version: 66.07
glider: 23
mission: 5
dive: 57
start: 11 23 110 10 19 52
data:
$ID,23
$MISSION,5
$DIVE,57
$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,-50731.84
$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,23
$R_STBD_OVSHOOT,56
$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
$GPS1,231110,100806,2058.137,12539.345,26,1.6,26,-2.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-48.1
$GPS2,231110,101901,2058.113,12539.108,30,1.7,30,-2.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.104
$KALMAN_X,-118736.3,-1180.3,549.1,81637.7,-2952.4
$KALMAN_Y,-26124.2,502.7,-109.5,-17416.6,-1157.0
$MHEAD_RNG_PITCHd_Wd,68.4,133049,-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,123,-1.34,-165.5,0.0,0.0,0,212,0.00,0.00,-86.62,0.000,2,0.000,0.000,362,2228,3055,0,0,0,0,0,0
$GC,215,-1.34,-165.5,3.0,-6.1,17,251,10.18,2.30,-18.70,0.000,4,0.157,0.048,2143,1138,3749,0,0,0,0,0,0
$GC,324,-1.34,-165.5,22.1,-20.7,37,329,0.00,2.08,0.00,0.000,6,0.000,0.021,2144,2183,3748,0,0,0,0,0,0
$GC,522,-1.34,-165.5,63.9,-20.7,59,526,0.00,1.83,0.00,0.000,4,0.000,0.036,2143,3269,3748,0,0,0,0,0,0
$GC,781,-1.34,-165.5,104.9,-15.3,82,785,0.00,1.75,0.00,0.000,6,0.000,0.025,2143,2206,3749,0,0,0,0,0,0
$GC,1047,-1.34,-165.5,142.1,-13.0,107,1050,0.00,1.77,0.00,0.000,4,0.000,0.037,2144,3258,3751,0,0,0,0,0,0
$GC,1264,-1.34,-165.5,170.3,-11.8,126,1271,0.00,1.77,0.00,0.000,6,0.000,0.023,2143,2208,3751,0,0,0,0,0,0
$GC,1537,-1.34,-165.5,202.6,-12.3,151,1540,0.00,1.80,0.00,0.000,4,0.000,0.039,2143,3257,3751,0,0,0,0,0,0
$GC,1771,-1.34,-165.5,229.4,-10.6,161,1776,0.00,1.77,0.00,0.000,6,0.000,0.024,2143,2218,3751,0,0,0,0,0,0
$GC,2092,-1.34,-165.5,261.5,-10.0,177,2096,0.00,1.80,0.00,0.000,4,0.000,0.041,2143,3264,3750,0,0,0,0,0,0
$GC,2209,-1.34,-165.5,273.6,-9.9,182,2213,0.00,1.77,0.00,0.000,6,0.000,0.026,2143,2216,3749,0,0,0,0,0,0
$GC,2534,-1.34,-165.5,305.7,-10.0,197,2538,0.00,1.83,0.00,0.000,4,0.000,0.043,2143,3272,3749,0,0,0,0,0,0
$GC,2594,-1.34,-165.5,312.2,-10.1,198,2600,0.00,1.77,0.00,0.000,6,0.000,0.027,2143,2229,3748,0,0,0,0,0,0
$GC,2908,-1.34,-165.5,340.1,-8.8,206,2912,0.00,1.77,0.00,0.000,4,0.000,0.044,2143,3253,3746,0,0,0,0,0,0
$GC,3137,-1.34,-165.5,359.6,-8.3,211,3141,0.00,1.73,0.00,0.000,6,0.000,0.028,2143,2241,3745,0,0,0,0,0,0
$GC,3461,-1.34,-165.5,386.6,-8.3,219,3465,0.00,2.28,0.00,0.000,4,0.000,0.044,2143,1149,3743,0,0,0,0,0,0
$GC,3516,-1.34,-165.5,391.5,-8.3,220,3521,0.00,2.25,0.00,0.000,6,0.000,0.028,2143,2242,3742,0,0,0,0,0,0
$GC,3835,-1.34,-165.5,417.2,-8.0,228,3838,0.00,1.77,0.00,0.000,4,0.000,0.048,2143,3262,3740,0,0,0,0,0,0
$GC,3895,-1.34,-165.5,422.3,-8.3,229,3899,0.00,1.77,0.00,0.000,6,0.000,0.029,2143,2224,3739,0,0,0,0,0,0
$GC,4208,-1.34,-165.5,443.8,-6.7,237,4212,0.00,2.28,0.00,0.000,4,0.000,0.044,2143,1144,3738,0,0,0,0,0,0
$GC,4342,-1.34,-165.5,453.3,-6.8,240,4346,0.00,2.22,0.00,0.000,6,0.000,0.030,2143,2238,3737,0,0,0,0,0,0
$GC,4660,-1.34,-165.5,476.2,-7.5,248,4663,0.00,1.77,0.00,0.000,4,0.000,0.051,2143,3249,3734,0,0,0,0,0,0
$GC,4782,-1.34,-165.5,487.4,-9.6,250,4786,0.00,1.75,0.00,0.000,6,0.000,0.031,2143,2229,3733,0,0,0,0,0,0
$GC,5119,-1.34,-165.5,514.6,-7.5,259,5123,0.00,2.28,0.00,0.000,4,0.000,0.044,2143,1148,3731,0,0,0,0,0,0
$GC,5157,-1.34,-165.5,517.4,-7.0,260,5161,0.00,2.25,0.00,0.000,6,0.000,0.032,2143,2237,3731,0,0,0,0,0,0
$GC,5481,-1.34,-165.5,535.3,-5.1,268,5484,0.00,1.80,0.00,0.000,4,0.000,0.053,2143,3264,3730,0,0,0,0,0,0
$GC,5738,-1.34,-165.5,549.2,-5.8,273,5742,0.00,1.75,0.00,0.000,6,0.000,0.031,2143,2245,3727,0,0,0,0,0,0
