version: 66.07
glider: 22
mission: 14
dive: 113
start: 11 17 109 14 45 59
data:
$ID,22
$MISSION,14
$DIVE,113
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,1090
$D_NO_BLEED,200
$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,90
$T_MISSION,110
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-250750.98
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,5
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-22.757658
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$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,15
$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,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-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,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,50000.0
$GPS1,171109,143806,1924.849,-15558.154,27,1.5,28,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-68.7
$GPS2,171109,144520,1924.925,-15558.167,13,1.5,13,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,RCV
$TGT_LATLONG,1933.000,-15602.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.065,0.286
$KALMAN_X,-274250.0,807.2,344.6,303420.1,-3494.3
$KALMAN_Y,83548.7,-563.3,586.8,-141780.7,1174.6
$MHEAD_RNG_PITCHd_Wd,326.2,16384,-15.9,-10.000
$D_GRID,270
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.10,-194.6,0.0,0.0,0,86,0.00,0.00,-71.60,0.000,2,0.000,0.000,374,2920,2603,0,0,0,0,0,0
$GC,88,-1.10,-194.6,3.2,-6.4,14,125,10.15,1.80,-20.65,0.000,4,0.160,0.068,2248,3959,3412,0,0,0,0,0,0
$GC,326,-1.10,-194.6,68.2,-24.4,43,333,0.00,1.83,0.00,0.000,6,0.000,0.036,2248,2845,3413,0,0,0,0,0,0
$GC,537,-1.10,-194.6,114.3,-21.2,60,542,0.00,2.33,0.00,0.000,4,0.000,0.041,2248,1469,3415,0,0,0,0,0,0
$GC,597,-1.10,-194.6,125.9,-18.0,61,602,0.00,2.47,0.00,0.000,6,0.000,0.043,2248,2925,3415,0,0,0,0,0,0
$GC,905,-1.10,-194.6,186.7,-18.5,72,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2925,3415,0,0,0,0,0,0
$GC,1208,-1.10,-194.6,238.5,-15.7,82,1212,0.00,1.80,0.00,0.000,4,0.000,0.055,2248,3944,3417,0,0,0,0,0,0
$GC,1320,-1.10,-194.6,255.8,-15.4,85,1324,0.00,1.83,0.00,0.000,6,0.000,0.038,2248,2841,3417,0,0,0,0,0,0
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1429,-0.28,0.0,271.3,14.5,89,1590,0.88,0.00,158.10,0.661,6,0.097,0.000,2432,2667,2617,0,0,0,0,0,0
$STATE,1590,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1592,1.10,194.6,275.9,0.0,94,1762,1.38,2.42,159.90,0.654,4,0.076,0.045,2730,1310,1822,0,0,0,0,0,0
$GC,1817,1.12,216.0,260.0,9.3,101,1840,0.00,2.50,18.92,0.608,6,0.000,0.043,2730,2763,1736,0,0,0,0,0,0
$GC,2173,1.18,269.2,229.9,8.2,113,2222,0.00,2.12,45.30,0.637,4,0.000,0.054,2730,3947,1518,0,0,0,0,0,0
$GC,2266,1.20,286.5,221.9,9.4,116,2286,0.12,2.12,16.02,0.603,6,0.087,0.040,2762,2687,1448,0,0,0,0,0,0
$GC,2588,1.20,286.5,187.9,10.6,126,2592,0.00,2.28,0.00,0.000,4,0.000,0.053,2762,3944,1441,0,0,0,0,0,0
$GC,2625,1.20,286.5,183.6,11.4,127,2629,0.00,2.12,0.00,0.000,6,0.000,0.038,2762,2702,1440,0,0,0,0,0,0
$GC,2955,1.20,286.5,144.3,12.2,138,2959,0.00,2.33,0.00,0.000,4,0.000,0.044,2762,1351,1437,0,0,0,0,0,0
$GC,3003,1.20,286.5,138.7,11.2,139,3007,0.00,2.42,0.00,0.000,6,0.000,0.041,2762,2756,1436,0,0,0,0,0,0
$GC,3322,1.20,286.5,98.7,13.2,150,3326,0.00,2.42,0.00,0.000,4,0.000,0.043,2762,1351,1434,0,0,0,0,0,0
$GC,3349,1.20,286.5,95.6,11.8,152,3355,0.00,2.40,0.00,0.000,6,0.000,0.040,2762,2754,1434,0,0,0,0,0,0
$GC,3540,1.23,317.9,77.1,8.9,171,3570,0.00,0.00,25.27,0.549,6,0.000,0.000,2762,2754,1321,0,0,0,0,0,0
$GC,3757,1.24,329.6,57.0,9.6,192,3772,0.00,2.40,11.02,0.496,4,0.000,0.041,2762,1351,1273,0,0,0,0,0,0
$GC,3831,1.31,389.5,50.2,7.9,198,3887,0.00,2.38,51.08,0.531,6,0.000,0.039,2762,2761,1029,0,0,0,0,0,0
$GC,4073,1.40,472.0,32.9,7.2,222,4146,0.17,2.50,68.65,0.509,4,0.072,0.042,2809,1354,692,0,0,0,0,0,0
$GC,4178,1.40,472.0,20.6,13.0,232,4181,0.00,2.38,0.00,0.000,6,0.000,0.040,2809,2759,691,0,0,0,0,0,0
$STATE,4302,end climb,SURFACE_DEPTH_REACHED
$STATE,4302,begin surface coast
$FINISH,0.4,1.023212
$STATE,4324,end surface coast,CONTROL_FINISHED_OK
$STATE,4324,begin surface
$SM_CCo,4401,0.00,0.000,0,0,687,473.67
$SM_GC,0.93,10.57,0.00,0.00,0.047,0.000,0.000,372,2936,687,-9.70,0.45,473.67
$IRIDIUM_FIX,1918.37,-15542.06,130511,090903
$TT8_MAMPS,0.058292
$HUMID,1078596764
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.8,19.666
$10V_AH,10.0,45.470
$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,23.275,45.325,554.275,0.000,0.000,49.211,50.049,192.331,0.000,0.000,13.629,0.000,3115.840,570.444,732.498,411.190,33.328,970.762,0.000,592.514,0.000,0.534,0.000
$DEVICE_MAMPS,160.303,68.263,661.154,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,166.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,9580,258
$CAP_FILE_SIZE,56019,0
$CFSIZE,260034560,248635392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,354.4,1
$GPS,171109,155950,1926.071,-15558.422,12,1.6,13,9.7