version: 66.07
glider: 23
mission: 5
dive: 55
start: 11 23 110 3 55 40
data:
$ID,23
$MISSION,5
$DIVE,55
$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,170
$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,-50660.633
$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,2440
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,38
$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
$GPS1,231110,034800,2058.771,12539.719,41,1.6,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-49.7
$GPS2,231110,035449,2058.666,12539.589,31,1.5,31,-2.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.102
$KALMAN_X,-113622.1,319.6,-236.6,76652.0,-4260.4
$KALMAN_Y,-24539.2,265.8,331.0,-18184.1,-1840.5
$MHEAD_RNG_PITCHd_Wd,116.7,132727,-17.4,-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,122,end surface,CONTROL_FINISHED_OK
$STATE,122,begin dive
$GC,124,-1.34,-165.5,0.0,0.0,0,213,0.00,0.00,-86.32,0.000,2,0.000,0.000,361,1957,3046,0,0,0,0,0,0
$GC,215,-1.34,-165.5,3.0,-6.2,17,251,10.23,1.73,-19.88,0.000,4,0.160,0.051,2140,1124,3745,0,0,0,0,0,0
$GC,279,-1.34,-165.5,11.5,-17.5,29,285,0.00,2.17,0.00,0.000,6,0.000,0.020,2140,2209,3747,0,0,0,0,0,0
$GC,480,-1.34,-165.5,55.9,-21.9,55,483,0.00,1.77,0.00,0.000,4,0.000,0.037,2141,3269,3747,0,0,0,0,0,0
$GC,569,-1.34,-165.5,73.4,-17.6,63,573,0.00,1.83,0.00,0.000,6,0.000,0.026,2140,2201,3746,0,0,0,0,0,0
$GC,835,-1.34,-165.5,112.9,-13.2,88,839,0.00,1.85,0.00,0.000,4,0.000,0.038,2140,3251,3748,0,0,0,0,0,0
$GC,1092,-1.34,-165.5,145.9,-11.7,111,1096,0.00,1.73,0.00,0.000,6,0.000,0.023,2140,2225,3749,0,0,0,0,0,0
$GC,1358,-1.34,-165.5,175.5,-11.1,136,1362,0.00,1.80,0.00,0.000,4,0.000,0.040,2140,3255,3749,0,0,0,0,0,0
$GC,1614,-1.34,-165.5,203.2,-11.5,158,1619,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2231,3749,0,0,0,0,0,0
$GC,1936,-1.34,-165.5,236.4,-10.0,174,1939,0.00,1.77,0.00,0.000,4,0.000,0.041,2140,3262,3749,0,0,0,0,0,0
$GC,1995,-1.34,-165.5,242.7,-10.1,176,2002,0.00,1.75,0.00,0.000,6,0.000,0.025,2140,2234,3748,0,0,0,0,0,0
$GC,2311,-1.34,-165.5,273.8,-10.1,192,2315,0.00,1.80,0.00,0.000,4,0.000,0.042,2140,3259,3747,0,0,0,0,0,0
$GC,2423,-1.34,-165.5,285.7,-10.0,197,2427,0.00,1.73,0.00,0.000,6,0.000,0.028,2140,2244,3747,0,0,0,0,0,0
$GC,2772,-1.34,-165.5,323.9,-11.2,209,2775,0.00,1.77,0.00,0.000,4,0.000,0.045,2140,3255,3746,0,0,0,0,0,0
$GC,2826,-1.34,-165.5,329.9,-10.6,210,2831,0.00,1.75,0.00,0.000,6,0.000,0.027,2140,2236,3746,0,0,0,0,0,0
$GC,3145,-1.34,-165.5,359.4,-8.7,218,3149,0.00,2.25,0.00,0.000,4,0.000,0.042,2140,1147,3744,0,0,0,0,0,0
$GC,3233,-1.34,-165.5,367.3,-8.6,220,3238,0.00,2.25,0.00,0.000,6,0.000,0.026,2140,2244,3743,0,0,0,0,0,0
$GC,3558,-1.34,-165.5,394.3,-8.4,228,3561,0.00,1.77,0.00,0.000,4,0.000,0.048,2140,3265,3741,0,0,0,0,0,0
$GC,3815,-1.34,-165.5,417.2,-8.3,233,3819,0.00,1.75,0.00,0.000,6,0.000,0.028,2140,2238,3739,0,0,0,0,0,0
$GC,4152,-1.34,-165.5,447.0,-9.5,242,4155,0.00,1.75,0.00,0.000,4,0.000,0.048,2140,3249,3738,0,0,0,0,0,0
$GC,4397,-1.34,-165.5,469.7,-8.4,247,4402,0.00,1.70,0.00,0.000,6,0.000,0.029,2139,2250,3736,0,0,0,0,0,0
$GC,4746,-1.34,-165.5,492.9,-6.0,256,4749,0.00,1.77,0.00,0.000,4,0.000,0.051,2140,3245,3734,0,0,0,0,0,0
$GC,4918,-1.34,-165.5,503.3,-5.6,259,4924,0.00,1.70,0.00,0.000,6,0.000,0.031,2140,2256,3732,0,0,0,0,0,0
$GC,5249,-1.34,-165.5,523.5,-6.3,268,5254,0.00,2.33,0.00,0.000,4,0.000,0.045,2140,1144,3730,0,0,0,0,0,0
$GC,5276,-1.34,-165.5,525.5,-7.1,268,5280,0.00,2.33,0.00,0.000,6,0.000,0.033,2140,2264,3730,0,0,0,0,0,0
