version: 66.07
glider: 23
mission: 5
dive: 24
start: 11 19 110 5 58 55
data:
$ID,23
$MISSION,5
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,220
$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,150
$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,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,-49887.012
$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,10
$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,1
$ROLL_ADJ_DBAND,0.039999999
$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
$GPS1,191110,054631,2117.900,12548.278,30,1.5,31,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.4
$GPS2,191110,055802,2117.868,12548.186,12,1.3,12,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.038
$KALMAN_X,-30586.9,-611.4,-513.0,9657.4,-1004.8
$KALMAN_Y,1044.0,-318.1,-100.8,-7169.6,-587.3
$MHEAD_RNG_PITCHd_Wd,83.6,139839,-18.7,-10.000
$D_GRID,300
$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,123,-1.41,-146.0,0.0,0.0,0,236,0.00,0.00,-109.95,0.000,6,0.000,0.000,357,1975,3437,0,0,0,0,0,0
$GC,238,-1.41,-146.0,3.3,-5.6,22,254,10.43,1.85,0.00,0.000,4,0.159,0.032,2187,2989,3439,0,0,0,0,0,0
$GC,507,-1.41,-146.0,40.8,-13.5,63,511,0.00,1.90,0.00,0.000,6,0.000,0.026,2187,1952,3439,0,0,0,0,0,0
$GC,773,-1.41,-146.0,76.8,-15.0,88,777,0.00,2.12,0.00,0.000,4,0.000,0.045,2187,881,3438,0,0,0,0,0,0
$GC,815,-1.41,-146.0,82.2,-10.7,91,822,0.00,2.05,0.00,0.000,6,0.000,0.019,2187,1951,3439,0,0,0,0,0,0
$GC,1077,-1.41,-146.0,102.8,-5.9,116,1081,0.00,2.12,0.00,0.000,4,0.000,0.040,2187,877,3440,0,0,0,0,0,0
$GC,1295,-1.41,-146.0,117.2,-7.5,135,1301,0.00,2.10,0.00,0.000,6,0.000,0.021,2187,1972,3439,0,0,0,0,0,0
$GC,1556,-1.41,-146.0,133.3,-5.2,160,1560,0.00,1.88,0.00,0.000,4,0.000,0.040,2187,2999,3440,0,0,0,0,0,0
$GC,1747,-1.41,-146.0,145.1,-5.9,177,1751,0.00,1.83,0.00,0.000,6,0.000,0.025,2187,1965,3439,0,0,0,0,0,0
$GC,2013,-1.41,-146.0,161.8,-6.0,202,2017,0.00,2.12,0.00,0.000,4,0.000,0.042,2187,884,3439,0,0,0,0,0,0
$GC,2269,-1.41,-146.0,175.8,-5.1,224,2276,0.00,2.10,0.00,0.000,6,0.000,0.022,2187,1965,3439,0,0,0,0,0,0
$GC,2531,-1.41,-146.0,187.0,-4.2,249,2535,0.00,1.90,0.00,0.000,4,0.000,0.041,2187,3002,3439,0,0,0,0,0,0
$GC,2789,-1.41,-146.0,198.4,-4.5,272,2793,0.00,1.88,0.00,0.000,6,0.000,0.026,2187,1957,3438,0,0,0,0,0,0
$GC,3058,-1.41,-146.0,210.4,-4.6,287,3062,0.00,1.90,0.00,0.000,4,0.000,0.039,2187,2995,3437,0,0,0,0,0,0
$GC,3315,-1.41,-146.0,220.2,-3.2,298,3320,0.00,1.88,0.00,0.000,6,0.000,0.026,2187,1972,3437,0,0,0,0,0,0
$GC,3636,-1.41,-146.0,231.4,-4.0,314,3640,0.00,1.90,0.00,0.000,4,0.000,0.041,2187,3000,3435,0,0,0,0,0,0
