version: 66.07
glider: 23
mission: 5
dive: 25
start: 11 19 110 8 22 0
data:
$ID,23
$MISSION,5
$DIVE,25
$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,-49901.035
$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,27
$R_STBD_OVSHOOT,51
$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
$GPS1,191110,080501,2117.461,12547.888,42,1.3,42,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-58.3
$GPS2,191110,082108,2117.475,12547.784,11,1.3,11,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,0.052
$KALMAN_X,-32873.7,-837.1,-94.1,11063.3,-964.9
$KALMAN_Y,156.2,-552.6,57.2,-6940.1,-686.1
$MHEAD_RNG_PITCHd_Wd,80.2,139886,-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,123,begin dive
$GC,124,-1.41,-146.0,0.0,0.0,0,233,0.00,0.00,-106.00,0.000,2,0.000,0.000,361,1940,3334,0,0,0,0,0,0
$GC,235,-1.41,-146.0,3.1,-5.1,21,256,10.38,1.98,-2.72,0.000,4,0.157,0.049,2187,2989,3441,0,0,0,0,0,0
$GC,508,-1.41,-146.0,41.4,-15.1,63,514,0.00,1.92,0.00,0.000,6,0.000,0.027,2187,1948,3439,0,0,0,0,0,0
$GC,769,-1.41,-146.0,77.9,-13.9,88,773,0.00,2.08,0.00,0.000,4,0.000,0.044,2187,892,3440,0,0,0,0,0,0
$GC,1027,-1.41,-146.0,102.5,-7.2,111,1031,0.00,2.05,0.00,0.000,6,0.000,0.021,2187,1971,3440,0,0,0,0,0,0
$GC,1293,-1.41,-146.0,119.2,-6.0,136,1297,0.00,1.88,0.00,0.000,4,0.000,0.038,2187,3003,3441,0,0,0,0,0,0
$GC,1308,-1.41,-146.0,120.2,-6.3,137,1315,0.00,1.88,0.00,0.000,6,0.000,0.024,2187,1972,3441,0,0,0,0,0,0
$GC,1570,-1.41,-146.0,137.2,-6.2,162,1573,0.00,1.90,0.00,0.000,4,0.000,0.038,2187,3004,3441,0,0,0,0,0,0
$GC,1648,-1.41,-146.0,142.7,-7.0,169,1651,0.00,1.80,0.00,0.000,6,0.000,0.024,2187,1984,3441,0,0,0,0,0,0
$GC,1914,-1.41,-146.0,156.4,-4.7,194,1917,0.00,1.85,0.00,0.000,4,0.000,0.037,2187,3002,3441,0,0,0,0,0,0
$GC,1970,-1.41,-146.0,158.8,-4.3,199,1974,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1960,3441,0,0,0,0,0,0
$GC,2236,-1.41,-146.0,171.6,-5.9,224,2240,0.00,2.15,0.00,0.000,4,0.000,0.043,2187,882,3440,0,0,0,0,0,0
$GC,2381,-1.41,-146.0,181.1,-6.8,236,2387,0.00,2.10,0.00,0.000,6,0.000,0.022,2187,1967,3440,0,0,0,0,0,0
$GC,2642,-1.41,-146.0,195.6,-5.5,261,2646,0.00,1.90,0.00,0.000,4,0.000,0.040,2187,3003,3440,0,0,0,0,0,0
$GC,2793,-1.41,-146.0,203.0,-4.5,271,2799,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1996,3440,0,0,0,0,0,0
$GC,3108,-1.41,-146.0,218.0,-4.7,287,3112,0.00,1.85,0.00,0.000,4,0.000,0.039,2187,3005,3438,0,0,0,0,0,0
$GC,3259,-1.41,-146.0,225.0,-4.1,293,3265,0.00,1.88,0.00,0.000,6,0.000,0.027,2186,1973,3438,0,0,0,0,0,0
$GC,3574,-1.41,-146.0,239.3,-4.7,309,3578,0.00,1.90,0.00,0.000,4,0.000,0.040,2187,3001,3437,0,0,0,0,0,0
