version: 66.07
glider: 23
mission: 5
dive: 60
start: 11 23 110 19 56 5
data:
$ID,23
$MISSION,5
$DIVE,60
$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,-50820.145
$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,24
$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
$GPS1,231110,193954,2056.684,12542.723,37,1.5,37,-2.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-53.9
$GPS2,231110,195513,2056.518,12542.647,12,1.7,12,-2.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.096
$KALMAN_X,-122974.1,1778.8,-99.0,89674.7,-1773.6
$KALMAN_Y,-31640.4,-729.2,-406.1,-13312.6,-1622.9
$MHEAD_RNG_PITCHd_Wd,70.5,126236,-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,-86.15,0.000,2,0.000,0.000,362,2190,3072,0,0,0,0,0,0
$GC,215,-1.34,-165.5,3.0,-4.5,17,251,10.18,1.80,-19.92,0.000,4,0.160,0.052,2138,3252,3746,0,0,0,0,0,0
$GC,504,-1.34,-165.5,57.6,-20.6,57,508,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2196,3748,0,0,0,0,0,0
$GC,770,-1.34,-165.5,101.8,-12.8,82,773,0.00,1.77,0.00,0.000,4,0.000,0.035,2138,3250,3747,0,0,0,0,0,0
$GC,859,-1.34,-165.5,112.6,-12.4,90,863,0.00,1.77,0.00,0.000,6,0.000,0.023,2138,2197,3747,0,0,0,0,0,0
$GC,1125,-1.34,-165.5,144.3,-11.5,115,1128,0.00,1.77,0.00,0.000,4,0.000,0.036,2138,3250,3748,0,0,0,0,0,0
$GC,1304,-1.34,-165.5,165.0,-11.2,131,1308,0.00,1.73,0.00,0.000,6,0.000,0.023,2138,2225,3747,0,0,0,0,0,0
$GC,1570,-1.34,-165.5,194.0,-10.9,156,1574,0.00,1.75,0.00,0.000,4,0.000,0.038,2138,3249,3748,0,0,0,0,0,0
$GC,1686,-1.34,-165.5,206.6,-11.1,164,1691,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2210,3748,0,0,0,0,0,0
$GC,2013,-1.34,-165.5,240.9,-10.6,180,2017,0.00,2.20,0.00,0.000,4,0.000,0.041,2137,1147,3747,0,0,0,0,0,0
$GC,2095,-1.34,-165.5,249.8,-10.9,183,2103,0.00,2.22,0.00,0.000,6,0.000,0.023,2138,2238,3747,0,0,0,0,0,0
$GC,2413,-1.34,-165.5,280.1,-8.9,199,2416,0.00,1.75,0.00,0.000,4,0.000,0.043,2138,3263,3746,0,0,0,0,0,0
$GC,2669,-1.34,-165.5,306.2,-10.9,209,2675,0.00,1.75,0.00,0.000,6,0.000,0.026,2137,2232,3744,0,0,0,0,0,0
$GC,3006,-1.34,-165.5,338.6,-9.6,218,3010,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3246,3742,0,0,0,0,0,0
$GC,3061,-1.34,-165.5,343.7,-8.9,219,3065,0.00,1.70,0.00,0.000,6,0.000,0.027,2137,2240,3742,0,0,0,0,0,0
$GC,3380,-1.34,-165.5,371.1,-8.5,227,3383,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3253,3740,0,0,0,0,0,0
$GC,3530,-1.34,-165.5,384.3,-8.7,230,3535,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2249,3739,0,0,0,0,0,0
$GC,3843,-1.34,-165.5,411.2,-8.7,238,3846,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3257,3737,0,0,0,0,0,0
$GC,3887,-1.34,-165.5,415.1,-8.6,239,3891,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2239,3736,0,0,0,0,0,0
$GC,4216,-1.34,-165.5,440.8,-7.6,247,4220,0.00,2.28,0.00,0.000,4,0.000,0.042,2137,1142,3734,0,0,0,0,0,0
$GC,4242,-1.34,-165.5,442.9,-7.7,247,4246,0.00,2.30,0.00,0.000,6,0.000,0.030,2137,2251,3734,0,0,0,0,0,0
$GC,4578,-1.34,-165.5,466.2,-6.9,256,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2251,3732,0,0,0,0,0,0
$GC,4904,-1.34,-165.5,489.1,-7.2,264,4907,0.00,1.75,0.00,0.000,4,0.000,0.051,2138,3252,3729,0,0,0,0,0,0
$GC,4986,-1.34,-165.5,496.0,-8.2,265,4993,0.00,1.70,0.00,0.000,6,0.000,0.029,2138,2258,3730,0,0,0,0,0,0
$GC,5318,-1.34,-165.5,522.1,-8.2,274,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2258,3727,0,0,0,0,0,0
$GC,5643,-1.34,-165.5,547.5,-7.8,282,5646,0.00,1.77,0.00,0.000,4,0.000,0.052,2137,3255,3724,0,0,0,0,0,0
