version: 66.07
glider: 156
mission: 5
dive: 10
start: 11 11 110 1 2 13
data:
$ID,156
$MISSION,5
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$D_ABORT,1050
$D_NO_BLEED,80
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,62
$T_MISSION,70
$T_ABORT,720
$T_TURN,220
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,52055
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5630.2998
$TGT_DEFAULT_LON,-535.5
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-612526.62
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3900
$C_PITCH,2046
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.204157
$PRESSURE_SLOPE,0.00011457827
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043913
$SEABIRD_T_H,0.00064457668
$SEABIRD_T_I,2.9442117e-05
$SEABIRD_T_J,3.6341848e-06
$SEABIRD_C_G,-10.157008
$SEABIRD_C_H,1.1437986
$SEABIRD_C_I,-0.00075999805
$SEABIRD_C_J,0.00015497212
$GPS1,111110,004234,4805.639,-12221.854,121,99.0,140,18.3
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-71.6
$GPS2,111110,010116,4805.509,-12221.749,14,4.0,33,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.193,-0.121
$KALMAN_X,-1094.3,-172.6,107.3,3150.6,-164.3
$KALMAN_Y,-417.2,-16.5,102.8,-4159.9,-115.4
$MHEAD_RNG_PITCHd_Wd,103.8,1322,-12.1,-6.989
$D_GRID,130
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,82,0.00,0.00,-63.67,0.000,2,0.000,0.000,153,2289,2396,0,0,0,0,0,0
$GC,85,-0.51,-146.0,3.2,-2.7,9,131,6.88,2.55,-32.70,0.000,4,0.243,0.068,1876,861,3598,0,0,0,0,0,0
$GC,341,-0.51,-146.0,35.7,-12.9,55,349,0.00,2.45,0.00,0.000,6,0.000,0.053,1867,2264,3597,0,0,0,0,0,0
$GC,413,-0.51,-146.0,45.5,-13.2,68,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2262,3598,0,0,0,0,0,0
$GC,553,-0.51,-146.0,63.1,-12.3,93,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2262,3598,0,0,0,0,0,0
$GC,690,-0.51,-146.0,79.7,-11.6,118,697,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2261,3598,0,0,0,0,0,0
$GC,834,-0.51,-146.0,96.8,-12.5,143,840,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2261,3598,0,0,0,0,0,0
$GC,980,-0.51,-146.0,114.6,-11.6,168,993,0.00,2.25,0.00,0.000,4,0.000,0.060,1856,3691,3598,0,0,0,0,0,0
$GC,1009,-0.51,-146.0,118.1,-12.0,171,1016,0.00,2.17,0.00,0.000,6,0.000,0.050,1857,2277,3598,0,0,0,0,0,0
$STATE,1070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1070,begin apogee
$GC,1076,-0.19,0.0,125.1,10.8,181,1192,0.35,0.00,109.38,0.650,6,0.107,0.000,1981,2219,3000,0,0,0,0,0,0
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,0.51,146.0,125.1,0.0,199,1322,0.70,2.38,113.75,0.627,4,0.135,0.057,2196,3637,2404,0,0,0,0,0,0
$GC,1342,0.53,164.0,119.4,6.4,221,1362,0.00,2.33,15.18,0.575,6,0.000,0.050,2206,2214,2332,0,0,0,0,0,0
$GC,1496,0.53,164.0,104.1,10.5,248,1504,0.00,2.50,0.00,0.000,4,0.000,0.058,2218,810,2324,0,0,0,0,0,0
$GC,1539,0.53,164.0,99.6,10.2,255,1547,0.00,2.45,0.00,0.000,6,0.000,0.050,2218,2228,2322,0,0,0,0,0,0
$GC,1677,0.53,164.0,83.9,11.6,280,1685,0.00,2.25,0.00,0.000,4,0.000,0.057,2218,3638,2322,0,0,0,0,0,0
$GC,1726,0.53,164.0,77.6,13.7,288,1734,0.00,2.25,0.00,0.000,6,0.000,0.049,2228,2219,2323,0,0,0,0,0,0
$GC,1866,0.53,164.0,59.0,12.9,313,1873,0.00,2.40,0.00,0.000,4,0.000,0.057,2239,809,2322,0,0,0,0,0,0
$GC,1914,0.53,164.0,53.1,11.9,321,1921,0.00,2.40,0.00,0.000,6,0.000,0.049,2239,2225,2320,0,0,0,0,0,0
$GC,2053,0.53,164.0,36.0,12.3,346,2061,0.00,2.22,0.00,0.000,4,0.000,0.057,2239,3637,2321,0,0,0,0,0,0
$GC,2089,0.53,164.0,30.7,13.7,352,2098,0.08,2.22,0.00,0.000,6,0.168,0.049,2223,2220,2322,0,0,0,0,0,0
$GC,2163,0.53,164.0,22.0,10.5,365,2171,0.00,2.42,0.00,0.000,4,0.000,0.057,2235,810,2320,0,0,0,0,0,0
$GC,2190,0.53,164.0,19.1,10.4,369,2198,0.00,2.42,0.00,0.000,6,0.000,0.049,2234,2224,2320,0,0,0,0,0,0
$GC,2263,0.53,164.0,11.9,10.6,382,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2222,2320,0,0,0,0,0,0
$GC,2336,0.59,211.5,7.2,5.4,395,2381,0.00,2.47,36.03,0.569,4,0.000,0.054,2242,813,2138,0,0,0,0,0,0
$GC,2606,0.87,445.2,4.6,-0.6,444,2753,0.20,2.42,138.12,0.562,2,0.066,0.047,2328,2216,1414,0,0,0,0,0,0
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,2.5,1.016142
$STATE,2808,end surface coast,CONTROL_FINISHED_OK
$STATE,2808,begin surface
$SM_CCo,2825,151.15,0.519,1,0,677,570.07
$SM_GC,1.90,0.00,0.00,151.15,0.000,0.000,0.519,151,2292,677,-5.93,0.37,570.07
$IRIDIUM_FIX,4748.51,-12224.57,111110,000002
$TT8_MAMPS,0.026215
$HUMID,34.05
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,9.8
$24V_AH,23.9,3.392
$10V_AH,10.4,6.507
$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,14.200,42.750,412.450,151.150,0.000,117.123,183.494,471.356,3.750,0.000,35.783,1004.155,396.715,578.615,1910.885,221.644,33.327,1107.572,0.000,1141.911,0.000,33.180,0.000
$DEVICE_MAMPS,243.270,117.810,650.250,518.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.808,251.460,851.050,871.549,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,37129,474
$CAP_FILE_SIZE,66568,0
$CFSIZE,260165632,256643072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,015306,4805.243,-12221.540,17,0.9,33,18.3