$GC,5613,-1.34,-165.5,548.5,-7.0,277,5616,0.00,1.77,0.00,0.000,4,0.000,0.055,2140,3254,3729,0,0,0,0,0,0
$GC,5869,-1.34,-165.5,569.4,-8.6,282,5874,0.00,1.70,0.00,0.000,6,0.000,0.033,2142,2272,3727,0,0,0,0,0,0
$GC,6206,-1.34,-165.5,594.1,-7.1,291,6210,0.00,1.75,0.00,0.000,4,0.000,0.056,2140,3256,3724,0,0,0,0,0,0
$GC,6251,-1.34,-165.5,597.2,-7.0,292,6254,0.00,1.70,0.00,0.000,6,0.000,0.035,2140,2260,3724,0,0,0,0,0,0
$STATE,6294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6294,begin apogee
$GC,6297,-0.33,0.0,600.2,6.3,293,6430,1.08,0.00,129.10,1.118,6,0.084,0.000,2363,2095,3071,0,0,0,0,0,0
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6478,1.34,165.5,600.1,0.0,296,6620,1.67,1.95,132.75,1.080,4,0.052,0.041,2745,3156,2395,0,0,0,0,0,0
$GC,6720,1.34,165.5,554.3,20.5,302,6725,0.00,1.92,0.00,0.000,6,0.000,0.040,2744,2110,2392,0,0,0,0,0,0
$GC,7056,1.34,165.5,483.4,21.6,311,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2110,2389,0,0,0,0,0,0
$GC,7381,1.34,165.5,421.9,18.6,319,7385,0.00,2.28,0.00,0.000,4,0.000,0.052,2744,1038,2387,0,0,0,0,0,0
$GC,7402,1.34,165.5,417.2,21.6,319,7407,0.00,2.22,0.00,0.000,6,0.000,0.028,2745,2116,2386,0,0,0,0,0,0
$GC,7750,1.34,165.5,352.7,18.0,328,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2119,2384,0,0,0,0,0,0
$GC,8075,1.34,165.5,298.5,15.9,336,8079,0.00,2.28,0.00,0.000,4,0.000,0.049,2744,1036,2383,0,0,0,0,0,0
$GC,8118,1.34,165.5,290.9,18.2,338,8123,0.00,2.17,0.00,0.000,6,0.000,0.024,2744,2110,2383,0,0,0,0,0,0
$GC,8445,1.34,165.5,238.9,16.3,354,8449,0.00,2.25,0.00,0.000,4,0.000,0.047,2745,1034,2383,0,0,0,0,0,0
$GC,8511,1.34,165.5,226.4,18.2,357,8516,0.00,2.15,0.00,0.000,6,0.000,0.022,2745,2098,2383,0,0,0,0,0,0
$GC,8832,1.34,165.5,171.9,15.9,380,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2102,2382,0,0,0,0,0,0
$GC,9087,1.34,165.5,132.1,15.3,404,9091,0.00,2.25,0.00,0.000,4,0.000,0.045,2745,1030,2383,0,0,0,0,0,0
$GC,9131,1.34,165.5,124.9,16.4,408,9135,0.00,2.10,0.00,0.000,6,0.000,0.021,2744,2088,2383,0,0,0,0,0,0
$GC,9399,1.34,165.5,90.5,12.3,433,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2091,2384,0,0,0,0,0,0
$GC,9652,1.35,177.9,61.8,9.5,457,9666,0.00,2.28,9.43,0.606,4,0.000,0.043,2745,1036,2344,0,0,0,0,0,0
$GC,9807,1.38,198.7,47.6,9.2,471,9831,0.00,2.08,17.50,0.630,6,0.000,0.020,2745,2082,2259,0,0,0,0,0,0
$GC,10093,1.38,198.7,17.3,11.0,507,10098,0.00,2.20,0.00,0.000,4,0.000,0.039,2745,1029,2259,0,0,0,0,0,0
$GC,10170,1.38,198.7,8.6,11.9,521,10176,0.00,2.08,0.00,0.000,6,0.000,0.018,2744,2062,2259,0,0,0,0,0,0
$STATE,10219,end climb,SURFACE_DEPTH_REACHED
$STATE,10219,begin surface coast
$FINISH,1.0,1.006810
$STATE,10249,end surface coast,CONTROL_FINISHED_OK
$STATE,10249,begin surface
$SM_CCo,10333,152.82,0.591,0,0,951,520.04
$SM_GC,1.34,0.00,0.00,152.82,0.000,0.000,0.591,360,2231,951,-9.57,0.88,520.04
$IRIDIUM_FIX,2050.21,12541.11,170512,181825
$TT8_MAMPS,0.033748
$HUMID,1078801926
$TCM_TEMP,24.70
$XPDR_PINGS,382
$24V_AH,23.7,8.298
$10V_AH,10.0,3.684
$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,23.375,82.450,288.775,152.825,0.000,23.220,38.014,104.795,95.500,0.000,33.014,1036.653,7337.461,559.034,1953.475,69.578,33.391,1288.439,0.000,1315.346,0.000,0.545,0.000
$DEVICE_MAMPS,159.536,55.991,1118.286,591.357,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,20123,535
$CAP_FILE_SIZE,103209,0
$CFSIZE,260034560,255541248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,065326,2057.649,12539.234,38,2.0,39,-2.8