version: 66.07
glider: 23
mission: 5
dive: 236
start: 1 11 111 19 52 25
data:
$ID,23
$MISSION,5
$DIVE,236
$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,-56621.246
$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,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,13
$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
$GPS1,110111,193321,1859.048,12418.821,42,2.5,62,-2.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-59.7
$GPS2,110111,195134,1858.905,12418.871,34,2.3,53,-2.2
$SPEED_LIMITS,0.121,0.205
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.105,0.176
$KALMAN_X,-401634.4,965.1,239.5,224322.8,-3219.5
$KALMAN_Y,171325.3,48.3,577.4,-435882.6,-2995.0
$MHEAD_RNG_PITCHd_Wd,33.0,267156,-13.4,-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,-1.01,-135.5,0.0,0.0,0,28,0.00,0.00,-11.25,0.000,2,0.000,0.000,357,2151,1723,0,0,0,0,0,0
$GC,31,-1.01,-136.3,3.1,-0.0,1,153,9.48,1.95,-102.60,0.000,4,0.128,0.045,2128,3210,3628,0,0,0,0,0,0
$GC,406,-1.01,-136.3,5.0,-9.4,35,412,0.00,1.92,0.00,0.000,6,0.000,0.028,2129,2121,3628,0,0,0,0,0,0
$GC,604,-1.01,-136.3,39.3,-17.7,54,607,0.00,1.95,0.00,0.000,4,0.000,0.031,2128,3213,3628,0,0,0,0,0,0
$GC,863,-1.01,-136.3,87.1,-19.2,77,866,0.00,1.92,0.00,0.000,6,0.000,0.031,2126,2147,3628,0,0,0,0,0,0
$GC,1128,-1.01,-136.3,135.1,-18.0,102,1132,0.00,1.88,0.00,0.000,4,0.000,0.029,2128,3209,3628,0,0,0,0,0,0
$GC,1386,-1.01,-136.3,175.5,-13.9,125,1390,0.00,1.90,0.00,0.000,6,0.000,0.027,2126,2147,3629,0,0,0,0,0,0
$GC,1661,-1.01,-136.3,210.0,-11.0,147,1665,0.00,2.28,0.00,0.000,4,0.000,0.040,2128,1087,3629,0,0,0,0,0,0
$GC,1845,-1.01,-136.3,229.8,-11.6,155,1850,0.00,2.25,0.00,0.000,6,0.000,0.020,2128,2158,3629,0,0,0,0,0,0
$GC,2166,-1.01,-136.3,268.5,-11.4,171,2170,0.00,1.88,0.00,0.000,4,0.000,0.033,2128,3211,3629,0,0,0,0,0,0
$GC,2423,-1.01,-136.3,294.3,-10.0,182,2428,0.00,1.92,0.00,0.000,6,0.000,0.027,2108,2147,3629,0,0,0,0,0,0
$GC,2741,-1.01,-136.3,325.0,-10.0,192,2745,0.00,1.90,0.00,0.000,4,0.000,0.035,2129,3210,3629,0,0,0,0,0,0
$GC,2998,-1.01,-136.3,348.4,-8.0,197,3003,0.00,1.92,0.00,0.000,6,0.000,0.028,2113,2152,3628,0,0,0,0,0,0
$GC,3335,-1.01,-136.3,374.8,-7.9,206,3338,0.00,1.90,0.00,0.000,4,0.000,0.037,2128,3208,3626,0,0,0,0,0,0
$GC,3592,-1.01,-136.3,396.8,-9.1,211,3596,0.00,1.95,0.00,0.000,6,0.000,0.029,2111,2140,3625,0,0,0,0,0,0
$GC,3929,-1.01,-136.3,421.9,-7.4,220,3932,0.00,1.92,0.00,0.000,4,0.000,0.038,2128,3208,3622,0,0,0,0,0,0
