version: 66.07
glider: 23
mission: 5
dive: 59
start: 11 23 110 16 44 27
data:
$ID,23
$MISSION,5
$DIVE,59
$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,-50805.57
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,231110,163431,2057.474,12541.498,39,1.3,39,-2.8
$_CALLS,1
$_XMS_NAKs,35
$_XMS_TOUTs,3
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-47.0
$GPS2,231110,164336,2057.306,12541.457,29,2.0,29,-2.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.133
$KALMAN_X,-121512.6,787.4,-60.2,87109.6,-1394.9
$KALMAN_Y,-29344.5,-287.8,-81.8,-14913.1,-2143.3
$MHEAD_RNG_PITCHd_Wd,61.0,128724,-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,-86.40,0.000,2,0.000,0.000,364,2209,3066,0,0,0,0,0,0
$GC,215,-1.34,-165.5,3.1,-6.1,17,251,10.23,2.22,-19.00,0.000,4,0.160,0.050,2141,1155,3748,0,0,0,0,0,0
$GC,284,-1.34,-165.5,13.6,-20.4,30,290,0.00,2.10,0.00,0.000,6,0.000,0.021,2141,2187,3748,0,0,0,0,0,0
$GC,491,-1.34,-165.5,60.0,-24.0,56,494,0.00,1.80,0.00,0.000,4,0.000,0.035,2141,3265,3748,0,0,0,0,0,0
$GC,748,-1.34,-165.5,102.5,-15.2,79,752,0.00,1.75,0.00,0.000,6,0.000,0.024,2141,2226,3749,0,0,0,0,0,0
$GC,1015,-1.34,-165.5,140.2,-12.6,104,1018,0.00,1.77,0.00,0.000,4,0.000,0.038,2141,3267,3750,0,0,0,0,0,0
$GC,1221,-1.34,-165.5,165.4,-11.4,122,1227,0.00,1.73,0.00,0.000,6,0.000,0.022,2140,2240,3750,0,0,0,0,0,0
$GC,1482,-1.34,-165.5,195.6,-11.7,147,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2239,3750,0,0,0,0,0,0
$GC,1730,-1.34,-165.5,225.2,-12.2,161,1734,0.00,1.77,0.00,0.000,4,0.000,0.039,2141,3259,3750,0,0,0,0,0,0
$GC,1865,-1.34,-165.5,240.8,-12.2,167,1869,0.00,1.70,0.00,0.000,6,0.000,0.025,2140,2250,3750,0,0,0,0,0,0
$GC,2197,-1.34,-165.5,277.8,-11.2,183,2201,0.00,1.73,0.00,0.000,4,0.000,0.041,2140,3255,3749,0,0,0,0,0,0
$GC,2347,-1.34,-165.5,294.2,-10.1,189,2354,0.00,1.67,0.00,0.000,6,0.000,0.025,2140,2262,3749,0,0,0,0,0,0
$GC,2659,-1.34,-165.5,322.9,-8.9,199,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2261,3747,0,0,0,0,0,0
$GC,2984,-1.34,-165.5,352.0,-8.9,207,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2262,3746,0,0,0,0,0,0
$GC,3309,-1.34,-165.5,382.1,-9.3,215,3313,0.00,1.73,0.00,0.000,4,0.000,0.045,2140,3258,3744,0,0,0,0,0,0
$GC,3488,-1.34,-165.5,399.4,-9.1,219,3492,0.00,1.70,0.00,0.000,6,0.000,0.028,2141,2259,3743,0,0,0,0,0,0
$GC,3818,-1.34,-165.5,427.3,-8.2,227,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2259,3740,0,0,0,0,0,0
$GC,4142,-1.34,-165.5,452.8,-7.9,235,4146,0.00,2.33,0.00,0.000,4,0.000,0.043,2140,1147,3738,0,0,0,0,0,0
$GC,4226,-1.34,-165.5,459.6,-7.7,237,4230,0.00,2.30,0.00,0.000,6,0.000,0.029,2141,2278,3737,0,0,0,0,0,0
$GC,4555,-1.34,-165.5,487.3,-8.5,245,4558,0.00,1.73,0.00,0.000,4,0.000,0.051,2140,3266,3735,0,0,0,0,0,0
$GC,4812,-1.34,-165.5,511.6,-9.1,250,4816,0.00,1.70,0.00,0.000,6,0.000,0.030,2141,2270,3732,0,0,0,0,0,0
$GC,5148,-1.34,-165.5,538.5,-7.8,259,5152,0.00,1.70,0.00,0.000,4,0.000,0.049,2141,3254,3731,0,0,0,0,0,0
$GC,5259,-1.34,-165.5,546.8,-7.6,261,5263,0.00,1.67,0.00,0.000,6,0.000,0.030,2141,2275,3730,0,0,0,0,0,0
$GC,5607,-1.34,-165.5,567.4,-5.8,270,5611,0.00,1.75,0.00,0.000,4,0.000,0.052,2141,3257,3728,0,0,0,0,0,0
$GC,5752,-1.34,-165.5,577.1,-7.0,273,5756,0.00,1.67,0.00,0.000,6,0.000,0.031,2140,2277,3727,0,0,0,0,0,0
$GC,6071,-1.34,-165.5,597.9,-6.6,281,6075,0.00,2.38,0.00,0.000,4,0.000,0.047,2140,1150,3725,0,0,0,0,0,0
