version: 66.07
glider: 23
mission: 5
dive: 58
start: 11 23 110 13 30 27
data:
$ID,23
$MISSION,5
$DIVE,58
$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,-50774.023
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,231110,132224,2058.157,12540.355,38,2.0,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-50.0
$GPS2,231110,132936,2058.113,12540.293,35,1.1,40,-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,-120014.9,-504.3,463.8,84363.1,-1930.9
$KALMAN_Y,-27310.4,215.3,121.5,-16167.4,-1633.6
$MHEAD_RNG_PITCHd_Wd,68.5,131186,-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,-165.5,0.0,0.0,0,218,0.00,0.00,-91.30,0.000,2,0.000,0.000,364,2206,3202,0,0,0,0,0,0
$GC,220,-1.34,-165.5,3.4,-5.2,18,251,10.15,2.28,-13.77,0.000,4,0.156,0.053,2140,1142,3748,0,0,0,0,0,0
$GC,324,-1.34,-165.5,23.1,-20.0,37,330,0.00,2.10,0.00,0.000,6,0.000,0.021,2140,2193,3748,0,0,0,0,0,0
$GC,522,-1.34,-165.5,64.7,-20.1,59,526,0.00,1.80,0.00,0.000,4,0.000,0.035,2141,3273,3749,0,0,0,0,0,0
$GC,746,-1.34,-165.5,97.7,-12.9,79,750,0.00,1.80,0.00,0.000,6,0.000,0.024,2140,2203,3749,0,0,0,0,0,0
$GC,1012,-1.34,-165.5,132.4,-11.6,104,1016,0.00,1.83,0.00,0.000,4,0.000,0.038,2140,3268,3750,0,0,0,0,0,0
$GC,1157,-1.34,-165.5,150.0,-13.2,117,1161,0.00,1.75,0.00,0.000,6,0.000,0.024,2141,2228,3750,0,0,0,0,0,0
$GC,1423,-1.34,-165.5,181.1,-11.5,142,1427,0.00,2.25,0.00,0.000,4,0.000,0.041,2140,1142,3751,0,0,0,0,0,0
$GC,1449,-1.34,-165.5,184.4,-12.0,144,1456,0.00,2.25,0.00,0.000,6,0.000,0.024,2140,2247,3751,0,0,0,0,0,0
$GC,1718,-1.34,-165.5,214.4,-11.4,164,1721,0.00,1.70,0.00,0.000,4,0.000,0.041,2140,3247,3751,0,0,0,0,0,0
$GC,1907,-1.34,-165.5,234.9,-10.8,172,1912,0.00,1.75,0.00,0.000,6,0.000,0.025,2140,2223,3750,0,0,0,0,0,0
$GC,2230,-1.34,-165.5,266.7,-9.6,188,2233,0.00,1.77,0.00,0.000,4,0.000,0.041,2140,3253,3750,0,0,0,0,0,0
$GC,2391,-1.34,-165.5,282.8,-9.8,195,2396,0.00,1.73,0.00,0.000,6,0.000,0.026,2140,2240,3749,0,0,0,0,0,0
$GC,2716,-1.34,-165.5,311.9,-9.0,208,2720,0.00,1.73,0.00,0.000,4,0.000,0.043,2140,3252,3748,0,0,0,0,0,0
$GC,2765,-1.34,-165.5,316.7,-9.2,209,2770,0.00,1.73,0.00,0.000,6,0.000,0.027,2140,2240,3748,0,0,0,0,0,0
$GC,3090,-1.34,-165.5,346.2,-9.0,217,3094,0.00,1.77,0.00,0.000,4,0.000,0.044,2140,3249,3746,0,0,0,0,0,0
$GC,3269,-1.34,-165.5,362.4,-8.8,221,3272,0.00,1.70,0.00,0.000,6,0.000,0.028,2140,2247,3745,0,0,0,0,0,0
$GC,3598,-1.34,-165.5,391.0,-8.7,229,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2247,3743,0,0,0,0,0,0
$GC,3923,-1.34,-165.5,418.5,-8.3,237,3927,0.00,2.30,0.00,0.000,4,0.000,0.043,2140,1148,3741,0,0,0,0,0,0
$GC,4011,-1.34,-165.5,426.1,-8.3,239,4016,0.00,2.28,0.00,0.000,6,0.000,0.028,2140,2247,3740,0,0,0,0,0,0
$GC,4335,-1.34,-165.5,450.4,-7.4,247,4339,0.00,2.30,0.00,0.000,4,0.000,0.044,2141,1153,3738,0,0,0,0,0,0
$GC,4418,-1.34,-165.5,456.9,-8.0,248,4424,0.00,2.28,0.00,0.000,6,0.000,0.030,2140,2246,3737,0,0,0,0,0,0
$GC,4749,-1.34,-165.5,479.9,-6.8,257,4753,0.00,1.75,0.00,0.000,4,0.000,0.051,2140,3259,3735,0,0,0,0,0,0
$GC,4832,-1.34,-165.5,486.6,-7.7,258,4838,0.00,1.75,0.00,0.000,6,0.000,0.030,2140,2236,3734,0,0,0,0,0,0
$GC,5163,-1.34,-165.5,509.8,-6.9,267,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2236,3732,0,0,0,0,0,0
$GC,5488,-1.34,-165.5,530.0,-6.3,275,5491,0.00,1.80,0.00,0.000,4,0.000,0.052,2140,3254,3731,0,0,0,0,0,0
$GC,5650,-1.34,-165.5,540.7,-6.7,278,5654,0.00,1.73,0.00,0.000,6,0.000,0.032,2140,2247,3730,0,0,0,0,0,0
