version: 66.07
glider: 23
mission: 5
dive: 29
start: 11 19 110 17 14 24
data:
$ID,23
$MISSION,5
$DIVE,29
$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,-49992.699
$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,16
$R_STBD_OVSHOOT,46
$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
$GPS1,191110,165525,2116.462,12547.310,37,1.6,37,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-53.4
$GPS2,191110,171332,2116.292,12547.469,13,1.9,13,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,-0.208
$KALMAN_X,-38321.6,-827.9,-443.8,16293.2,692.9
$KALMAN_Y,-1810.9,-350.9,-95.3,-7211.5,74.6
$MHEAD_RNG_PITCHd_Wd,153.8,138881,-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,-146.0,0.0,0.0,0,134,0.00,0.00,-116.30,0.000,2,0.000,0.000,362,1947,3425,0,0,0,0,0,0
$GC,136,-1.41,-146.0,3.3,-4.4,23,152,10.50,1.90,0.00,0.000,4,0.161,0.031,2185,2994,3426,0,0,0,0,0,0
$GC,405,-1.41,-146.0,43.3,-15.7,64,409,0.00,1.95,0.00,0.000,6,0.000,0.028,2185,1930,3427,0,0,0,0,0,0
$GC,670,-1.41,-146.0,82.2,-13.2,89,674,0.00,2.10,0.00,0.000,4,0.000,0.044,2185,879,3427,0,0,0,0,0,0
$GC,922,-1.41,-146.0,103.2,-6.5,111,929,0.00,2.10,0.00,0.000,6,0.000,0.020,2185,1973,3427,0,0,0,0,0,0
$GC,1183,-1.41,-146.0,115.3,-5.7,136,1187,0.00,1.85,0.00,0.000,4,0.000,0.036,2185,3000,3428,0,0,0,0,0,0
$GC,1441,-1.41,-146.0,133.1,-5.5,159,1445,0.00,1.80,0.00,0.000,6,0.000,0.025,2185,1985,3428,0,0,0,0,0,0
$GC,1707,-1.41,-146.0,146.9,-4.7,184,1710,0.00,1.85,0.00,0.000,4,0.000,0.036,2185,3003,3428,0,0,0,0,0,0
$GC,1965,-1.41,-146.0,160.8,-6.5,207,1968,0.00,1.80,0.00,0.000,6,0.000,0.025,2185,1988,3428,0,0,0,0,0,0
$GC,2231,-1.41,-146.0,176.7,-6.5,232,2234,0.00,1.88,0.00,0.000,4,0.000,0.038,2185,3006,3427,0,0,0,0,0,0
$GC,2489,-1.41,-146.0,190.2,-4.7,255,2492,0.00,1.83,0.00,0.000,6,0.000,0.025,2185,1981,3427,0,0,0,0,0,0
$GC,2754,-1.41,-146.0,203.4,-5.1,277,2758,0.00,1.85,0.00,0.000,4,0.000,0.037,2185,2993,3426,0,0,0,0,0,0
$GC,2882,-1.41,-146.0,210.1,-4.8,282,2888,0.00,1.83,0.00,0.000,6,0.000,0.026,2185,1982,3425,0,0,0,0,0,0
$GC,3197,-1.41,-146.0,222.8,-3.6,298,3201,0.00,1.85,0.00,0.000,4,0.000,0.038,2185,2993,3424,0,0,0,0,0,0
$GC,3454,-1.41,-146.0,233.0,-4.5,309,3459,0.00,1.85,0.00,0.000,6,0.000,0.026,2185,1975,3424,0,0,0,0,0,0
$GC,3776,-1.41,-146.0,248.2,-5.0,325,3779,0.00,2.17,0.00,0.000,4,0.000,0.044,2185,881,3422,0,0,0,0,0,0
$GC,4032,-1.41,-146.0,259.1,-3.1,336,4037,0.00,2.15,0.00,0.000,6,0.000,0.022,2185,1986,3421,0,0,0,0,0,0
$GC,4354,-1.41,-146.0,267.2,-2.7,352,4358,0.00,2.22,0.00,0.000,4,0.000,0.043,2185,885,3420,0,0,0,0,0,0
$GC,4611,-1.41,-146.0,279.2,-4.7,363,4617,0.00,2.17,0.00,0.000,6,0.000,0.023,2185,1997,3418,0,0,0,0,0,0
$GC,4926,-1.41,-146.0,291.3,-3.5,379,4930,0.00,2.25,0.00,0.000,4,0.000,0.043,2185,882,3418,0,0,0,0,0,0
$GC,5172,-1.41,-146.0,297.1,-2.1,390,5177,0.00,2.17,0.00,0.000,6,0.000,0.024,2185,1993,3417,0,0,0,0,0,0
$STATE,5353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5353,begin apogee
$GC,5357,-0.33,0.0,300.1,1.6,399,5469,1.15,0.00,108.55,0.834,6,0.092,0.000,2421,1919,2841,0,0,0,0,0,0
$STATE,5470,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5471,1.41,146.0,297.3,0.0,403,5593,1.70,2.05,112.40,0.807,4,0.046,0.031,2806,3003,2244,0,0,0,0,0,0
$GC,5630,1.41,146.0,261.9,27.1,411,5636,0.00,1.95,0.00,0.000,6,0.000,0.034,2806,1970,2242,0,0,0,0,0,0
$GC,5954,1.41,146.0,178.2,23.7,431,5958,0.00,2.20,0.00,0.000,4,0.000,0.048,2806,878,2239,0,0,0,0,0,0
$GC,5980,1.41,146.0,171.5,24.2,433,5988,0.00,2.12,0.00,0.000,6,0.000,0.019,2806,1977,2239,0,0,0,0,0,0
$GC,6242,1.41,146.0,114.1,20.1,458,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1978,2238,0,0,0,0,0,0
$GC,6497,1.41,146.0,69.8,13.7,482,6500,0.00,1.83,0.00,0.000,4,0.000,0.032,2806,3006,2236,0,0,0,0,0,0
$GC,6725,1.41,146.0,36.8,14.6,502,6732,0.00,1.92,0.00,0.000,6,0.000,0.025,2807,1947,2235,0,0,0,0,0,0
$STATE,6960,end climb,SURFACE_DEPTH_REACHED
$STATE,6960,begin surface coast
$FINISH,0.7,1.002431
$STATE,6976,end surface coast,CONTROL_FINISHED_OK
$STATE,6976,begin surface
$SM_CCo,6993,173.18,0.588,0,0,720,520.04
$SM_GC,1.32,0.00,0.00,173.18,0.000,0.000,0.588,364,1937,720,-9.83,-0.34,520.04
$IRIDIUM_FIX,2106.38,12546.51,140512,111102
$TT8_MAMPS,0.029146
$HUMID,1078826442
$TCM_TEMP,24.50
$XPDR_PINGS,44
$24V_AH,23.9,5.013
$10V_AH,10.0,2.026
$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,23.925,51.750,220.950,173.175,0.000,90.736,102.800,677.767,11.000,0.000,15.167,1051.828,4497.492,511.992,2132.947,69.618,33.338,1154.217,0.000,1222.119,0.000,0.546,0.000
$DEVICE_MAMPS,161.070,73.632,834.496,587.522,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,16803,543
$CAP_FILE_SIZE,129811,0
$CFSIZE,260034560,257003520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,191506,2115.536,12547.731,29,1.3,40,-2.9