version: 66.07
glider: 23
mission: 5
dive: 54
start: 11 23 110 0 39 11
data:
$ID,23
$MISSION,5
$DIVE,54
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,420
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-50626.988
$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,2460
$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,20
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$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
$GPS1,231110,003155,2059.775,12540.816,42,1.5,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-55.0
$GPS2,231110,003819,2059.684,12540.708,9,1.9,14,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.101
$KALMAN_X,-110282.9,1237.7,28.0,74061.8,-4345.5
$KALMAN_Y,-23632.0,59.3,292.5,-16959.7,-1782.7
$MHEAD_RNG_PITCHd_Wd,117.8,131801,-18.7,-10.000
$D_GRID,600
$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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,124,-1.41,-146.0,0.0,0.0,0,214,0.00,0.00,-86.65,0.000,2,0.000,0.000,361,1930,3060,0,0,0,0,0,0
$GC,216,-1.41,-146.0,3.1,-6.6,17,251,10.18,2.20,-16.75,0.000,4,0.156,0.058,2146,879,3668,0,0,0,0,0,0
$GC,342,-1.41,-146.0,23.6,-20.2,40,348,0.00,2.08,0.00,0.000,6,0.000,0.020,2146,1966,3669,0,0,0,0,0,0
$GC,545,-1.41,-146.0,66.0,-19.4,62,549,0.00,1.85,0.00,0.000,4,0.000,0.029,2146,2996,3670,0,0,0,0,0,0
$GC,803,-1.41,-146.0,102.6,-10.4,85,807,0.00,1.92,0.00,0.000,6,0.000,0.027,2146,1940,3670,0,0,0,0,0,0
$GC,1069,-1.41,-146.0,132.6,-11.2,110,1073,0.00,2.12,0.00,0.000,4,0.000,0.045,2146,884,3672,0,0,0,0,0,0
$GC,1325,-1.41,-146.0,160.4,-10.7,132,1332,0.00,2.08,0.00,0.000,6,0.000,0.021,2146,1952,3673,0,0,0,0,0,0
$GC,1587,-1.41,-146.0,187.2,-10.6,157,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1955,3673,0,0,0,0,0,0
$GC,1837,-1.41,-146.0,213.1,-10.3,175,1841,0.00,1.90,0.00,0.000,4,0.000,0.035,2146,2987,3674,0,0,0,0,0,0
$GC,2084,-1.41,-146.0,237.8,-9.0,186,2088,0.00,1.85,0.00,0.000,6,0.000,0.027,2146,1964,3672,0,0,0,0,0,0
$GC,2416,-1.41,-146.0,266.6,-8.4,202,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1963,3670,0,0,0,0,0,0
$GC,2725,-1.41,-146.0,292.1,-8.0,217,2728,0.00,1.90,0.00,0.000,4,0.000,0.038,2146,3000,3669,0,0,0,0,0,0
$GC,2982,-1.41,-146.0,312.5,-6.8,225,2986,0.00,1.90,0.00,0.000,6,0.000,0.028,2146,1965,3668,0,0,0,0,0,0
$GC,3319,-1.41,-146.0,339.1,-8.4,234,3322,0.00,1.90,0.00,0.000,4,0.000,0.039,2146,2999,3667,0,0,0,0,0,0
$GC,3577,-1.41,-146.0,360.5,-7.6,239,3581,0.00,1.88,0.00,0.000,6,0.000,0.029,2146,1968,3666,0,0,0,0,0,0
$GC,3913,-1.41,-146.0,383.2,-6.5,248,3917,0.00,1.90,0.00,0.000,4,0.000,0.041,2146,2983,3664,0,0,0,0,0,0
$GC,4170,-1.41,-146.0,402.4,-7.8,253,4174,0.00,1.85,0.00,0.000,6,0.000,0.030,2146,1979,3663,0,0,0,0,0,0
$GC,4507,-1.41,-146.0,426.7,-7.1,262,4510,0.00,1.88,0.00,0.000,4,0.000,0.041,2146,2993,3661,0,0,0,0,0,0
$GC,4764,-1.41,-146.0,444.2,-6.3,267,4768,0.00,1.83,0.00,0.000,6,0.000,0.031,2146,2000,3660,0,0,0,0,0,0
$GC,5101,-1.41,-146.0,466.5,-6.9,276,5104,0.00,1.83,0.00,0.000,4,0.000,0.043,2146,2988,3657,0,0,0,0,0,0
$GC,5358,-1.41,-146.0,485.3,-7.2,281,5362,0.00,1.83,0.00,0.000,6,0.000,0.031,2146,1999,3656,0,0,0,0,0,0
$GC,5694,-1.41,-146.0,507.9,-6.5,290,5698,0.00,1.85,0.00,0.000,4,0.000,0.044,2146,2997,3653,0,0,0,0,0,0
$GC,5952,-1.41,-146.0,524.4,-5.7,295,5956,0.00,1.85,0.00,0.000,6,0.000,0.033,2146,1996,3651,0,0,0,0,0,0
