,0,0,0,0
$GC,7585,-1.06,-136.3,675.3,-5.6,292,7589,0.00,1.98,0.00,0.000,4,0.000,0.045,2123,3211,3597,0,0,0,0,0,0
$GC,7842,-1.06,-136.3,691.7,-5.9,297,7847,0.00,1.98,0.00,0.000,6,0.000,0.031,2104,2140,3595,0,0,0,0,0,0
$GC,8180,-1.06,-136.3,709.3,-5.0,306,8183,0.00,2.00,0.00,0.000,4,0.000,0.046,2124,3213,3594,0,0,0,0,0,0
$GC,8415,-1.06,-136.3,720.9,-4.7,311,8419,0.00,1.98,0.00,0.000,6,0.000,0.031,2098,2140,3593,0,0,0,0,0,0
$GC,8734,-1.06,-136.3,733.3,-4.1,319,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2140,3592,0,0,0,0,0,0
$GC,9058,-1.06,-136.3,748.9,-5.1,327,9062,0.00,1.98,0.00,0.000,4,0.000,0.047,2124,3212,3590,0,0,0,0,0,0
$GC,9310,-1.06,-136.3,763.1,-5.7,332,9314,0.00,1.95,0.00,0.000,6,0.000,0.032,2104,2149,3588,0,0,0,0,0,0
$GC,9653,-1.06,-136.3,780.7,-5.1,341,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2150,3588,0,0,0,0,0,0
$GC,9978,-1.06,-136.3,795.9,-4.5,349,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2149,3586,0,0,0,0,0,0
$GC,10303,-1.06,-136.3,809.5,-4.1,357,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2148,3585,0,0,0,0,0,0
$GC,10628,-1.06,-136.3,824.9,-5.0,365,10631,0.00,1.98,0.00,0.000,4,0.000,0.048,2124,3207,3584,0,0,0,0,0,0
$GC,10886,-1.06,-136.3,840.5,-5.6,370,10890,0.00,1.92,0.00,0.000,6,0.000,0.032,2114,2137,3582,0,0,0,0,0,0
$GC,11223,-1.06,-136.3,858.6,-5.2,379,11227,0.00,1.98,0.00,0.000,4,0.000,0.048,2124,3209,3581,0,0,0,0,0,0
$GC,11402,-1.06,-136.3,868.0,-4.7,383,11406,0.00,1.92,0.00,0.000,6,0.000,0.032,2114,2137,3581,0,0,0,0,0,0
$GC,11733,-1.06,-136.3,879.5,-3.1,391,11736,0.00,2.30,0.00,0.000,4,0.000,0.046,2124,1087,3581,0,0,0,0,0,0
$GC,11856,-1.06,-136.3,883.8,-3.4,393,11860,0.00,2.30,0.00,0.000,6,0.000,0.035,2124,2148,3580,0,0,0,0,0,0
$GC,12187,-1.06,-136.3,893.9,-3.2,401,12190,0.00,1.95,0.00,0.000,4,0.000,0.050,2124,3216,3579,0,0,0,0,0,0
$GC,12444,-1.06,-136.3,904.6,-4.7,406,12448,0.00,1.98,0.00,0.000,6,0.000,0.032,2103,2143,3578,0,0,0,0,0,0
$GC,12782,-1.06,-136.3,918.4,-4.0,415,12786,0.00,2.00,0.00,0.000,4,0.000,0.048,2124,3214,3577,0,0,0,0,0,0
$GC,13040,-1.06,-136.3,930.4,-4.9,420,13044,0.00,1.95,0.00,0.000,6,0.000,0.033,2108,2143,3576,0,0,0,0,0,0
$GC,13377,-1.06,-136.3,944.7,-4.1,429,13380,0.00,2.00,0.00,0.000,4,0.000,0.049,2124,3213,3576,0,0,0,0,0,0
$GC,13634,-1.06,-136.3,955.5,-4.7,434,13638,0.00,1.98,0.00,0.000,6,0.000,0.033,2102,2146,3575,0,0,0,0,0,0
$GC,13971,-1.06,-136.3,967.3,-3.4,443,13975,0.00,2.00,0.00,0.000,4,0.000,0.049,2124,3216,3575,0,0,0,0,0,0
$GC,14229,-1.06,-136.3,977.6,-3.9,448,14233,0.00,1.98,0.00,0.000,6,0.000,0.033,2102,2143,3574,0,0,0,0,0,0
$STATE,14564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14564,begin apogee
$GC,14569,-0.31,0.0,991.0,4.1,457,14679,0.80,0.00,106.97,1.502,6,0.097,0.000,2287,1863,3072,0,0,0,0,0,0
$STATE,14680,end apogee,CONTROL_FINISHED_OK
$STATE,14680,begin climb
$GC,14682,1.06,136.3,991.7,0.0,459,14809,1.40,2.30,117.38,1.449,4,0.064,0.048,2586,783,2514,0,0,0,0,0,0