$GC,4186,-1.01,-136.3,441.4,-7.0,225,4191,0.00,1.92,0.00,0.000,6,0.000,0.028,2098,2149,3622,0,0,0,0,0,0
$GC,4523,-1.01,-136.3,463.4,-6.1,234,4527,0.00,1.98,0.00,0.000,4,0.000,0.040,2128,3200,3619,0,0,0,0,0,0
$GC,4780,-1.01,-136.3,482.6,-8.1,239,4785,0.00,1.92,0.00,0.000,6,0.000,0.028,2105,2149,3617,0,0,0,0,0,0
$GC,5118,-1.01,-136.3,512.2,-9.1,248,5121,0.00,1.95,0.00,0.000,4,0.000,0.040,2128,3211,3615,0,0,0,0,0,0
$GC,5253,-1.01,-136.3,523.4,-7.7,251,5257,0.00,1.90,0.00,0.000,6,0.000,0.029,2121,2145,3613,0,0,0,0,0,0
$GC,5583,-1.01,-136.3,545.2,-6.0,259,5588,0.00,2.28,0.00,0.000,4,0.000,0.043,2128,1094,3611,0,0,0,0,0,0
$GC,5678,-1.01,-136.3,550.7,-5.2,261,5682,0.00,2.28,0.00,0.000,6,0.000,0.028,2129,2145,3609,0,0,0,0,0,0
$GC,5998,-1.01,-136.3,567.8,-5.4,269,6002,0.00,1.95,0.00,0.000,4,0.000,0.041,2128,3215,3607,0,0,0,0,0,0
$GC,6256,-1.01,-136.3,583.0,-5.8,274,6259,0.00,1.95,0.00,0.000,6,0.000,0.030,2115,2146,3605,0,0,0,0,0,0
$GC,6592,-1.01,-136.3,603.9,-6.2,283,6596,0.00,1.95,0.00,0.000,4,0.000,0.042,2128,3215,3603,0,0,0,0,0,0
$GC,6849,-1.01,-136.3,620.3,-5.9,288,6854,0.00,1.95,0.00,0.000,6,0.000,0.030,2109,2155,3602,0,0,0,0,0,0
$GC,7187,-1.01,-136.3,638.8,-5.5,297,7190,0.00,1.92,0.00,0.000,4,0.000,0.044,2128,3206,3601,0,0,0,0,0,0
$GC,7444,-1.01,-136.3,653.5,-6.0,302,7448,0.00,1.95,0.00,0.000,6,0.000,0.031,2113,2149,3599,0,0,0,0,0,0
$GC,7781,-1.01,-136.3,672.4,-5.8,311,7785,0.00,1.98,0.00,0.000,4,0.000,0.045,2128,3205,3596,0,0,0,0,0,0
$GC,7943,-1.01,-136.3,682.7,-6.8,314,7947,0.00,1.95,0.00,0.000,6,0.000,0.031,2107,2151,3595,0,0,0,0,0,0
$GC,8286,-1.01,-136.3,699.8,-4.7,323,8290,0.00,1.95,0.00,0.000,4,0.000,0.046,2128,3212,3594,0,0,0,0,0,0
$GC,8386,-1.01,-136.3,704.3,-4.4,325,8390,0.00,1.95,0.00,0.000,6,0.000,0.031,2110,2149,3593,0,0,0,0,0,0
$GC,8705,-1.01,-136.3,715.6,-3.5,333,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2149,3592,0,0,0,0,0,0
$GC,9030,-1.01,-136.3,728.8,-4.5,341,9033,0.00,1.98,0.00,0.000,4,0.000,0.047,2128,3213,3590,0,0,0,0,0,0
$GC,9136,-1.01,-136.3,734.3,-5.3,343,9139,0.00,1.95,0.00,0.000,6,0.000,0.032,2115,2117,3589,0,0,0,0,0,0
$GC,9448,-1.01,-136.3,750.6,-5.2,351,9452,0.00,2.03,0.00,0.000,4,0.000,0.047,2128,3208,3588,0,0,0,0,0,0
$GC,9706,-1.01,-136.3,764.4,-5.4,356,9710,0.00,1.95,0.00,0.000,6,0.000,0.033,2113,2152,3587,0,0,0,0,0,0
