version: 66.07
glider: 23
mission: 5
dive: 32
start: 11 19 110 23 42 11
data:
$ID,23
$MISSION,5
$DIVE,32
$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,-50061.805
$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,28
$R_STBD_OVSHOOT,51
$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,2
$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
$GPS1,191110,233406,2113.385,12547.259,40,1.2,40,-2.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-51.5
$GPS2,191110,234119,2113.290,12547.209,15,1.8,15,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,-0.145
$KALMAN_X,-42761.0,92.1,-148.4,19085.9,-1457.2
$KALMAN_Y,-4798.7,-50.1,-365.1,-9807.5,-680.7
$MHEAD_RNG_PITCHd_Wd,130.5,135726,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.41,-146.0,0.0,0.0,0,128,0.00,0.00,-101.25,0.000,2,0.000,0.000,364,1934,3193,0,0,0,0,0,0
$GC,130,-1.41,-146.0,3.1,-7.0,20,156,10.43,2.20,-6.72,0.000,4,0.157,0.058,2187,885,3438,0,0,0,0,0,0
$GC,279,-1.41,-146.0,23.7,-14.6,47,285,0.00,2.05,0.00,0.000,6,0.000,0.019,2187,1945,3440,0,0,0,0,0,0
$GC,483,-1.41,-146.0,53.6,-14.5,70,487,0.00,1.90,0.00,0.000,4,0.000,0.032,2187,2994,3440,0,0,0,0,0,0
$GC,741,-1.41,-146.0,87.5,-9.3,93,745,0.00,1.88,0.00,0.000,6,0.000,0.025,2187,1962,3441,0,0,0,0,0,0
$GC,1007,-1.41,-146.0,108.6,-6.5,118,1011,0.00,2.15,0.00,0.000,4,0.000,0.041,2187,877,3441,0,0,0,0,0,0
$GC,1040,-1.41,-146.0,110.9,-7.0,121,1044,0.00,2.10,0.00,0.000,6,0.000,0.020,2187,1980,3441,0,0,0,0,0,0
$GC,1306,-1.41,-146.0,128.5,-5.8,146,1310,0.00,2.20,0.00,0.000,4,0.000,0.040,2187,885,3442,0,0,0,0,0,0
$GC,1562,-1.41,-146.0,143.8,-5.7,168,1569,0.00,2.12,0.00,0.000,6,0.000,0.021,2187,1983,3443,0,0,0,0,0,0
$GC,1824,-1.41,-146.0,156.8,-4.9,193,1827,0.00,1.83,0.00,0.000,4,0.000,0.037,2187,2994,3443,0,0,0,0,0,0
$GC,1884,-1.41,-146.0,159.8,-5.2,198,1890,0.00,1.77,0.00,0.000,6,0.000,0.024,2187,2001,3443,0,0,0,0,0,0
$GC,2145,-1.41,-146.0,174.7,-5.5,223,2149,0.00,2.22,0.00,0.000,4,0.000,0.042,2187,884,3443,0,0,0,0,0,0
$GC,2229,-1.41,-146.0,179.3,-5.0,230,2233,0.00,2.15,0.00,0.000,6,0.000,0.022,2187,1998,3443,0,0,0,0,0,0
$GC,2495,-1.41,-146.0,190.6,-3.7,255,2499,0.00,1.80,0.00,0.000,4,0.000,0.038,2187,3013,3442,0,0,0,0,0,0
$GC,2724,-1.41,-146.0,199.6,-4.3,275,2730,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,2004,3442,0,0,0,0,0,0
$GC,2988,-1.41,-146.0,210.2,-4.0,289,2992,0.00,2.25,0.00,0.000,4,0.000,0.044,2187,880,3440,0,0,0,0,0,0
$GC,3104,-1.41,-146.0,215.6,-4.1,294,3108,0.00,2.20,0.00,0.000,6,0.000,0.022,2187,2000,3441,0,0,0,0,0,0
$GC,3425,-1.41,-146.0,226.0,-3.3,310,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2000,3440,0,0,0,0,0,0
$GC,3734,-1.41,-146.0,236.1,-3.0,325,3738,0.00,1.83,0.00,0.000,4,0.000,0.041,2187,3014,3439,0,0,0,0,0,0
$GC,3991,-1.41,-146.0,244.7,-3.2,336,3996,0.00,1.85,0.00,0.000,6,0.000,0.026,2187,1990,3437,0,0,0,0,0,0