$GC,6091,-1.34,-165.5,599.5,-7.4,281,6096,0.00,2.38,0.00,0.000,6,0.000,0.035,2140,2288,3725,0,0,0,0,0,0
$STATE,6100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6100,begin apogee
$GC,6104,-0.33,0.0,600.3,7.5,281,6237,1.05,0.00,129.12,1.111,6,0.084,0.000,2361,2091,3072,0,0,0,0,0,0
$STATE,6284,end apogee,CONTROL_FINISHED_OK
$STATE,6284,begin climb
$GC,6285,1.34,165.5,600.5,0.0,285,6424,1.67,0.00,133.60,1.072,6,0.051,0.000,2735,2091,2396,0,0,0,0,0,0
$GC,6735,1.34,165.5,519.1,19.0,297,6739,0.00,2.25,0.00,0.000,4,0.000,0.052,2735,1055,2391,0,0,0,0,0,0
$GC,6795,1.34,165.5,505.5,23.2,298,6800,0.00,2.20,0.00,0.000,6,0.000,0.028,2735,2109,2391,0,0,0,0,0,0
$GC,7143,1.34,165.5,439.3,19.0,307,7147,0.00,2.28,0.00,0.000,4,0.000,0.052,2735,1050,2388,0,0,0,0,0,0
$GC,7232,1.34,165.5,420.5,21.3,309,7237,0.00,2.15,0.00,0.000,6,0.000,0.027,2735,2102,2388,0,0,0,0,0,0
$GC,7562,1.34,165.5,360.7,17.9,317,7565,0.00,2.25,0.00,0.000,4,0.000,0.051,2735,1049,2387,0,0,0,0,0,0
$GC,7612,1.34,165.5,351.0,19.7,318,7615,0.00,2.10,0.00,0.000,6,0.000,0.026,2735,2075,2387,0,0,0,0,0,0
$GC,7935,1.34,165.5,290.8,18.2,327,7939,0.00,2.17,0.00,0.000,4,0.000,0.049,2736,1054,2385,0,0,0,0,0,0
$GC,7990,1.34,165.5,280.3,18.5,329,7996,0.00,2.10,0.00,0.000,6,0.000,0.024,2736,2072,2385,0,0,0,0,0,0
$GC,8305,1.34,165.5,225.7,16.5,345,8309,0.00,2.17,0.00,0.000,4,0.000,0.046,2735,1056,2384,0,0,0,0,0,0
$GC,8388,1.34,165.5,211.4,17.4,348,8394,0.00,2.05,0.00,0.000,6,0.000,0.021,2736,2060,2384,0,0,0,0,0,0
$GC,8711,1.34,165.5,160.0,15.9,375,8714,0.00,2.15,0.00,0.000,4,0.000,0.045,2736,1050,2384,0,0,0,0,0,0
$GC,8811,1.34,165.5,143.4,15.5,384,8815,0.00,2.03,0.00,0.000,6,0.000,0.021,2736,2041,2384,0,0,0,0,0,0
$GC,9077,1.34,165.5,107.9,13.9,409,9081,0.00,2.12,0.00,0.000,4,0.000,0.045,2736,1052,2385,0,0,0,0,0,0
$GC,9115,1.34,165.5,102.1,16.6,412,9119,0.00,2.00,0.00,0.000,6,0.000,0.020,2736,2033,2385,0,0,0,0,0,0
$GC,9381,1.34,165.5,71.5,11.3,437,9385,0.00,1.92,0.00,0.000,4,0.000,0.035,2736,3156,2386,0,0,0,0,0,0
$GC,9396,1.34,165.5,69.8,10.6,438,9403,0.00,1.92,0.00,0.000,6,0.000,0.024,2736,2042,2386,0,0,0,0,0,0
$GC,9658,1.37,196.5,49.3,8.7,463,9689,0.00,2.17,23.65,0.645,4,0.000,0.045,2736,1054,2269,0,0,0,0,0,0
$GC,9783,1.37,196.5,37.7,11.2,474,9790,0.00,2.00,0.00,0.000,6,0.000,0.018,2736,2036,2268,0,0,0,0,0,0
$GC,10055,1.42,236.9,9.1,8.4,516,10095,0.00,2.00,32.22,0.601,4,0.000,0.031,2735,3150,2103,0,0,0,0,0,0
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FINISH,0.9,1.021079
$STATE,10129,end surface coast,CONTROL_FINISHED_OK
$STATE,10129,begin surface
$SM_CCo,10214,134.45,0.586,0,0,950,520.04
$SM_GC,1.47,0.00,0.00,134.45,0.000,0.000,0.586,362,2190,950,-9.56,-0.28,520.04
$IRIDIUM_FIX,2050.21,12541.11,180512,070757
$TT8_MAMPS,0.033748
$HUMID,1078812248
$TCM_TEMP,24.90
$XPDR_PINGS,408
$24V_AH,23.7,8.865
$10V_AH,10.0,3.896
$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,23.275,83.350,318.600,134.450,0.000,25.635,36.032,242.169,102.000,0.000,30.919,1003.594,7274.374,599.313,2008.302,70.455,33.369,1279.493,0.000,1240.563,0.000,0.546,0.000
$DEVICE_MAMPS,160.303,52.156,1111.383,585.988,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,16840,530
$CAP_FILE_SIZE,102134,0
$CFSIZE,260034560,255361024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,193954,2056.684,12542.723,37,1.5,37,-2.8