version: 66.07
glider: 156
mission: 5
dive: 18
start: 11 11 110 8 33 19
data:
$ID,156
$MISSION,5
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,135
$D_ABORT,1050
$D_NO_BLEED,80
$D_BOOST,5
$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,90
$T_MISSION,100
$T_ABORT,720
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,230
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$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,-612536.62
$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,45
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,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,85
$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
$GPS1,111110,082507,4806.137,-12221.914,32,1.3,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.2
$GPS2,111110,083220,4806.146,-12221.933,14,1.6,14,18.3
$SPEED_LIMITS,0.164,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,0.230
$KALMAN_X,-3253.0,126.8,-44.0,4930.8,-229.4
$KALMAN_Y,-2648.2,-15.6,-173.1,-476.8,-634.1
$MHEAD_RNG_PITCHd_Wd,329.2,2060,-4.4,-5.000
$D_GRID,135
$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,-0.39,-223.8,0.0,0.0,0,90,0.00,0.00,-71.40,0.000,2,0.000,0.000,157,2287,2499,0,0,0,0,0,0
$GC,93,-0.39,-223.8,3.2,-2.1,10,153,7.12,2.47,-45.92,0.000,4,0.248,0.073,1899,3797,3915,0,0,0,0,0,0
$GC,328,-0.39,-223.8,22.4,-9.8,51,336,0.00,2.40,0.00,0.000,6,0.000,0.049,1899,2279,3915,0,0,0,0,0,0
$GC,400,-0.39,-223.8,29.9,-10.6,64,408,0.00,2.75,0.00,0.000,4,0.000,0.056,1899,688,3915,0,0,0,0,0,0
$GC,442,-0.39,-223.8,34.4,-10.9,71,451,0.00,2.75,0.00,0.000,6,0.000,0.054,1888,2266,3915,0,0,0,0,0,0
$GC,515,-0.39,-223.8,42.2,-10.9,84,524,0.10,2.47,0.00,0.000,4,0.171,0.061,1904,3802,3915,0,0,0,0,0,0
$GC,553,-0.39,-223.8,45.8,-10.2,90,561,0.00,2.40,0.00,0.000,6,0.000,0.049,1904,2276,3915,0,0,0,0,0,0
$GC,693,-0.39,-223.8,57.8,-8.5,115,700,0.00,2.67,0.00,0.000,4,0.000,0.056,1904,695,3915,0,0,0,0,0,0
$GC,730,-0.39,-223.8,61.0,-8.7,121,737,0.00,2.70,0.00,0.000,6,0.000,0.054,1894,2284,3915,0,0,0,0,0,0
$GC,868,-0.39,-223.8,73.8,-9.5,146,876,0.00,2.40,0.00,0.000,4,0.000,0.062,1883,3797,3915,0,0,0,0,0,0
$GC,923,-0.39,-223.8,78.9,-9.7,155,931,0.12,2.35,0.00,0.000,6,0.146,0.048,1921,2276,3915,0,0,0,0,0,0
$GC,1067,-0.39,-223.8,89.9,-7.4,180,1075,0.00,2.70,0.00,0.000,4,0.000,0.055,1922,692,3915,0,0,0,0,0,0
$GC,1100,-0.39,-223.8,92.2,-7.4,185,1107,0.00,2.70,0.00,0.000,6,0.000,0.053,1916,2280,3915,0,0,0,0,0,0
$GC,1238,-0.39,-223.8,102.5,-7.4,210,1246,0.00,2.40,0.00,0.000,4,0.000,0.061,1905,3803,3915,0,0,0,0,0,0
$GC,1293,-0.39,-223.8,106.5,-7.3,219,1300,0.00,2.35,0.00,0.000,6,0.000,0.047,1905,2271,3915,0,0,0,0,0,0
$STATE,1371,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1371,begin apogee
$GC,1378,-0.19,0.0,112.8,7.8,233,1554,0.25,0.00,167.27,0.640,6,0.125,0.000,1990,2210,2999,0,0,0,0,0,0
