version: 66.07
glider: 23
mission: 5
dive: 28
start: 11 19 110 14 55 7
data:
$ID,23
$MISSION,5
$DIVE,28
$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,568.11481
$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,-49976.902
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,191110,143724,2117.035,12546.799,30,1.6,41,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-57.7
$GPS2,191110,145416,2116.971,12546.801,9,2.3,28,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.135
$KALMAN_X,-37828.4,-1121.3,-598.9,15102.0,-345.6
$KALMAN_Y,-1166.1,-546.5,-130.6,-6373.8,107.0
$MHEAD_RNG_PITCHd_Wd,127.5,140577,-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,14,-1.41,-146.0,0.0,0.0,0,124,0.00,0.00,-106.62,0.000,2,0.000,0.000,362,1956,3361,0,0,0,0,0,0
$GC,126,-1.41,-146.0,3.2,-5.0,21,147,10.45,1.98,-1.98,0.000,4,0.160,0.048,2187,3011,3440,0,0,0,0,0,0
$GC,398,-1.41,-146.0,41.2,-13.6,63,405,0.00,1.95,0.00,0.000,6,0.000,0.026,2187,1945,3440,0,0,0,0,0,0
$GC,660,-1.41,-146.0,72.7,-9.6,88,664,0.00,2.12,0.00,0.000,4,0.000,0.043,2187,878,3440,0,0,0,0,0,0
$GC,868,-1.41,-146.0,89.3,-8.0,106,872,0.00,2.12,0.00,0.000,6,0.000,0.021,2187,1995,3440,0,0,0,0,0,0
$GC,1128,-1.41,-146.0,107.5,-7.3,130,1131,0.00,1.80,0.00,0.000,4,0.000,0.037,2187,3003,3441,0,0,0,0,0,0
$GC,1386,-1.41,-146.0,126.1,-6.5,153,1390,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,1987,3441,0,0,0,0,0,0
$GC,1652,-1.41,-146.0,140.7,-4.8,178,1655,0.00,1.85,0.00,0.000,4,0.000,0.036,2187,3005,3442,0,0,0,0,0,0
$GC,1910,-1.41,-146.0,155.2,-6.8,201,1913,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,1989,3441,0,0,0,0,0,0
$GC,2176,-1.41,-146.0,169.1,-4.7,226,2179,0.00,1.83,0.00,0.000,4,0.000,0.037,2187,3005,3441,0,0,0,0,0,0
$GC,2314,-1.41,-146.0,177.7,-6.2,238,2321,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,1999,3440,0,0,0,0,0,0
$GC,2576,-1.41,-146.0,192.4,-4.9,263,2579,0.00,1.85,0.00,0.000,4,0.000,0.038,2187,3003,3440,0,0,0,0,0,0
$GC,2833,-1.41,-146.0,205.1,-4.7,281,2837,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,2002,3440,0,0,0,0,0,0
$GC,3154,-1.41,-146.0,218.8,-4.6,297,3158,0.00,2.25,0.00,0.000,4,0.000,0.043,2187,876,3439,0,0,0,0,0,0
$GC,3230,-1.41,-146.0,223.2,-5.8,300,3237,0.00,2.17,0.00,0.000,6,0.000,0.023,2187,1991,3439,0,0,0,0,0,0
$GC,3546,-1.41,-146.0,238.9,-4.4,316,3549,0.00,1.85,0.00,0.000,4,0.000,0.041,2187,3014,3438,0,0,0,0,0,0
$GC,3803,-1.41,-146.0,248.4,-3.1,327,3808,0.00,1.85,0.00,0.000,6,0.000,0.026,2187,1992,3437,0,0,0,0,0,0
$GC,4124,-1.41,-146.0,257.7,-3.2,343,4127,0.00,1.85,0.00,0.000,4,0.000,0.039,2187,3006,3436,0,0,0,0,0,0
$GC,4258,-1.41,-146.0,261.9,-3.1,349,4262,0.00,1.75,0.00,0.000,6,0.000,0.027,2187,2004,3434,0,0,0,0,0,0
$GC,4590,-1.41,-146.0,272.0,-2.9,365,4593,0.00,1.80,0.00,0.000,4,0.000,0.040,2187,3005,3434,0,0,0,0,0,0
$GC,4846,-1.41,-146.0,280.2,-3.7,376,4851,0.00,1.77,0.00,0.000,6,0.000,0.026,2187,2011,3432,0,0,0,0,0,0
$GC,5168,-1.41,-146.0,291.9,-3.9,392,5171,0.00,2.25,0.00,0.000,4,0.000,0.044,2187,883,3431,0,0,0,0,0,0
$GC,5212,-1.41,-146.0,293.8,-4.2,394,5216,0.00,2.17,0.00,0.000,6,0.000,0.025,2187,2005,3431,0,0,0,0,0,0
$STATE,5397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5397,begin apogee
$GC,5401,-0.33,0.0,300.1,3.2,403,5519,1.15,0.00,111.22,0.832,6,0.092,0.000,2423,1911,2841,0,0,0,0,0,0
$STATE,5520,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5522,1.41,146.0,297.0,0.0,408,5644,1.70,2.08,111.97,0.808,4,0.043,0.031,2806,3004,2244,0,0,0,0,0,0
$GC,5778,1.41,146.0,242.7,22.0,420,5782,0.00,1.92,0.00,0.000,6,0.000,0.035,2806,1980,2241,0,0,0,0,0,0
$GC,6104,1.41,146.0,165.5,22.0,442,6108,0.00,2.22,0.00,0.000,4,0.000,0.049,2806,876,2239,0,0,0,0,0,0
$GC,6135,1.41,146.0,157.5,25.8,444,6142,0.00,2.12,0.00,0.000,6,0.000,0.020,2806,1970,2239,0,0,0,0,0,0
$GC,6397,1.41,146.0,99.5,20.3,469,6400,0.00,1.83,0.00,0.000,4,0.000,0.032,2806,2992,2238,0,0,0,0,0,0
$GC,6542,1.41,146.0,73.3,16.5,482,6546,0.00,1.95,0.00,0.000,6,0.000,0.028,2806,1930,2237,0,0,0,0,0,0
$GC,6808,1.41,146.0,33.2,19.0,507,6811,0.00,1.88,0.00,0.000,4,0.000,0.025,2806,2993,2235,0,0,0,0,0,0
$STATE,6914,end climb,SURFACE_DEPTH_REACHED
$STATE,6914,begin surface coast
$FINISH,0.6,1.001034
$STATE,6930,end surface coast,CONTROL_FINISHED_OK
$STATE,6930,begin surface
$SM_CCo,6949,196.43,0.592,0,0,524,568.11
$SM_GC,1.24,0.00,0.00,196.43,0.000,0.000,0.592,362,1947,524,-9.83,-0.08,568.11
$IRIDIUM_FIX,2108.69,12549.74,140512,090949
$TT8_MAMPS,0.029146
$HUMID,1078827732
$TCM_TEMP,24.20
$XPDR_PINGS,35
$24V_AH,23.9,4.882
$10V_AH,10.0,1.977
$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,23.875,58.500,223.200,196.425,0.000,149.095,314.952,172.790,8.750,0.000,31.178,1025.480,4654.362,533.016,1888.534,66.636,33.337,1162.320,0.000,1172.194,0.000,0.546,0.000
$DEVICE_MAMPS,159.536,56.758,832.195,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354776
$DATA_FILE_SIZE,16766,527
$CAP_FILE_SIZE,119494,0
$CFSIZE,260034560,257011712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,165525,2116.462,12547.310,37,1.6,37,-2.9