version: 66.07
glider: 156
mission: 5
dive: 12
start: 11 11 110 3 1 24
data:
$ID,156
$MISSION,5
$DIVE,12
$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,-612529.12
$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,27
$R_STBD_OVSHOOT,34
$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,1
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,111110,025101,4805.132,-12221.158,9,1.1,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.6
$GPS2,111110,030026,4805.077,-12221.178,17,1.4,17,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,0.001
$KALMAN_X,-2108.7,-39.7,142.3,4703.0,-483.6
$KALMAN_Y,-598.9,-5.6,27.4,-4717.0,-145.5
$MHEAD_RNG_PITCHd_Wd,71.3,262,-15.9,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.55,-93.7,0.0,0.0,0,96,0.00,0.00,-78.00,0.000,2,0.000,0.000,147,2289,2703,0,0,0,0,0,0
$GC,99,-0.61,-146.0,3.0,-2.6,11,137,6.85,2.55,-25.77,0.000,4,0.247,0.069,1845,862,3598,0,0,0,0,0,0
$GC,366,-0.61,-146.0,37.3,-14.8,60,374,0.00,2.45,0.00,0.000,6,0.000,0.053,1835,2266,3598,0,0,0,0,0,0
$GC,442,-0.61,-146.0,48.8,-15.0,73,448,0.00,2.40,0.00,0.000,4,0.000,0.054,1835,864,3598,0,0,0,0,0,0
$GC,547,-0.61,-146.0,64.5,-14.4,92,555,0.00,2.45,0.00,0.000,6,0.000,0.053,1825,2278,3599,0,0,0,0,0,0
$GC,696,-0.61,-146.0,85.3,-14.7,117,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2276,3598,0,0,0,0,0,0
$GC,832,-0.61,-146.0,107.4,-15.8,142,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2276,3598,0,0,0,0,0,0
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,884,-0.19,0.0,114.7,15.6,150,1000,0.47,0.00,109.43,0.644,6,0.153,0.000,1974,2207,3000,0,0,0,0,0,0
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1005,0.61,146.0,121.4,0.0,168,1130,0.80,0.00,113.35,0.623,6,0.114,0.000,2233,2206,2403,0,0,0,0,0,0
$GC,1263,0.61,146.0,93.3,13.4,211,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2206,2398,0,0,0,0,0,0
$GC,1400,0.61,146.0,74.5,13.4,236,1408,0.00,2.30,0.00,0.000,4,0.000,0.057,2233,3638,2397,0,0,0,0,0,0
$GC,1458,0.61,146.0,65.7,15.8,246,1466,0.00,2.25,0.00,0.000,6,0.000,0.049,2242,2226,2397,0,0,0,0,0,0
$GC,1598,0.61,146.0,44.9,14.8,271,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2222,2396,0,0,0,0,0,0
$GC,1733,0.61,146.0,26.8,12.8,296,1741,0.00,2.45,0.00,0.000,4,0.000,0.057,2254,808,2394,0,0,0,0,0,0
$GC,1756,0.61,146.0,23.8,13.5,299,1764,0.00,2.45,0.00,0.000,6,0.000,0.049,2254,2231,2394,0,0,0,0,0,0
$GC,1829,0.61,146.0,13.6,13.4,312,1837,0.00,2.20,0.00,0.000,4,0.000,0.056,2254,3629,2395,0,0,0,0,0,0
$GC,1852,0.61,146.0,10.6,13.1,315,1860,0.00,2.22,0.00,0.000,6,0.000,0.050,2263,2213,2396,0,0,0,0,0,0
$GC,1926,0.62,157.4,4.2,6.4,328,1942,0.00,2.25,7.72,0.499,4,0.000,0.054,2263,3624,2361,0,0,0,0,0,0
$GC,2060,0.79,290.7,4.6,0.3,352,2175,0.00,2.20,104.45,0.565,6,0.000,0.048,2273,2217,1815,0,0,0,0,0,0
$STATE,2183,end climb,SURFACE_DEPTH_REACHED
$STATE,2183,begin surface coast
$FINISH,2.2,1.017913
$STATE,2336,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2336,begin surface
$SM_CCo,2353,225.30,0.532,1,0,676,570.07
$SM_GC,1.74,0.00,0.00,225.30,0.000,0.000,0.532,157,2287,676,-5.90,0.20,570.07
$IRIDIUM_FIX,4748.51,-12217.40,111110,010111
$TT8_MAMPS,0.026964
$HUMID,34.09
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,38.9
$24V_AH,23.8,3.619
$10V_AH,10.3,6.645
$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,13.825,28.375,334.950,225.300,0.000,27.922,41.246,345.493,1.000,0.000,18.121,846.324,170.744,586.947,1381.001,174.903,33.315,1034.516,0.000,972.367,0.000,11.675,0.000
$DEVICE_MAMPS,247.095,96.390,644.130,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.994,226.399,743.776,758.987,0.000,0.000,0.000,0.000,0.000,0.000
$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,30330,399
$CAP_FILE_SIZE,49988,0
$CFSIZE,260165632,256581632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,034520,4805.058,-12220.883,14,1.4,14,18.3