$GC,6074,-1.34,-165.5,570.3,-7.0,282,6078,0.00,1.80,0.00,0.000,4,0.000,0.053,2143,3264,3725,0,0,0,0,0,0
$GC,6134,-1.34,-165.5,575.0,-8.2,283,6139,0.00,1.77,0.00,0.000,6,0.000,0.033,2143,2233,3725,0,0,0,0,0,0
$GC,6448,-1.34,-165.5,598.1,-7.2,291,6452,0.00,2.30,0.00,0.000,4,0.000,0.048,2143,1145,3723,0,0,0,0,0,0
$STATE,6472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6473,begin apogee
$GC,6478,-0.33,0.0,600.0,7.2,291,6611,1.05,0.00,129.02,1.115,6,0.091,0.000,2361,2106,3071,0,0,0,0,0,0
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6657,begin climb
$GC,6659,1.34,165.5,600.4,0.0,295,6797,1.67,0.00,133.18,1.078,6,0.053,0.000,2731,2109,2396,0,0,0,0,0,0
$GC,7104,1.34,165.5,518.9,19.7,306,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2109,2391,0,0,0,0,0,0
$GC,7429,1.34,165.5,458.0,18.5,314,7433,0.00,2.30,0.00,0.000,4,0.000,0.051,2731,1042,2389,0,0,0,0,0,0
$GC,7483,1.34,165.5,447.0,19.7,315,7488,0.00,2.22,0.00,0.000,6,0.000,0.028,2730,2118,2388,0,0,0,0,0,0
$GC,7802,1.34,165.5,387.1,18.9,323,7806,0.00,2.30,0.00,0.000,4,0.000,0.050,2731,1047,2387,0,0,0,0,0,0
$GC,7868,1.34,165.5,374.0,18.9,324,7873,0.00,2.17,0.00,0.000,6,0.000,0.027,2731,2100,2387,0,0,0,0,0,0
$GC,8210,1.34,165.5,315.0,16.4,333,8214,0.00,1.88,0.00,0.000,4,0.000,0.039,2732,3147,2386,0,0,0,0,0,0
$GC,8242,1.34,165.5,309.9,15.7,333,8247,0.00,1.88,0.00,0.000,6,0.000,0.031,2731,2098,2385,0,0,0,0,0,0
$GC,8563,1.34,165.5,256.0,17.5,347,8567,0.00,2.20,0.00,0.000,4,0.000,0.049,2731,1048,2384,0,0,0,0,0,0
$GC,8603,1.34,165.5,248.7,19.2,349,8607,0.00,2.12,0.00,0.000,6,0.000,0.023,2732,2120,2384,0,0,0,0,0,0
$GC,8928,1.34,165.5,199.7,14.1,365,8932,0.00,2.28,0.00,0.000,4,0.000,0.047,2731,1040,2384,0,0,0,0,0,0
$GC,8965,1.34,165.5,193.7,16.4,368,8971,0.00,2.15,0.00,0.000,6,0.000,0.021,2731,2101,2384,0,0,0,0,0,0
$GC,9226,1.34,165.5,153.6,15.4,393,9230,0.00,2.25,0.00,0.000,4,0.000,0.045,2732,1037,2384,0,0,0,0,0,0
$GC,9292,1.34,165.5,142.6,17.7,398,9298,0.00,2.10,0.00,0.000,6,0.000,0.020,2732,2077,2385,0,0,0,0,0,0
$GC,9554,1.34,165.5,103.4,13.9,423,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2082,2385,0,0,0,0,0,0
$GC,9808,1.34,165.5,72.2,10.9,447,9812,0.00,2.20,0.00,0.000,4,0.000,0.046,2731,1044,2386,0,0,0,0,0,0
$GC,9897,1.37,191.4,62.1,8.9,455,9922,0.00,2.03,19.80,0.651,6,0.000,0.021,2732,2069,2290,0,0,0,0,0,0
$GC,10182,1.37,193.4,36.9,9.9,482,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2070,2289,0,0,0,0,0,0
$GC,10448,1.38,197.4,9.6,9.8,523,10453,0.00,1.85,0.00,0.000,4,0.000,0.035,2732,3143,2290,0,0,0,0,0,0
$GC,10499,1.38,197.4,3.6,12.0,532,10506,0.00,1.88,2.25,0.204,2,0.000,0.025,2731,2044,2282,0,0,0,0,0,0
$STATE,10507,end climb,SURFACE_DEPTH_REACHED
$STATE,10507,begin surface coast
$FINISH,0.9,1.022265
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10619,153.85,0.589,0,0,951,520.04
$SM_GC,1.38,0.00,0.00,153.85,0.000,0.000,0.589,364,2206,951,-9.55,0.17,520.04
$IRIDIUM_FIX,2052.52,12539.24,180512,040452
$TT8_MAMPS,0.033748
$HUMID,1078805797
$TCM_TEMP,24.70
$XPDR_PINGS,406
$24V_AH,23.7,8.588
$10V_AH,10.0,3.793
$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,23.175,91.900,284.250,153.850,0.000,63.718,86.284,184.213,101.500,0.000,31.613,1054.277,7655.068,573.717,2134.109,72.199,33.366,1298.032,0.000,1312.064,0.000,0.546,0.000
$DEVICE_MAMPS,157.235,52.923,1115.218,589.056,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,20110,538
$CAP_FILE_SIZE,108058,0
$CFSIZE,260034560,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,132224,2058.157,12540.355,38,2.0,38,-2.8