$GC,10043,-1.01,-136.3,779.7,-4.5,365,10047,0.00,1.95,0.00,0.000,4,0.000,0.048,2128,3213,3586,0,0,0,0,0,0
$GC,10126,-1.01,-136.3,783.5,-4.3,366,10132,0.00,1.95,0.00,0.000,6,0.000,0.032,2095,2149,3585,0,0,0,0,0,0
$GC,10457,-1.01,-136.3,795.4,-3.5,375,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2149,3584,0,0,0,0,0,0
$GC,10783,-1.01,-136.3,808.8,-4.4,383,10786,0.00,1.95,0.00,0.000,4,0.000,0.048,2128,3209,3583,0,0,0,0,0,0
$GC,11012,-1.01,-136.3,821.0,-5.5,388,11016,0.00,1.92,0.00,0.000,6,0.000,0.032,2115,2145,3582,0,0,0,0,0,0
$GC,11337,-1.01,-136.3,837.0,-5.0,396,11341,0.00,2.28,0.00,0.000,4,0.000,0.046,2128,1093,3581,0,0,0,0,0,0
$GC,11422,-1.01,-136.3,841.9,-6.2,398,11426,0.00,2.28,0.00,0.000,6,0.000,0.035,2128,2153,3581,0,0,0,0,0,0
$GC,11746,-1.01,-136.3,857.7,-4.8,406,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2153,3580,0,0,0,0,0,0
$GC,12071,-1.01,-136.3,872.0,-4.3,414,12074,0.00,1.95,0.00,0.000,4,0.000,0.049,2128,3220,3579,0,0,0,0,0,0
$GC,12328,-1.01,-136.3,882.1,-3.3,419,12332,0.00,1.92,0.00,0.000,6,0.000,0.032,2114,2149,3578,0,0,0,0,0,0
$GC,12665,-1.01,-136.3,894.7,-3.8,428,12668,0.00,1.98,0.00,0.000,4,0.000,0.048,2128,3207,3577,0,0,0,0,0,0
$GC,12922,-1.01,-136.3,904.2,-3.3,433,12926,0.00,1.95,0.00,0.000,6,0.000,0.033,2112,2147,3576,0,0,0,0,0,0
$GC,13259,-1.01,-136.3,919.1,-4.7,442,13263,0.00,1.98,0.00,0.000,4,0.000,0.048,2128,3219,3575,0,0,0,0,0,0
$GC,13516,-1.01,-136.3,931.8,-4.5,447,13521,0.00,1.98,0.00,0.000,6,0.000,0.033,2101,2142,3575,0,0,0,0,0,0
$GC,13854,-1.01,-136.3,948.4,-4.8,456,13858,0.00,2.00,0.00,0.000,4,0.000,0.048,2128,3222,3575,0,0,0,0,0,0
$GC,14044,-1.01,-136.3,957.3,-5.1,460,14048,0.00,1.98,0.00,0.000,6,0.000,0.033,2106,2144,3575,0,0,0,0,0,0
$GC,14364,-1.01,-136.3,968.1,-3.2,468,14367,0.00,2.00,0.00,0.000,4,0.000,0.048,2128,3219,3574,0,0,0,0,0,0
$GC,14469,-1.01,-136.3,971.4,-2.8,470,14474,0.00,1.98,0.00,0.000,6,0.000,0.033,2107,2144,3574,0,0,0,0,0,0
$GC,14784,-1.01,-136.3,978.9,-2.2,478,14788,0.00,2.30,0.00,0.000,4,0.000,0.047,2128,1085,3574,0,0,0,0,0,0
$GC,14844,-1.01,-136.3,980.5,-3.2,479,14848,0.00,2.35,0.00,0.000,6,0.000,0.035,2128,2161,3573,0,0,0,0,0,0
$GC,15193,-1.01,-136.3,988.6,-2.4,488,15197,0.00,1.95,0.00,0.000,4,0.000,0.050,2128,3212,3573,0,0,0,0,0,0
$STATE,15241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15241,begin apogee
$GC,15248,-0.29,0.0,990.1,3.0,489,15358,0.73,0.00,106.70,1.509,6,0.100,0.000,2278,1867,3071,0,0,0,0,0,0