$GC,14830,1.06,136.3,979.1,8.7,462,14835,0.00,2.20,0.00,0.000,6,0.000,0.028,2586,1867,2512,0,0,0,0,0,0
$GC,15173,1.06,136.3,942.2,11.1,471,15177,0.00,2.22,0.00,0.000,4,0.000,0.051,2586,793,2509,0,0,0,0,0,0
$GC,15199,1.06,136.3,939.0,11.9,471,15204,0.00,2.17,0.00,0.000,6,0.000,0.029,2586,1873,2509,0,0,0,0,0,0
$GC,15536,1.06,136.3,900.0,11.7,480,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1876,2508,0,0,0,0,0,0
$GC,15861,1.06,136.3,862.3,11.6,488,15865,0.00,2.25,0.00,0.000,4,0.000,0.050,2586,778,2508,0,0,0,0,0,0
$GC,15898,1.06,136.3,857.7,12.6,488,15905,0.00,2.17,0.00,0.000,6,0.000,0.029,2586,1868,2508,0,0,0,0,0,0
$GC,16230,1.06,136.3,818.7,11.8,497,16234,0.00,2.22,0.00,0.000,4,0.000,0.051,2586,783,2508,0,0,0,0,0,0
$GC,16256,1.06,136.3,815.3,11.6,497,16260,0.00,2.17,0.00,0.000,6,0.000,0.029,2586,1871,2507,0,0,0,0,0,0
$GC,16593,1.06,136.3,777.8,11.1,506,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1876,2507,0,0,0,0,0,0
$GC,16918,1.06,136.3,744.4,9.9,514,16922,0.00,2.22,0.00,0.000,4,0.000,0.050,2586,789,2507,0,0,0,0,0,0
$GC,16955,1.06,136.3,740.3,10.9,514,16962,0.00,2.15,0.00,0.000,6,0.000,0.028,2586,1865,2507,0,0,0,0,0,0
$GC,17287,1.06,136.3,709.4,9.3,523,17290,0.00,2.03,0.00,0.000,4,0.000,0.038,2586,2906,2506,0,0,0,0,0,0
$GC,17313,1.06,136.3,706.7,10.1,523,17318,0.00,2.12,0.00,0.000,6,0.000,0.035,2586,1854,2506,0,0,0,0,0,0
$GC,17656,1.06,136.3,669.0,11.6,532,17660,0.00,2.15,0.00,0.000,4,0.000,0.051,2586,795,2507,0,0,0,0,0,0
$GC,17677,1.06,136.3,666.2,13.2,532,17681,0.00,2.15,0.00,0.000,6,0.000,0.028,2585,1872,2506,0,0,0,0,0,0
$GC,18019,1.06,136.3,626.5,11.0,541,18023,0.00,2.03,0.00,0.000,4,0.000,0.036,2586,2913,2506,0,0,0,0,0,0
$GC,18050,1.06,136.3,623.2,10.4,541,18055,0.00,2.12,0.00,0.000,6,0.000,0.033,2586,1858,2506,0,0,0,0,0,0
$GC,18388,1.06,136.3,590.4,9.7,550,18392,0.00,2.08,0.00,0.000,4,0.000,0.035,2586,2909,2506,0,0,0,0,0,0
$GC,18414,1.06,136.3,587.6,10.7,550,18419,0.00,2.10,0.00,0.000,6,0.000,0.032,2586,1864,2506,0,0,0,0,0,0
$GC,18752,1.06,136.3,550.9,11.1,559,18753,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1864,2506,0,0,0,0,0,0
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$STATE,25755,end climb,SURFACE_DEPTH_REACHED
$STATE,25755,begin surface coast
$FINISH,2.3,1.009266
$STATE,25778,end surface coast,CONTROL_FINISHED_OK
$STATE,25778,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1078848377
$TCM_TEMP,25.20
$XPDR_PINGS,61
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$10V_AH,10.0,23.784
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,199.875,398.175,31.225,0.000,83.249,140.435,593.506,15.250,0.000,14.350,2138.927,20144.176,587.870,3653.638,363.186,33.372,2126.210,0.000,2844.142,0.000,0.546,0.000
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$SENSOR_SECS,638.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354972
$DATA_FILE_SIZE,33347,937
$CAP_FILE_SIZE,280324,0
$CFSIZE,260034560,239554560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,193321,1859.048,12418.821,42,2.5,62,-2.2