version: 66.07
glider: 156
mission: 5
dive: 16
start: 11 11 110 6 44 22
data:
$ID,156
$MISSION,5
$DIVE,16
$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,-612534.12
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,111110,063250,4805.668,-12221.487,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.6
$GPS2,111110,064326,4805.685,-12221.528,13,1.5,13,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.034,0.226
$KALMAN_X,-2724.3,-10.4,-205.4,5201.7,-129.7
$KALMAN_Y,-2009.1,84.6,-92.0,-2150.6,-499.3
$MHEAD_RNG_PITCHd_Wd,333.3,3041,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,110,0.00,0.00,-91.68,0.000,2,0.000,0.000,156,2292,3024,0,0,0,0,0,0
$GC,113,-0.51,-146.0,3.5,-3.2,13,144,6.97,2.20,-17.02,0.000,4,0.249,0.071,1867,3681,3598,0,0,0,0,0,0
$GC,363,-0.51,-146.0,32.6,-13.5,59,371,0.00,2.20,0.00,0.000,6,0.000,0.049,1866,2288,3598,0,0,0,0,0,0
$GC,434,-0.51,-146.0,42.0,-12.8,72,442,0.00,2.45,0.00,0.000,4,0.000,0.055,1867,871,3599,0,0,0,0,0,0
$GC,467,-0.51,-146.0,46.1,-12.9,77,474,0.00,2.42,0.00,0.000,6,0.000,0.053,1857,2277,3598,0,0,0,0,0,0
$GC,604,-0.51,-146.0,64.1,-13.0,102,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2275,3598,0,0,0,0,0,0
$GC,748,-0.51,-146.0,82.4,-12.6,127,754,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2275,3598,0,0,0,0,0,0
$GC,888,-0.51,-146.0,100.2,-12.8,152,895,0.00,2.42,0.00,0.000,4,0.000,0.054,1857,867,3598,0,0,0,0,0,0
$GC,920,-0.51,-146.0,104.3,-12.9,157,928,0.12,2.42,0.00,0.000,6,0.171,0.053,1879,2286,3598,0,0,0,0,0,0
$STATE,1049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1049,begin apogee
$GC,1056,-0.19,0.0,118.3,10.4,180,1172,0.30,0.00,109.47,0.649,6,0.146,0.000,1977,2198,3000,0,0,0,0,0,0
$STATE,1174,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1177,0.51,146.0,122.4,0.0,198,1303,0.68,2.45,113.62,0.624,4,0.107,0.057,2197,3629,2405,0,0,0,0,0,0
$GC,1339,0.51,146.0,109.7,11.7,223,1346,0.00,2.28,0.00,0.000,6,0.000,0.048,2206,2237,2403,0,0,0,0,0,0
$GC,1478,0.51,146.0,93.4,11.6,248,1486,0.00,2.53,0.00,0.000,4,0.000,0.057,2218,806,2397,0,0,0,0,0,0
$GC,1527,0.51,146.0,87.8,11.1,256,1535,0.00,2.47,0.00,0.000,6,0.000,0.049,2218,2216,2396,0,0,0,0,0,0
$GC,1669,0.51,146.0,71.2,11.8,281,1676,0.00,2.22,0.00,0.000,4,0.000,0.057,2218,3641,2396,0,0,0,0,0,0
$GC,1717,0.51,146.0,64.7,13.7,289,1724,0.00,2.22,0.00,0.000,6,0.000,0.047,2228,2210,2397,0,0,0,0,0,0
$GC,1856,0.51,146.0,46.1,13.2,314,1864,0.00,2.42,0.00,0.000,4,0.000,0.055,2240,810,2395,0,0,0,0,0,0
$GC,1882,0.51,146.0,42.6,12.9,318,1891,0.08,2.45,0.00,0.000,6,0.150,0.049,2214,2230,2394,0,0,0,0,0,0
$GC,2021,0.51,146.0,27.2,10.5,343,2029,0.00,2.22,0.00,0.000,4,0.000,0.056,2214,3639,2395,0,0,0,0,0,0
$GC,2054,0.51,146.0,23.3,11.6,348,2062,0.00,2.22,0.00,0.000,6,0.000,0.047,2224,2216,2395,0,0,0,0,0,0
$GC,2128,0.51,146.0,14.8,10.8,361,2135,0.00,2.40,0.00,0.000,4,0.000,0.054,2235,816,2395,0,0,0,0,0,0
$GC,2161,0.51,146.0,11.3,11.0,366,2169,0.00,2.40,0.00,0.000,6,0.000,0.047,2235,2218,2394,0,0,0,0,0,0
$GC,2234,0.51,146.0,4.6,8.7,379,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2216,2394,0,0,0,0,0,0
$GC,2307,0.77,363.1,3.4,-0.1,392,2409,0.17,0.00,93.50,0.516,2,0.069,0.000,2327,2216,1949,0,0,0,0,1,0
$STATE,2410,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,3.0,1.019719
$STATE,2418,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2418,begin surface
$SM_CCo,2435,251.57,0.534,1,0,677,570.07
$SM_GC,1.37,0.00,0.00,251.57,0.000,0.000,0.534,150,2290,677,-5.93,0.28,570.07
$IRIDIUM_FIX,4745.30,-12224.57,111110,060653
$TT8_MAMPS,0.026964
$HUMID,33.65
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,42.3
$24V_AH,23.8,4.066
$10V_AH,10.4,6.912
$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,14.525,42.650,316.600,251.575,0.000,56.688,60.376,309.358,1.000,0.000,14.764,874.393,253.081,625.694,1388.854,196.490,33.329,1088.531,0.000,974.897,0.000,9.945,0.000
$DEVICE_MAMPS,248.625,99.450,648.720,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.680,216.704,718.444,732.791,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,30460,407
$CAP_FILE_SIZE,57985,0
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,073022,4805.906,-12221.730,9,3.7,28,18.3