version: 66.07
glider: 23
mission: 5
dive: 21
start: 11 19 110 2 44 0
data:
$ID,23
$MISSION,5
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,120
$T_ABORT,1440
$T_TURN,90
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,0
$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,520
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-49822.34
$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,2500
$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,1949
$C_ROLL_CLIMB,1949
$HEAD_ERRBAND,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$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,2
$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
$GPS1,191110,023226,2118.930,12549.518,8,1.4,27,-2.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-55.4
$GPS2,191110,024308,2118.869,12549.423,13,1.9,13,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.008
$KALMAN_X,-26984.0,-192.6,-694.8,7965.3,-691.1
$KALMAN_Y,2481.0,110.4,-380.8,-6900.0,3.6
$MHEAD_RNG_PITCHd_Wd,94.8,139477,-18.7,-10.000
$D_GRID,150
$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,122,end surface,CONTROL_FINISHED_OK
$STATE,122,begin dive
$GC,124,-1.41,-146.0,0.0,0.0,0,237,0.00,0.00,-109.47,0.000,6,0.000,0.000,360,1973,3437,0,0,0,0,0,0
$GC,239,-1.41,-146.0,3.3,-5.3,22,254,10.20,0.00,0.00,0.000,6,0.151,0.000,2188,1975,3439,0,0,0,0,0,0
$GC,455,-1.41,-146.0,33.3,-14.3,59,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3438,0,0,0,0,0,0
$GC,710,-1.41,-146.0,68.1,-13.6,83,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3439,0,0,0,0,0,0
$GC,965,-1.41,-146.0,95.3,-9.5,107,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3439,0,0,0,0,0,0
$GC,1220,-1.41,-146.0,108.7,-5.2,131,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3440,0,0,0,0,0,0
$GC,1475,-1.41,-146.0,122.9,-5.2,155,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3440,0,0,0,0,0,0
$GC,1730,-1.41,-146.0,137.3,-5.2,179,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1975,3439,0,0,0,0,0,0
$GC,1985,-1.41,-146.0,149.8,-4.8,203,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1975,3439,0,0,0,0,0,0
$STATE,1995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1995,begin apogee
$GC,1998,-0.33,0.0,150.3,5.0,204,2116,1.15,0.00,109.88,0.678,6,0.092,0.000,2424,1975,2841,0,0,0,0,0,0
$STATE,2163,end apogee,CONTROL_FINISHED_OK
$STATE,2163,begin climb
$GC,2164,1.41,146.0,148.5,0.0,216,2280,1.65,0.00,109.88,0.662,6,0.037,0.000,2806,1975,2245,0,0,0,0,0,0
$GC,2534,1.41,146.0,71.8,17.2,252,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1975,2240,0,0,0,0,0,0
$GC,2789,1.41,146.0,33.0,16.1,276,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1975,2238,0,0,0,0,0,0
$STATE,2978,end climb,SURFACE_DEPTH_REACHED
$STATE,2978,begin surface coast
$FINISH,0.5,1.022349
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3079,169.38,0.558,0,0,720,520.04
$SM_GC,1.21,0.00,0.00,169.38,0.000,0.000,0.558,357,1972,720,-9.86,0.65,520.04
$IRIDIUM_FIX,2111.01,12549.74,130512,202040
$TT8_MAMPS,0.032981
$HUMID,1078665152
$TCM_TEMP,24.90
$XPDR_PINGS,230
$24V_AH,24.1,4.142
$10V_AH,10.1,1.693
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.550,0.000,219.750,169.375,0.000,54.717,68.470,235.890,57.500,0.000,14.620,473.567,1728.980,469.803,1254.346,27.753,33.335,739.872,0.000,459.127,0.000,0.549,0.000
$DEVICE_MAMPS,151.099,0.000,678.028,557.609,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,204.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,10150,311
$CAP_FILE_SIZE,44391,0
$CFSIZE,260034560,257392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,034100,2118.634,12548.979,29,1.1,41,-2.9