version: 66.07
glider: 23
mission: 5
dive: 30
start: 11 19 110 19 30 17
data:
$ID,23
$MISSION,5
$DIVE,30
$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,-50027.855
$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,53
$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
$GPS1,191110,191506,2115.536,12547.731,29,1.3,40,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.7
$GPS2,191110,192925,2115.355,12547.818,16,1.6,32,-2.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,-0.177
$KALMAN_X,-39332.4,-447.3,159.2,16935.2,401.0
$KALMAN_Y,-2442.9,-131.9,-132.3,-8497.1,-68.9
$MHEAD_RNG_PITCHd_Wd,140.9,137304,-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,-106.80,0.000,2,0.000,0.000,364,1938,3363,0,0,0,0,0,0
$GC,126,-1.41,-146.0,3.1,-4.6,21,147,10.50,2.17,-1.92,0.000,4,0.160,0.052,2187,889,3439,0,0,0,0,0,0
$GC,342,-1.41,-146.0,36.4,-14.7,56,350,0.00,2.05,0.00,0.000,6,0.000,0.019,2187,1944,3440,0,0,0,0,0,0
$GC,604,-1.41,-146.0,72.9,-14.3,81,608,0.00,1.92,0.00,0.000,4,0.000,0.033,2187,3006,3440,0,0,0,0,0,0
$GC,862,-1.41,-146.0,98.1,-6.3,104,866,0.00,1.88,0.00,0.000,6,0.000,0.024,2187,1950,3440,0,0,0,0,0,0
$GC,1128,-1.41,-146.0,112.8,-5.6,129,1131,0.00,1.92,0.00,0.000,4,0.000,0.035,2187,2995,3442,0,0,0,0,0,0
$GC,1255,-1.41,-146.0,120.7,-5.9,140,1262,0.00,1.88,0.00,0.000,6,0.000,0.024,2187,1959,3441,0,0,0,0,0,0
$GC,1516,-1.41,-146.0,135.2,-5.4,165,1520,0.00,1.90,0.00,0.000,4,0.000,0.035,2187,3005,3442,0,0,0,0,0,0
$GC,1774,-1.41,-146.0,149.2,-5.8,188,1778,0.00,1.88,0.00,0.000,6,0.000,0.025,2187,1952,3442,0,0,0,0,0,0
$GC,2040,-1.41,-146.0,164.1,-6.0,213,2044,0.00,1.90,0.00,0.000,4,0.000,0.035,2187,2995,3441,0,0,0,0,0,0
$GC,2298,-1.41,-146.0,178.9,-4.9,236,2302,0.00,1.85,0.00,0.000,6,0.000,0.025,2187,1955,3441,0,0,0,0,0,0
$GC,2564,-1.41,-146.0,192.7,-4.8,261,2568,0.00,1.90,0.00,0.000,4,0.000,0.036,2187,2999,3440,0,0,0,0,0,0
$GC,2821,-1.41,-146.0,207.0,-5.3,279,2826,0.00,1.88,0.00,0.000,6,0.000,0.026,2187,1961,3440,0,0,0,0,0,0
$GC,3142,-1.41,-146.0,220.9,-4.3,295,3146,0.00,2.12,0.00,0.000,4,0.000,0.043,2187,884,3439,0,0,0,0,0,0
$GC,3399,-1.41,-146.0,233.7,-5.3,306,3406,0.00,2.12,0.00,0.000,6,0.000,0.022,2187,1979,3438,0,0,0,0,0,0
$GC,3715,-1.41,-146.0,248.1,-4.9,322,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1978,3437,0,0,0,0,0,0
$GC,4024,-1.41,-146.0,263.7,-5.0,337,4027,0.00,1.83,0.00,0.000,4,0.000,0.041,2186,2997,3435,0,0,0,0,0,0
$GC,4141,-1.41,-146.0,269.4,-4.7,342,4145,0.00,1.88,0.00,0.000,6,0.000,0.027,2187,1970,3434,0,0,0,0,0,0
$GC,4467,-1.41,-146.0,284.1,-4.5,358,4471,0.00,2.17,0.00,0.000,4,0.000,0.044,2187,883,3433,0,0,0,0,0,0
$GC,4590,-1.41,-146.0,289.0,-3.8,363,4596,0.00,2.10,0.00,0.000,6,0.000,0.024,2187,1961,3433,0,0,0,0,0,0
$GC,4905,-1.41,-146.0,299.3,-3.6,379,4908,0.00,1.88,0.00,0.000,4,0.000,0.042,2187,2997,3432,0,0,0,0,0,0
$STATE,4925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4931,-0.33,0.0,300.2,3.9,380,5048,1.15,0.00,111.40,0.829,6,0.094,0.000,2422,1934,2841,0,0,0,0,0,0
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5050,1.41,146.0,298.3,0.0,384,5171,1.73,0.00,113.25,0.806,6,0.045,0.000,2808,1935,2244,0,0,0,0,0,0
$GC,5479,1.41,146.0,195.6,24.9,405,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1934,2239,0,0,0,0,0,0
$GC,5734,1.41,146.0,134.3,23.3,429,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1934,2238,0,0,0,0,0,0
$GC,5989,1.41,146.0,84.4,18.4,453,5993,0.00,1.92,0.00,0.000,4,0.000,0.029,2808,2999,2236,0,0,0,0,0,0
$GC,6004,1.41,146.0,81.6,18.5,454,6011,0.00,1.92,0.00,0.000,6,0.000,0.028,2808,1955,2236,0,0,0,0,0,0
$GC,6266,1.41,146.0,43.5,13.6,479,6269,0.00,1.90,0.00,0.000,4,0.000,0.030,2808,3009,2235,0,0,0,0,0,0
$GC,6310,1.41,146.0,37.4,14.1,483,6314,0.00,1.92,0.00,0.000,6,0.000,0.025,2808,1949,2235,0,0,0,0,0,0
$STATE,6547,end climb,SURFACE_DEPTH_REACHED
$STATE,6547,begin surface coast
$FINISH,0.7,1.022408
$STATE,6565,end surface coast,CONTROL_FINISHED_OK
$STATE,6565,begin surface
$SM_CCo,6581,172.48,0.589,0,0,721,520.04
$SM_GC,1.24,0.00,0.00,172.48,0.000,0.000,0.589,362,1941,721,-9.83,-0.23,520.04
$IRIDIUM_FIX,2108.69,12546.51,140512,131309
$TT8_MAMPS,0.028379
$HUMID,1078838055
$TCM_TEMP,24.50
$XPDR_PINGS,48
$24V_AH,23.9,5.128
$10V_AH,10.0,2.070
$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,23.975,46.850,224.650,172.475,0.000,84.000,102.946,432.228,12.000,0.000,34.527,986.390,4325.175,528.783,1713.777,67.590,33.329,1080.115,0.000,1041.804,0.000,0.545,0.000
$DEVICE_MAMPS,160.303,52.156,829.127,589.056,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16793,523
$CAP_FILE_SIZE,117127,0
$CFSIZE,260034560,256966656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,212406,2114.363,12547.616,34,1.6,40,-2.8