$GC,6288,-1.41,-146.0,542.2,-5.0,304,6292,0.00,1.85,0.00,0.000,4,0.000,0.047,2146,2989,3650,0,0,0,0,0,0
$GC,6545,-1.41,-146.0,557.8,-6.7,309,6550,0.00,1.83,0.00,0.000,6,0.000,0.035,2146,1999,3648,0,0,0,0,0,0
$GC,6882,-1.41,-146.0,580.8,-6.9,318,6885,0.00,1.85,0.00,0.000,4,0.000,0.048,2146,2993,3645,0,0,0,0,0,0
$GC,7139,-1.41,-146.0,598.3,-6.7,323,7143,0.00,1.85,0.00,0.000,6,0.000,0.036,2146,1996,3644,0,0,0,0,0,0
$STATE,7190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7190,begin apogee
$GC,7194,-0.33,0.0,601.4,6.0,325,7312,1.15,0.00,113.55,1.131,6,0.086,0.000,2385,1919,3071,0,0,0,0,0,0
$STATE,7359,end apogee,CONTROL_FINISHED_OK
$STATE,7359,begin climb
$GC,7360,1.41,146.0,600.8,0.0,328,7486,1.73,2.20,117.35,1.090,4,0.051,0.055,2764,893,2475,0,0,0,0,0,0
$GC,7507,1.41,146.0,574.1,22.9,331,7512,0.00,2.15,0.00,0.000,6,0.000,0.028,2764,1952,2472,0,0,0,0,0,0
$GC,7850,1.41,146.0,498.6,22.3,340,7853,0.00,1.92,0.00,0.000,4,0.000,0.040,2764,3006,2470,0,0,0,0,0,0
$GC,8107,1.41,146.0,445.7,19.7,345,8112,0.00,1.95,0.00,0.000,6,0.000,0.038,2764,1970,2467,0,0,0,0,0,0
$GC,8443,1.41,146.0,380.7,19.0,354,8447,0.00,1.88,0.00,0.000,4,0.000,0.036,2764,2997,2465,0,0,0,0,0,0
$GC,8700,1.41,146.0,329.6,20.7,359,8705,0.00,1.92,0.00,0.000,6,0.000,0.034,2764,1968,2464,0,0,0,0,0,0
$GC,9019,1.41,146.0,263.5,19.8,371,9023,0.00,1.88,0.00,0.000,4,0.000,0.033,2764,3012,2464,0,0,0,0,0,0
$GC,9163,1.41,146.0,235.6,18.7,377,9168,0.00,1.92,0.00,0.000,6,0.000,0.031,2765,1972,2463,0,0,0,0,0,0
$GC,9488,1.41,146.0,176.8,17.2,399,9492,0.00,1.85,0.00,0.000,4,0.000,0.031,2764,3010,2463,0,0,0,0,0,0
$GC,9548,1.41,146.0,167.0,15.7,404,9555,0.00,1.88,0.00,0.000,6,0.000,0.029,2765,1987,2464,0,0,0,0,0,0
$GC,9810,1.41,146.0,127.1,15.3,429,9813,0.00,1.83,0.00,0.000,4,0.000,0.030,2764,3012,2464,0,0,0,0,0,0
$GC,9910,1.41,146.0,111.3,15.8,438,9914,0.00,1.88,0.00,0.000,6,0.000,0.028,2764,1981,2464,0,0,0,0,0,0
$GC,10176,1.41,146.0,76.5,13.9,463,10180,0.00,1.83,0.00,0.000,4,0.000,0.031,2764,3006,2465,0,0,0,0,0,0
$GC,10258,1.41,146.0,66.3,12.6,470,10265,0.00,1.83,0.00,0.000,6,0.000,0.025,2764,2000,2467,0,0,0,0,0,0
$GC,10522,1.45,184.1,42.2,8.3,495,10556,0.00,2.35,28.90,0.647,4,0.000,0.046,2765,882,2320,0,0,0,0,0,0
$GC,10652,1.45,184.1,28.1,11.7,508,10657,0.00,2.17,0.00,0.000,6,0.000,0.017,2765,2004,2319,0,0,0,0,0,0
$GC,10859,1.47,207.8,5.6,8.9,545,10885,0.00,2.38,18.92,0.591,4,0.000,0.049,2764,892,2223,0,0,0,0,0,0
$STATE,10889,end climb,SURFACE_DEPTH_REACHED
$STATE,10890,begin surface coast
$FINISH,0.8,1.013252
$STATE,10913,end surface coast,CONTROL_FINISHED_OK
$STATE,10913,begin surface
$SM_CCo,10999,148.18,0.594,0,0,951,520.04
$SM_GC,1.47,0.00,0.00,148.18,0.000,0.000,0.594,362,1957,951,-9.65,0.25,520.04
$IRIDIUM_FIX,2052.52,12534.14,170512,151535
$TT8_MAMPS,0.032981
$HUMID,1078818700
$TCM_TEMP,24.60
$XPDR_PINGS,436
$24V_AH,23.7,8.167
$10V_AH,10.0,3.633
$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,23.525,81.775,278.725,148.175,0.000,30.917,33.536,93.908,109.000,0.000,15.999,1125.847,7598.900,542.500,2253.159,73.044,33.364,1401.761,0.000,1630.617,0.000,0.545,0.000
$DEVICE_MAMPS,155.701,77.467,1131.325,593.658,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354736
$DATA_FILE_SIZE,20085,555
$CAP_FILE_SIZE,110988,0
$CFSIZE,260034560,255582208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,034800,2058.771,12539.719,41,1.6,41,-2.8