$GC,4312,-1.41,-146.0,256.5,-3.8,352,4316,0.00,1.83,0.00,0.000,4,0.000,0.039,2187,3003,3436,0,0,0,0,0,0
$GC,4524,-1.41,-146.0,265.1,-3.9,361,4529,0.00,1.85,0.00,0.000,6,0.000,0.027,2187,1981,3435,0,0,0,0,0,0
$GC,4845,-1.41,-146.0,275.1,-2.7,377,4849,0.00,1.85,0.00,0.000,4,0.000,0.040,2186,3002,3434,0,0,0,0,0,0
$GC,4939,-1.41,-146.0,277.7,-2.5,381,4944,0.00,1.83,0.00,0.000,6,0.000,0.028,2187,1994,3433,0,0,0,0,0,0
$GC,5266,-1.41,-146.0,288.2,-3.7,397,5269,0.00,1.85,0.00,0.000,4,0.000,0.041,2187,3005,3432,0,0,0,0,0,0
$GC,5355,-1.41,-146.0,291.4,-3.3,401,5359,0.00,1.77,0.00,0.000,6,0.000,0.028,2186,1994,3432,0,0,0,0,0,0
$STATE,5686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5686,begin apogee
$GC,5689,-0.33,0.0,300.1,2.5,417,5807,1.15,0.00,111.88,0.833,6,0.091,0.000,2423,1920,2840,0,0,0,0,0,0
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5812,1.41,146.0,297.1,0.0,422,5935,1.73,2.17,112.50,0.808,4,0.049,0.051,2806,900,2244,0,0,0,0,0,0
$GC,5957,1.41,146.0,267.9,28.6,429,5961,0.00,2.10,0.00,0.000,6,0.000,0.020,2806,1985,2243,0,0,0,0,0,0
$GC,6279,1.41,146.0,183.9,24.1,447,6283,0.00,1.83,0.00,0.000,4,0.000,0.031,2806,2990,2238,0,0,0,0,0,0
$GC,6328,1.41,146.0,172.4,22.2,451,6335,0.00,1.92,0.00,0.000,6,0.000,0.033,2806,1963,2239,0,0,0,0,0,0
$GC,6590,1.41,146.0,113.3,21.1,476,6594,0.00,2.22,0.00,0.000,4,0.000,0.050,2806,876,2238,0,0,0,0,0,0
$GC,6650,1.41,146.0,99.8,21.6,481,6654,0.00,2.08,0.00,0.000,6,0.000,0.019,2806,1950,2238,0,0,0,0,0,0
$GC,6917,1.41,146.0,59.3,13.2,506,6920,0.00,1.85,0.00,0.000,4,0.000,0.032,2806,2989,2236,0,0,0,0,0,0
$GC,7044,1.41,146.0,40.4,15.3,517,7051,0.00,1.92,0.00,0.000,6,0.000,0.026,2806,1932,2235,0,0,0,0,0,0
$STATE,7287,end climb,SURFACE_DEPTH_REACHED
$STATE,7287,begin surface coast
$FINISH,0.7,0.998237
$STATE,7305,end surface coast,CONTROL_FINISHED_OK
$STATE,7305,begin surface
$SM_CCo,7324,174.07,0.592,0,0,720,520.04
$SM_GC,1.18,0.00,0.00,174.07,0.000,0.000,0.592,363,1924,720,-9.83,-0.74,520.04
$IRIDIUM_FIX,2108.69,12623.06,140512,151549
$TT8_MAMPS,0.048321
$HUMID,1078838055
$TCM_TEMP,24.40
$XPDR_PINGS,525
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,2096136192
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,5.355
$10V_AH,9.9,2.163
$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,23.925,63.475,224.375,174.075,0.000,24.745,49.289,276.724,131.250,0.000,16.829,995.888,4821.830,518.147,1562.067,56.935,33.336,1148.733,0.000,1160.217,0.000,0.546,0.000
$DEVICE_MAMPS,157.235,76.700,832.962,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.783,0.000,0.000,0.000,0.000,0.000,0.000,6650.680,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.906,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,16759,558
$CAP_FILE_SIZE,86678,0
$CFSIZE,260034560,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,014836,2112.432,12546.667,39,1.3,39,-2.8