version: 66.07
glider: 23
mission: 5
dive: 26
start: 11 19 110 10 40 58
data:
$ID,23
$MISSION,5
$DIVE,26
$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,-49928.426
$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,25
$R_STBD_OVSHOOT,33
$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,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
$GPS1,191110,102430,2117.258,12547.341,26,1.5,37,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-60.3
$GPS2,191110,104006,2117.226,12547.239,25,1.8,25,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.061
$KALMAN_X,-35126.5,-1019.5,98.4,12369.1,-1345.0
$KALMAN_Y,-356.1,-745.4,-10.6,-6632.2,-396.4
$MHEAD_RNG_PITCHd_Wd,78.0,140302,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.41,-146.0,0.0,0.0,0,123,0.00,0.00,-106.22,0.000,2,0.000,0.000,360,1931,3353,0,0,0,0,0,0
$GC,125,-1.41,-146.0,3.1,-5.4,21,146,10.35,2.03,-2.17,0.000,4,0.155,0.048,2187,3012,3439,0,0,0,0,0,0
$GC,397,-1.41,-146.0,40.3,-12.9,63,404,0.00,1.95,0.00,0.000,6,0.000,0.026,2187,1946,3438,0,0,0,0,0,0
$GC,659,-1.41,-146.0,73.0,-11.7,88,663,0.00,2.12,0.00,0.000,4,0.000,0.044,2187,878,3439,0,0,0,0,0,0
$GC,917,-1.41,-146.0,94.3,-6.1,111,921,0.00,2.08,0.00,0.000,6,0.000,0.021,2187,1986,3439,0,0,0,0,0,0
$GC,1178,-1.41,-146.0,111.6,-6.2,135,1181,0.00,1.83,0.00,0.000,4,0.000,0.038,2187,2993,3440,0,0,0,0,0,0
$GC,1372,-1.41,-146.0,125.0,-6.3,152,1379,0.00,1.83,0.00,0.000,6,0.000,0.024,2187,1982,3441,0,0,0,0,0,0
$GC,1634,-1.41,-146.0,143.8,-6.3,177,1638,0.00,1.88,0.00,0.000,4,0.000,0.036,2187,2993,3440,0,0,0,0,0,0
$GC,1678,-1.41,-146.0,146.7,-6.9,181,1682,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,1996,3441,0,0,0,0,0,0
$GC,1944,-1.41,-146.0,161.8,-4.4,206,1948,0.00,1.83,0.00,0.000,4,0.000,0.036,2187,2999,3440,0,0,0,0,0,0
$GC,2139,-1.41,-146.0,171.5,-4.7,223,2146,0.00,1.83,0.00,0.000,6,0.000,0.025,2187,1991,3440,0,0,0,0,0,0
$GC,2401,-1.41,-146.0,183.5,-5.5,248,2405,0.00,2.20,0.00,0.000,4,0.000,0.043,2187,882,3439,0,0,0,0,0,0
$GC,2657,-1.41,-146.0,199.9,-6.0,270,2664,0.00,2.12,0.00,0.000,6,0.000,0.022,2187,1982,3440,0,0,0,0,0,0
$GC,2912,-1.41,-146.0,212.7,-4.0,283,2916,0.00,2.22,0.00,0.000,4,0.000,0.042,2187,875,3439,0,0,0,0,0,0
$GC,2962,-1.41,-146.0,214.9,-4.1,285,2966,0.00,2.12,0.00,0.000,6,0.000,0.023,2187,1993,3439,0,0,0,0,0,0
$GC,3282,-1.41,-146.0,225.6,-3.6,301,3286,0.00,2.25,0.00,0.000,4,0.000,0.042,2187,873,3438,0,0,0,0,0,0
$GC,3308,-1.41,-146.0,226.8,-4.3,302,3313,0.00,2.17,0.00,0.000,6,0.000,0.023,2187,1990,3438,0,0,0,0,0,0
$GC,3635,-1.41,-146.0,243.5,-5.3,318,3639,0.00,1.83,0.00,0.000,4,0.000,0.041,2187,3004,3436,0,0,0,0,0,0
$GC,3892,-1.41,-146.0,255.5,-3.8,329,3897,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1996,3436,0,0,0,0,0,0
$GC,4213,-1.41,-146.0,268.8,-4.8,345,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1995,3434,0,0,0,0,0,0
$GC,4523,-1.41,-146.0,283.2,-4.5,360,4526,0.00,1.85,0.00,0.000,4,0.000,0.041,2187,3000,3433,0,0,0,0,0,0
$GC,4779,-1.41,-146.0,292.2,-3.0,371,4784,0.00,1.85,0.00,0.000,6,0.000,0.027,2187,1985,3431,0,0,0,0,0,0
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5021,-0.33,0.0,300.3,3.5,383,5139,1.15,0.00,111.30,0.826,6,0.091,0.000,2423,1915,2840,0,0,0,0,0,0
$STATE,5140,end apogee,CONTROL_FINISHED_OK
$STATE,5140,begin climb
$GC,5142,1.41,146.0,298.2,0.0,387,5264,1.73,2.08,111.90,0.802,4,0.049,0.031,2806,3003,2244,0,0,0,0,0,0
$GC,5319,1.41,146.0,263.8,22.6,395,5324,0.00,1.95,0.00,0.000,6,0.000,0.032,2806,1970,2242,0,0,0,0,0,0
$GC,5642,1.41,146.0,187.3,20.9,413,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1970,2240,0,0,0,0,0,0
$GC,5896,1.41,146.0,128.3,20.1,437,5899,0.00,1.88,0.00,0.000,4,0.000,0.030,2806,3016,2238,0,0,0,0,0,0
$GC,5928,1.41,146.0,121.1,21.8,440,5932,0.00,1.98,0.00,0.000,6,0.000,0.030,2806,1948,2238,0,0,0,0,0,0
$GC,6194,1.41,146.0,63.9,20.1,465,6198,0.00,1.90,0.00,0.000,4,0.000,0.029,2806,3005,2237,0,0,0,0,0,0
$GC,6340,1.41,146.0,42.2,14.0,478,6344,0.00,1.92,0.00,0.000,6,0.000,0.026,2806,1954,2236,0,0,0,0,0,0
$STATE,6609,end climb,SURFACE_DEPTH_REACHED
$STATE,6610,begin surface coast
$FINISH,0.6,1.008569
$STATE,6633,end surface coast,CONTROL_FINISHED_OK
$STATE,6634,begin surface
$SM_CCo,6650,172.05,0.584,0,0,721,520.04
$SM_GC,1.26,0.00,0.00,172.05,0.000,0.000,0.584,364,1944,721,-9.83,-0.14,520.04
$IRIDIUM_FIX,2111.01,12546.51,140512,040458
$TT8_MAMPS,0.029146
$HUMID,1078834184
$TCM_TEMP,24.40
$XPDR_PINGS,37
$24V_AH,23.9,4.668
$10V_AH,10.0,1.890
$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,23.800,51.375,223.200,172.050,0.000,83.710,146.255,323.040,9.250,0.000,26.767,997.742,4365.209,507.181,1789.279,59.448,33.342,1093.613,0.000,1079.904,0.000,0.546,0.000
$DEVICE_MAMPS,154.934,92.807,826.059,584.454,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,16792,523
$CAP_FILE_SIZE,117356,0
$CFSIZE,260034560,257150976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,123554,2117.152,12546.812,38,1.0,38,-2.9