$GC,5900,-1.34,-165.5,567.3,-7.2,287,5904,0.00,1.70,0.00,0.000,6,0.000,0.031,2138,2261,3722,0,0,0,0,0,0
$GC,6236,-1.34,-165.5,588.6,-6.1,296,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2261,3720,0,0,0,0,0,0
$STATE,6438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6438,begin apogee
$GC,6442,-0.33,0.0,601.0,6.2,301,6573,1.10,0.00,128.05,1.116,6,0.087,0.000,2364,2093,3070,0,0,0,0,0,0
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6621,1.34,165.5,600.5,0.0,304,6762,1.65,1.98,132.45,1.077,4,0.054,0.042,2729,3153,2396,0,0,0,0,0,0
$GC,6799,1.34,165.5,569.0,19.6,309,6805,0.00,1.92,0.00,0.000,6,0.000,0.037,2730,2102,2394,0,0,0,0,0,0
$GC,7118,1.34,165.5,508.8,18.5,317,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2102,2390,0,0,0,0,0,0
$GC,7443,1.34,165.5,447.1,18.8,325,7447,0.00,2.28,0.00,0.000,4,0.000,0.050,2729,1036,2388,0,0,0,0,0,0
$GC,7503,1.34,165.5,434.4,21.3,326,7508,0.00,2.22,0.00,0.000,6,0.000,0.027,2729,2110,2388,0,0,0,0,0,0
$GC,7851,1.34,165.5,367.2,18.7,335,7855,0.00,2.28,0.00,0.000,4,0.000,0.049,2730,1042,2386,0,0,0,0,0,0
$GC,7901,1.34,165.5,358.0,19.1,336,7906,0.00,2.15,0.00,0.000,6,0.000,0.027,2729,2102,2386,0,0,0,0,0,0
$GC,8219,1.34,165.5,301.6,17.9,344,8223,0.00,2.25,0.00,0.000,4,0.000,0.048,2729,1045,2384,0,0,0,0,0,0
$GC,8279,1.34,165.5,289.8,19.7,346,8283,0.00,2.12,0.00,0.000,6,0.000,0.025,2729,2105,2384,0,0,0,0,0,0
$GC,8611,1.34,165.5,233.2,15.9,362,8615,0.00,2.25,0.00,0.000,4,0.000,0.047,2729,1045,2384,0,0,0,0,0,0
$GC,8676,1.34,165.5,222.0,16.9,365,8681,0.00,2.12,0.00,0.000,6,0.000,0.023,2729,2084,2383,0,0,0,0,0,0
$GC,8998,1.34,165.5,175.6,15.0,388,9002,0.00,2.22,0.00,0.000,4,0.000,0.046,2730,1039,2383,0,0,0,0,0,0
$GC,9081,1.34,165.5,161.7,17.1,395,9085,0.00,2.10,0.00,0.000,6,0.000,0.021,2729,2067,2383,0,0,0,0,0,0
$GC,9346,1.34,165.5,121.1,13.9,420,9350,0.00,2.17,0.00,0.000,4,0.000,0.045,2729,1045,2384,0,0,0,0,0,0
$GC,9395,1.34,165.5,114.2,13.8,424,9402,0.00,2.10,0.00,0.000,6,0.000,0.021,2730,2076,2384,0,0,0,0,0,0
$GC,9657,1.34,165.5,81.1,13.6,449,9661,0.00,2.17,0.00,0.000,4,0.000,0.044,2730,1045,2385,0,0,0,0,0,0
$GC,9729,1.34,165.5,71.9,11.7,455,9733,0.00,2.03,0.00,0.000,6,0.000,0.020,2730,2038,2386,0,0,0,0,0,0
$GC,9995,1.41,230.8,46.8,7.4,480,10050,0.00,2.20,49.15,0.663,4,0.000,0.044,2729,1046,2129,0,0,0,0,0,0
$GC,10190,1.41,230.8,29.5,10.9,498,10196,0.00,1.95,0.00,0.000,6,0.000,0.018,2730,2010,2127,0,0,0,0,0,0
$GC,10398,1.44,254.2,8.7,9.1,535,10424,0.10,0.00,19.48,0.593,6,0.067,0.000,2764,2013,2034,0,0,0,0,0,0
$STATE,10444,end climb,SURFACE_DEPTH_REACHED
$STATE,10444,begin surface coast
$FINISH,0.9,0.999367
$STATE,10470,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10554,127.53,0.592,0,0,950,520.04
$SM_GC,1.52,0.00,0.00,127.53,0.000,0.000,0.592,363,2213,950,-9.56,0.37,520.04
$IRIDIUM_FIX,2050.21,12544.33,180512,141454
$TT8_MAMPS,0.033748
$HUMID,1078835474
$TCM_TEMP,24.60
$XPDR_PINGS,383
$24V_AH,23.8,9.013
$10V_AH,10.0,3.950
$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,23.525,83.150,329.125,127.525,0.000,113.511,230.151,161.167,95.750,0.000,13.946,1036.300,7748.233,558.623,2245.063,76.566,33.373,1283.931,0.000,1281.535,0.000,0.546,0.000
$DEVICE_MAMPS,159.536,52.156,1115.985,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354764
$DATA_FILE_SIZE,20072,548
$CAP_FILE_SIZE,107431,0
$CFSIZE,260034560,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,225707,2055.856,12543.797,39,1.5,39,-2.8