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1557,0.39,223.8,118.4,0.0,260,1740,0.52,2.70,174.18,0.614,4,0.107,0.057,2164,3806,2086,0,0,0,0,0,0
$GC,1760,0.39,223.8,105.0,8.8,291,1767,0.00,2.58,0.00,0.000,6,0.000,0.047,2174,2226,2083,0,0,0,0,0,0
$GC,1899,0.39,223.8,91.7,9.4,316,1908,0.00,2.85,0.00,0.000,4,0.000,0.059,2187,630,2078,0,0,0,0,0,0
$GC,1933,0.39,223.8,88.6,9.1,321,1940,0.00,2.80,0.00,0.000,6,0.000,0.050,2187,2230,2075,0,0,0,0,0,0
$GC,2072,0.39,223.8,75.2,9.9,346,2080,0.00,2.53,0.00,0.000,4,0.000,0.059,2186,3798,2075,0,0,0,0,0,0
$GC,2115,0.39,223.8,70.4,10.8,353,2122,0.00,2.50,0.00,0.000,6,0.000,0.048,2197,2209,2076,0,0,0,0,0,0
$GC,2255,0.39,223.8,55.3,11.1,378,2263,0.00,2.72,0.00,0.000,4,0.000,0.057,2210,639,2074,0,0,0,0,0,0
$GC,2299,0.39,223.8,50.8,10.5,385,2306,0.12,2.72,0.00,0.000,6,0.143,0.049,2174,2230,2072,0,0,0,0,0,0
$GC,2440,0.39,223.8,39.1,7.9,410,2448,0.00,2.47,0.00,0.000,4,0.000,0.057,2174,3796,2073,0,0,0,0,0,0
$GC,2492,0.39,223.8,34.3,9.0,419,2500,0.00,2.47,0.00,0.000,6,0.000,0.047,2183,2216,2074,0,0,0,0,0,0
$GC,2566,0.39,223.8,28.1,8.7,432,2574,0.00,2.72,0.00,0.000,4,0.000,0.057,2196,634,2073,0,0,0,0,0,0
$GC,2609,0.39,223.8,24.7,8.3,439,2617,0.00,2.72,0.00,0.000,6,0.000,0.047,2195,2227,2072,0,0,0,0,0,0
$GC,2682,0.39,223.8,18.2,9.2,452,2690,0.00,2.47,0.00,0.000,4,0.000,0.058,2195,3796,2073,0,0,0,0,0,0
$GC,2719,0.39,223.8,14.3,10.0,458,2728,0.08,2.45,0.00,0.000,6,0.124,0.048,2178,2227,2074,0,0,0,0,0,0
$GC,2794,0.39,223.8,9.0,6.4,471,2802,0.00,2.75,0.00,0.000,4,0.000,0.059,2189,629,2072,0,0,0,0,0,0
$GC,2820,0.39,223.8,7.3,6.1,475,2829,0.00,2.72,0.00,0.000,6,0.000,0.048,2189,2226,2071,0,0,0,0,0,0
$GC,2894,0.56,356.6,4.6,2.9,488,2932,0.10,0.00,30.12,0.383,2,0.111,0.000,2232,2223,1971,0,0,0,0,1,0
$STATE,2933,end climb,SURFACE_DEPTH_REACHED
$STATE,2933,begin surface coast
$FINISH,3.8,1.018379
$STATE,3090,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3090,begin surface
$SM_CCo,3106,258.12,0.540,1,0,677,570.07
$SM_GC,1.88,0.00,0.00,258.12,0.000,0.000,0.540,151,2301,677,-5.93,0.59,570.07
$IRIDIUM_FIX,4748.51,-12217.40,111110,070720
$TT8_MAMPS,0.026964
$HUMID,34.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,37.2
$24V_AH,23.7,4.295
$10V_AH,10.4,7.059
$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,13.925,77.900,371.575,258.125,0.000,28.816,28.739,240.901,0.500,0.000,15.638,1126.769,244.041,713.988,1527.227,204.036,33.319,1289.051,0.000,1247.537,0.000,7.353,0.000
$DEVICE_MAMPS,247.860,113.220,640.305,540.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.425,274.928,914.419,936.480,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323136
$DATA_FILE_SIZE,40459,523
$CAP_FILE_SIZE,69274,0
$CFSIZE,260165632,256327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,093020,4806.407,-12222.197,12,1.7,12,18.3