$GC,5992,-1.34,-165.5,563.0,-6.4,287,5996,0.00,2.30,0.00,0.000,4,0.000,0.047,2140,1148,3727,0,0,0,0,0,0
$GC,6091,-1.34,-165.5,569.2,-6.2,289,6096,0.00,2.30,0.00,0.000,6,0.000,0.035,2140,2245,3726,0,0,0,0,0,0
$GC,6404,-1.34,-165.5,586.6,-5.6,297,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2245,3724,0,0,0,0,0,0
$STATE,6646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6646,begin apogee
$GC,6650,-0.33,0.0,600.2,5.7,303,6783,1.08,0.00,128.93,1.124,6,0.084,0.000,2363,2093,3071,0,0,0,0,0,0
$STATE,6829,end apogee,CONTROL_FINISHED_OK
$STATE,6830,begin climb
$GC,6831,1.34,165.5,600.3,0.0,306,6969,1.65,0.00,133.15,1.086,6,0.051,0.000,2729,2092,2396,0,0,0,0,0,0
$GC,7276,1.34,165.5,521.8,18.3,317,7280,0.00,2.25,0.00,0.000,4,0.000,0.052,2729,1053,2390,0,0,0,0,0,0
$GC,7313,1.34,165.5,514.4,20.0,317,7320,0.00,2.22,0.00,0.000,6,0.000,0.030,2729,2117,2390,0,0,0,0,0,0
$GC,7645,1.34,165.5,452.2,19.3,326,7649,0.00,2.30,0.00,0.000,4,0.000,0.052,2729,1048,2387,0,0,0,0,0,0
$GC,7744,1.34,165.5,431.7,22.1,328,7749,0.00,2.17,0.00,0.000,6,0.000,0.028,2729,2096,2387,0,0,0,0,0,0
$GC,8057,1.34,165.5,371.2,18.9,336,8061,0.00,2.25,0.00,0.000,4,0.000,0.051,2729,1049,2386,0,0,0,0,0,0
$GC,8173,1.34,165.5,348.1,19.5,338,8178,0.00,2.12,0.00,0.000,6,0.000,0.026,2729,2073,2385,0,0,0,0,0,0
$GC,8490,1.34,165.5,292.4,17.2,347,8493,0.00,2.20,0.00,0.000,4,0.000,0.049,2729,1050,2383,0,0,0,0,0,0
$GC,8538,1.34,165.5,283.0,19.7,349,8544,0.00,2.10,0.00,0.000,6,0.000,0.025,2729,2071,2383,0,0,0,0,0,0
$GC,8865,1.34,165.5,226.5,16.8,365,8869,0.00,2.17,0.00,0.000,4,0.000,0.046,2729,1058,2383,0,0,0,0,0,0
$GC,8897,1.34,165.5,220.9,17.3,366,8904,0.00,2.05,0.00,0.000,6,0.000,0.022,2730,2054,2383,0,0,0,0,0,0
$GC,9219,1.34,165.5,170.0,14.9,391,9223,0.00,2.15,0.00,0.000,4,0.000,0.046,2729,1052,2383,0,0,0,0,0,0
$GC,9318,1.34,165.5,153.7,16.7,399,9324,0.00,2.05,0.00,0.000,6,0.000,0.021,2730,2062,2384,0,0,0,0,0,0
$GC,9579,1.34,165.5,115.3,13.0,424,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2066,2384,0,0,0,0,0,0
$GC,9834,1.34,165.5,82.2,12.1,448,9837,0.00,2.15,0.00,0.000,4,0.000,0.044,2729,1055,2385,0,0,0,0,0,0
$GC,9995,1.34,165.5,63.8,10.8,462,10001,0.00,2.05,0.00,0.000,6,0.000,0.019,2730,2063,2386,0,0,0,0,0,0
$GC,10257,1.43,243.3,41.7,6.9,487,10321,0.00,2.20,59.20,0.653,4,0.000,0.044,2730,1052,2078,0,0,0,0,0,0
$GC,10383,1.43,243.3,30.4,10.7,499,10387,0.00,2.00,0.00,0.000,6,0.000,0.018,2730,2062,2076,0,0,0,0,0,0
$STATE,10623,end climb,SURFACE_DEPTH_REACHED
$STATE,10623,begin surface coast
$FINISH,0.8,1.019745
$STATE,10647,end surface coast,CONTROL_FINISHED_OK
$STATE,10647,begin surface
$SM_CCo,10731,132.30,0.592,0,0,950,520.04
$SM_GC,1.50,0.00,0.00,132.30,0.000,0.000,0.592,364,2209,950,-9.55,0.25,520.04
$IRIDIUM_FIX,2052.52,12539.24,180512,040418
$TT8_MAMPS,0.033748
$HUMID,1078839345
$TCM_TEMP,24.60
$XPDR_PINGS,365
$24V_AH,23.7,8.723
$10V_AH,10.0,3.844
$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,23.250,85.625,321.275,132.300,0.000,29.629,39.815,109.482,91.250,0.000,41.555,1034.330,7733.205,582.657,1938.655,69.105,33.364,1293.108,0.000,1279.637,0.000,0.545,0.000
$DEVICE_MAMPS,156.468,52.923,1123.655,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354732
$DATA_FILE_SIZE,20100,545
$CAP_FILE_SIZE,102235,0
$CFSIZE,260034560,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,163431,2057.474,12541.498,39,1.3,39,-2.8