version: 66.07
glider: 23
mission: 5
dive: 27
start: 11 19 110 12 43 36
data:
$ID,23
$MISSION,5
$DIVE,27
$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,-49945.098
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,191110,123554,2117.152,12546.812,38,1.0,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.6
$GPS2,191110,124244,2117.126,12546.786,14,1.6,14,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.015
$KALMAN_X,-36745.0,-1130.6,-279.9,13689.4,-1188.0
$KALMAN_Y,-805.7,-742.0,-104.4,-6276.8,-108.9
$MHEAD_RNG_PITCHd_Wd,96.6,140782,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.41,-146.0,0.0,0.0,0,124,0.00,0.00,-106.35,0.000,2,0.000,0.000,364,1944,3347,0,0,0,0,0,0
$GC,126,-1.41,-146.0,3.3,-5.6,21,147,10.48,2.00,-2.25,0.000,4,0.160,0.049,2186,3004,3440,0,0,0,0,0,0
$GC,399,-1.41,-146.0,42.2,-14.5,62,406,0.00,1.95,0.00,0.000,6,0.000,0.026,2186,1940,3439,0,0,0,0,0,0
$GC,660,-1.41,-146.0,77.6,-10.0,87,664,0.00,2.10,0.00,0.000,4,0.000,0.042,2186,887,3440,0,0,0,0,0,0
$GC,917,-1.41,-146.0,99.0,-8.2,109,924,0.00,2.12,0.00,0.000,6,0.000,0.020,2186,1987,3441,0,0,0,0,0,0
$GC,1179,-1.41,-146.0,116.7,-7.3,134,1182,0.00,1.83,0.00,0.000,4,0.000,0.037,2186,3013,3441,0,0,0,0,0,0
$GC,1436,-1.41,-146.0,136.0,-8.2,157,1440,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1986,3441,0,0,0,0,0,0
$GC,1702,-1.41,-146.0,153.5,-5.8,182,1706,0.00,1.85,0.00,0.000,4,0.000,0.037,2186,3013,3443,0,0,0,0,0,0
$GC,1960,-1.41,-146.0,168.7,-5.7,205,1964,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1974,3442,0,0,0,0,0,0
$GC,2226,-1.41,-146.0,181.7,-4.8,230,2230,0.00,1.90,0.00,0.000,4,0.000,0.037,2186,3013,3442,0,0,0,0,0,0
$GC,2309,-1.41,-146.0,186.6,-6.4,237,2315,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1999,3442,0,0,0,0,0,0
$GC,2580,-1.41,-146.0,201.2,-5.1,262,2584,0.00,2.22,0.00,0.000,4,0.000,0.043,2186,881,3442,0,0,0,0,0,0
$GC,2759,-1.41,-146.0,210.6,-6.0,270,2763,0.00,2.15,0.00,0.000,6,0.000,0.023,2186,1998,3441,0,0,0,0,0,0
$GC,3084,-1.41,-146.0,227.2,-5.1,286,3088,0.00,1.83,0.00,0.000,4,0.000,0.040,2186,3007,3442,0,0,0,0,0,0
$GC,3219,-1.41,-146.0,233.6,-4.6,292,3223,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1988,3441,0,0,0,0,0,0
$GC,3550,-1.41,-146.0,247.4,-3.7,308,3554,0.00,1.90,0.00,0.000,4,0.000,0.040,2186,3008,3439,0,0,0,0,0,0
$GC,3767,-1.41,-146.0,255.6,-3.4,317,3774,0.00,1.80,0.00,0.000,6,0.000,0.025,2186,2003,3439,0,0,0,0,0,0
$GC,4083,-1.41,-146.0,268.5,-4.3,333,4086,0.00,1.83,0.00,0.000,4,0.000,0.041,2186,3002,3437,0,0,0,0,0,0
$GC,4195,-1.41,-146.0,274.0,-5.3,338,4199,0.00,1.77,0.00,0.000,6,0.000,0.027,2186,2010,3437,0,0,0,0,0,0
$GC,4526,-1.41,-146.0,285.4,-2.9,354,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2010,3436,0,0,0,0,0,0
$GC,4836,-1.41,-146.0,295.5,-3.8,369,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2010,3435,0,0,0,0,0,0
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4961,-0.33,0.0,300.7,4.1,375,5080,1.15,0.00,112.45,0.825,6,0.088,0.000,2424,1914,2840,0,0,0,0,0,0
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5083,1.41,146.0,299.5,0.0,378,5205,1.70,2.08,111.80,0.805,4,0.044,0.031,2805,3001,2244,0,0,0,0,0,0
$GC,5272,1.41,146.0,262.1,22.0,387,5276,0.00,1.92,0.00,0.000,6,0.000,0.032,2805,1965,2242,0,0,0,0,0,0
$GC,5595,1.41,146.0,185.2,21.6,405,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1964,2239,0,0,0,0,0,0
$GC,5850,1.41,146.0,125.0,21.6,429,5854,0.00,1.92,0.00,0.000,4,0.000,0.031,2805,3006,2238,0,0,0,0,0,0
$GC,5865,1.41,146.0,121.9,19.6,430,5872,0.00,1.95,0.00,0.000,6,0.000,0.028,2805,1951,2237,0,0,0,0,0,0
$GC,6126,1.41,146.0,65.9,20.3,455,6130,0.00,1.92,0.00,0.000,4,0.000,0.028,2805,3018,2237,0,0,0,0,0,0
$GC,6321,1.41,146.0,35.5,14.6,472,6328,0.00,1.92,0.00,0.000,6,0.000,0.025,2806,1964,2236,0,0,0,0,0,0
$STATE,6543,end climb,SURFACE_DEPTH_REACHED
$STATE,6543,begin surface coast
$FINISH,0.7,1.009180
$STATE,6562,end surface coast,CONTROL_FINISHED_OK
$STATE,6562,begin surface
$SM_CCo,6578,173.20,0.588,0,0,720,520.04
$SM_GC,1.33,0.00,0.00,173.20,0.000,0.000,0.588,362,1955,720,-9.83,0.20,520.04
$IRIDIUM_FIX,2108.69,12546.51,140512,040407
$TT8_MAMPS,0.029146
$HUMID,1078823861
$TCM_TEMP,24.40
$XPDR_PINGS,50
$24V_AH,23.9,4.768
$10V_AH,10.0,1.930
$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,23.900,46.475,224.250,173.200,0.000,23.589,35.323,271.304,12.500,0.000,16.043,975.988,4198.504,509.428,1428.300,60.044,33.341,1087.670,0.000,1072.181,0.000,0.545,0.000
$DEVICE_MAMPS,160.303,61.360,825.292,588.289,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16805,512
$CAP_FILE_SIZE,109759,0
$CFSIZE,260034560,257114112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,143724,2117.035,12546.799,30,1.6,41,-2.9