$GC,3893,-1.41,-146.0,242.5,-4.0,325,3898,0.00,1.90,0.00,0.000,6,0.000,0.027,2187,1961,3433,0,0,0,0,0,0
$GC,4215,-1.41,-146.0,252.8,-3.2,341,4218,0.00,2.15,0.00,0.000,4,0.000,0.044,2187,883,3432,0,0,0,0,0,0
$GC,4241,-1.41,-146.0,254.1,-4.8,342,4246,0.00,2.12,0.00,0.000,6,0.000,0.025,2187,1974,3431,0,0,0,0,0,0
$GC,4562,-1.41,-146.0,269.7,-5.8,358,4566,0.00,1.90,0.00,0.000,4,0.000,0.043,2187,3007,3430,0,0,0,0,0,0
$GC,4819,-1.41,-146.0,282.0,-4.2,369,4824,0.00,1.88,0.00,0.000,6,0.000,0.027,2187,1981,3429,0,0,0,0,0,0
$GC,5140,-1.41,-146.0,291.2,-2.4,385,5144,0.00,1.92,0.00,0.000,4,0.000,0.043,2187,3002,3428,0,0,0,0,0,0
$GC,5397,-1.41,-146.0,298.5,-3.4,396,5402,0.00,1.85,0.00,0.000,6,0.000,0.028,2187,1992,3427,0,0,0,0,0,0
$STATE,5469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5469,begin apogee
$GC,5473,-0.33,0.0,300.6,3.0,400,5586,1.15,0.00,110.05,0.838,6,0.094,0.000,2422,1913,2841,0,0,0,0,0,0
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5634,1.41,146.0,299.1,0.0,403,5757,1.70,2.15,111.60,0.815,4,0.042,0.051,2807,918,2244,0,0,0,0,0,0
$GC,5824,1.41,146.0,256.0,26.0,412,5828,0.00,2.05,0.00,0.000,6,0.000,0.020,2807,1966,2241,0,0,0,0,0,0
$GC,6147,1.41,146.0,177.8,23.2,431,6151,0.00,1.83,0.00,0.000,4,0.000,0.032,2807,2980,2239,0,0,0,0,0,0
$GC,6184,1.41,146.0,169.5,20.7,434,6191,0.00,1.90,0.00,0.000,6,0.000,0.032,2808,1977,2239,0,0,0,0,0,0
$GC,6446,1.41,146.0,112.4,20.8,459,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1977,2237,0,0,0,0,0,0
$GC,6700,1.41,146.0,64.8,15.2,483,6704,0.00,1.88,0.00,0.000,4,0.000,0.032,2807,2983,2236,0,0,0,0,0,0
$GC,6839,1.41,146.0,44.1,14.7,495,6846,0.00,1.90,0.00,0.000,6,0.000,0.026,2807,1949,2235,0,0,0,0,0,0
$STATE,7109,end climb,SURFACE_DEPTH_REACHED
$STATE,7109,begin surface coast
$FINISH,0.6,1.022271
$STATE,7128,end surface coast,CONTROL_FINISHED_OK
$STATE,7128,begin surface
$SM_CCo,7211,172.23,0.587,0,0,720,520.04
$SM_GC,1.12,0.00,0.00,172.23,0.000,0.000,0.587,361,1939,720,-9.84,-0.28,520.04
$IRIDIUM_FIX,2108.69,12546.51,140512,000045
$TT8_MAMPS,0.033748
$HUMID,1078823861
$TCM_TEMP,24.50
$XPDR_PINGS,522
$24V_AH,24.0,4.432
$10V_AH,10.0,1.796
$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,23.850,55.050,221.650,172.225,0.000,54.678,70.529,283.396,130.500,0.000,14.231,971.277,4553.343,510.559,2066.553,47.159,33.340,1146.650,0.000,1196.712,0.000,0.547,0.000
$DEVICE_MAMPS,158.769,73.632,837.564,586.755,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,360.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,16816,538
$CAP_FILE_SIZE,90380,0
$CFSIZE,260034560,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,080501,2117.461,12547.888,42,1.3,42,-2.9