$STATE,15359,end apogee,CONTROL_FINISHED_OK
$STATE,15359,begin climb
$GC,15361,1.01,136.3,989.9,0.0,491,15487,1.38,0.00,118.85,1.450,6,0.067,0.000,2569,1867,2514,0,0,0,0,0,0
$GC,15812,1.01,136.3,952.7,7.9,503,15816,0.00,2.22,0.00,0.000,4,0.000,0.047,2569,783,2509,0,0,0,0,0,0
$GC,15851,1.01,136.3,949.5,8.7,504,15855,0.00,2.15,0.00,0.000,6,0.000,0.028,2569,1875,2509,0,0,0,0,0,0
$GC,16175,1.01,136.3,918.9,9.7,512,16179,0.00,2.25,0.00,0.000,4,0.000,0.049,2569,776,2508,0,0,0,0,0,0
$GC,16235,1.01,136.3,912.6,10.2,513,16239,0.00,2.20,0.00,0.000,6,0.000,0.029,2569,1874,2508,0,0,0,0,0,0
$GC,16583,1.01,136.3,878.5,10.0,522,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1878,2508,0,0,0,0,0,0
$GC,16908,1.01,136.3,845.8,10.0,530,16912,0.00,2.22,0.00,0.000,4,0.000,0.049,2569,793,2507,0,0,0,0,0,0
$GC,16940,1.01,136.3,842.4,9.9,530,16946,0.00,2.15,0.00,0.000,6,0.000,0.028,2569,1868,2507,0,0,0,0,0,0
$GC,17271,1.01,136.3,810.7,9.1,539,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1871,2507,0,0,0,0,0,0
$GC,17596,1.01,136.3,782.6,8.5,547,17600,0.00,2.20,0.00,0.000,4,0.000,0.049,2569,793,2507,0,0,0,0,0,0
$GC,17634,1.01,136.3,779.1,9.1,547,17640,0.00,2.15,0.00,0.000,6,0.000,0.028,2570,1868,2507,0,0,0,0,0,0
$GC,17965,1.01,136.3,751.0,8.6,556,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1872,2506,0,0,0,0,0,0
$GC,18290,1.01,136.3,723.0,8.6,564,18294,0.00,2.20,0.00,0.000,4,0.000,0.048,2569,793,2506,0,0,0,0,0,0
$GC,18311,1.01,136.3,720.9,9.3,564,18316,0.00,2.15,0.00,0.000,6,0.000,0.028,2569,1869,2507,0,0,0,0,0,0
$GC,18654,1.01,136.3,688.2,9.9,573,18655,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1872,2506,0,0,0,0,0,0
$GC,18979,1.01,136.3,653.2,10.7,581,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1872,2506,0,0,0,0,0,0
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$STATE,26890,end climb,SURFACE_DEPTH_REACHED
$STATE,26890,begin surface coast
$FINISH,2.3,1.001620
$STATE,26923,end surface coast,CONTROL_FINISHED_OK
$STATE,26923,begin surface
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$XPDR_PINGS,48
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$10V_AH,10.0,23.886
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354684
$DATA_FILE_SIZE,36686,988
$CAP_FILE_SIZE,292972,0
$CFSIZE,260034560,239452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,032236,1900.320,12420.668,30,1.9,30,-2.3