$GC,3831,-1.41,-146.0,250.4,-3.4,320,3836,0.00,1.83,0.00,0.000,6,0.000,0.026,2187,1995,3436,0,0,0,0,0,0
$GC,4152,-1.41,-146.0,261.3,-4.0,336,4156,0.00,2.22,0.00,0.000,4,0.000,0.044,2187,879,3434,0,0,0,0,0,0
$GC,4268,-1.41,-146.0,267.5,-5.2,341,4273,0.00,2.15,0.00,0.000,6,0.000,0.024,2186,1981,3434,0,0,0,0,0,0
$GC,4589,-1.41,-146.0,282.6,-4.1,357,4592,0.00,1.88,0.00,0.000,4,0.000,0.042,2187,3001,3432,0,0,0,0,0,0
$GC,4846,-1.41,-146.0,291.4,-3.3,368,4851,0.00,1.88,0.00,0.000,6,0.000,0.028,2187,1978,3431,0,0,0,0,0,0
$GC,5166,-1.41,-146.0,298.8,-1.9,384,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1978,3430,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5251,-0.33,0.0,300.5,2.0,388,5369,1.15,0.00,111.15,0.828,6,0.091,0.000,2423,1923,2840,0,0,0,0,0,0
$STATE,5416,end apogee,CONTROL_FINISHED_OK
$STATE,5416,begin climb
$GC,5417,1.41,146.0,296.9,0.0,392,5540,1.67,2.08,112.07,0.804,4,0.040,0.031,2806,3008,2244,0,0,0,0,0,0
$GC,5634,1.41,146.0,248.4,24.6,402,5639,0.00,1.95,0.00,0.000,6,0.000,0.035,2806,1975,2241,0,0,0,0,0,0
$GC,5954,1.41,146.0,172.5,21.5,423,5957,0.00,1.90,0.00,0.000,4,0.000,0.030,2806,2998,2239,0,0,0,0,0,0
$GC,5968,1.41,146.0,168.9,21.4,424,5976,0.00,2.00,0.00,0.000,6,0.000,0.032,2806,1935,2239,0,0,0,0,0,0
$GC,6230,1.41,146.0,111.4,22.0,449,6234,0.00,1.95,0.00,0.000,4,0.000,0.029,2806,3004,2237,0,0,0,0,0,0
$GC,6330,1.41,146.0,90.6,19.4,458,6334,0.00,1.95,0.00,0.000,6,0.000,0.031,2806,1955,2236,0,0,0,0,0,0
$GC,6597,1.41,146.0,47.6,14.9,483,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1953,2235,0,0,0,0,0,0
$GC,6859,1.41,146.0,7.4,14.7,520,6865,0.00,1.92,0.00,0.000,4,0.000,0.031,2806,2998,2235,0,0,0,0,0,0
$STATE,6891,end climb,SURFACE_DEPTH_REACHED
$STATE,6891,begin surface coast
$FINISH,0.5,1.009470
$STATE,6915,end surface coast,CONTROL_FINISHED_OK
$STATE,6915,begin surface
$SM_CCo,7000,172.40,0.584,0,0,721,520.04
$SM_GC,1.30,0.00,0.00,172.40,0.000,0.000,0.584,360,1930,721,-9.84,-0.54,520.04
$IRIDIUM_FIX,2106.38,12637.86,140512,020259
$TT8_MAMPS,0.033748
$HUMID,1078813539
$TCM_TEMP,24.50
$XPDR_PINGS,499
$24V_AH,24.0,4.558
$10V_AH,10.0,1.845
$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,23.825,58.475,223.225,172.400,0.000,83.417,145.063,376.074,124.750,0.000,13.395,941.325,4524.682,518.585,2164.402,56.045,33.338,1116.815,0.000,1098.082,0.000,0.546,0.000
$DEVICE_MAMPS,157.235,131.157,827.593,583.687,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,16796,530
$CAP_FILE_SIZE,92201,0
$CFSIZE,260034560,257216512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,102430,2117.258,12547.341,26,1.5,37,-2.9