version: 66.07
glider: 156
mission: 5
dive: 9
start: 11 10 110 23 47 28
data:
$ID,156
$MISSION,5
$DIVE,9
$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,-612525.38
$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,28
$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
$GPS1,101110,233943,4805.979,-12222.095,11,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.8
$GPS2,101110,234632,4805.899,-12222.029,13,1.2,13,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.158
$KALMAN_X,-719.1,-221.2,51.8,2531.5,-131.8
$KALMAN_Y,-201.5,-57.9,68.1,-3576.1,-42.7
$MHEAD_RNG_PITCHd_Wd,115.5,2096,-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,15,begin dive
$GC,18,-0.51,-146.0,0.0,0.0,0,111,0.00,0.00,-91.12,0.000,2,0.000,0.000,145,2283,3123,0,0,0,0,0,0
$GC,115,-0.51,-146.0,3.2,-2.4,13,146,7.03,2.50,-13.93,0.000,4,0.249,0.069,1873,877,3598,0,0,0,0,0,0
$GC,374,-0.51,-146.0,30.2,-12.1,61,382,0.00,2.45,0.00,0.000,6,0.000,0.053,1865,2279,3599,0,0,0,0,0,0
$GC,448,-0.51,-146.0,39.4,-12.2,74,456,0.00,2.45,0.00,0.000,4,0.000,0.054,1865,868,3598,0,0,0,0,0,0
$GC,622,-0.51,-146.0,60.8,-11.8,105,629,0.00,2.42,0.00,0.000,6,0.000,0.053,1855,2280,3598,0,0,0,0,0,0
$GC,759,-0.51,-146.0,78.2,-12.4,130,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2278,3599,0,0,0,0,0,0
$GC,904,-0.51,-146.0,96.2,-12.8,155,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2277,3598,0,0,0,0,0,0
$GC,1048,-0.51,-146.0,114.0,-12.7,180,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2277,3599,0,0,0,0,0,0
$STATE,1121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1121,begin apogee
$GC,1127,-0.19,0.0,123.3,12.1,192,1243,0.38,0.00,109.25,0.644,6,0.119,0.000,1983,2205,3000,0,0,0,0,0,0
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1249,0.51,146.0,124.4,0.0,210,1375,0.68,2.42,113.47,0.622,4,0.125,0.057,2196,3634,2404,0,0,0,0,0,0
$GC,1393,0.55,180.1,120.4,5.9,232,1427,0.00,2.30,27.85,0.597,6,0.000,0.050,2196,2243,2266,0,0,0,0,0,0
$GC,1560,0.58,203.5,110.1,6.2,261,1588,0.10,2.25,18.88,0.588,4,0.106,0.055,2256,3635,2171,0,0,0,0,0,0
$GC,1681,0.58,203.5,97.2,12.3,282,1689,0.08,2.30,0.00,0.000,6,0.156,0.052,2240,2215,2169,0,0,0,0,0,0
$GC,1823,0.58,203.5,80.7,11.7,307,1830,0.00,2.45,0.00,0.000,4,0.000,0.058,2251,807,2166,0,0,0,0,0,0
$GC,1864,0.58,203.5,75.8,11.3,314,1872,0.00,2.47,0.00,0.000,6,0.000,0.049,2250,2225,2163,0,0,0,0,0,0
$GC,2004,0.58,203.5,58.3,13.1,339,2011,0.00,2.20,0.00,0.000,4,0.000,0.057,2250,3636,2163,0,0,0,0,0,0
$GC,2030,0.58,203.5,54.5,13.6,343,2037,0.00,2.22,0.00,0.000,6,0.000,0.049,2260,2208,2163,0,0,0,0,0,0
$GC,2171,0.58,203.5,35.5,13.4,368,2179,0.00,2.42,0.00,0.000,4,0.000,0.058,2272,809,2162,0,0,0,0,0,0
$GC,2214,0.58,203.5,29.8,12.8,375,2223,0.10,2.42,0.00,0.000,6,0.148,0.050,2238,2215,2160,0,0,0,0,0,0
$GC,2288,0.58,203.5,20.4,12.7,388,2296,0.00,2.22,0.00,0.000,4,0.000,0.057,2237,3632,2161,0,0,0,0,0,0
$GC,2335,0.58,203.5,14.2,13.4,396,2343,0.00,2.20,0.00,0.000,6,0.000,0.049,2247,2225,2163,0,0,0,0,0,0
$GC,2409,0.66,273.1,7.9,4.7,409,2475,0.00,2.58,54.50,0.568,4,0.000,0.056,2247,811,1884,0,0,0,0,0,0
$GC,2704,0.95,510.6,3.4,-0.7,462,2851,0.30,2.45,133.10,0.519,2,0.106,0.047,2345,2225,1231,0,0,0,0,1,0
$STATE,2852,end climb,SURFACE_DEPTH_REACHED
$STATE,2852,begin surface coast
$FINISH,2.4,1.014348
$STATE,2988,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3005,115.62,0.513,1,0,677,570.07
$SM_GC,2.19,0.00,0.00,115.62,0.000,0.000,0.513,153,2289,677,-5.92,0.28,570.07
$IRIDIUM_FIX,4748.51,-12226.29,101110,222231
$TT8_MAMPS,0.026964
$HUMID,35.62
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,12.2
$24V_AH,23.9,3.259
$10V_AH,10.3,6.424
$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,14.650,42.925,457.050,115.625,0.000,31.749,29.446,223.359,3.250,0.000,14.471,1060.263,224.233,576.291,1492.946,193.776,33.337,1142.364,0.000,1222.201,0.000,28.786,0.000
$DEVICE_MAMPS,249.390,116.280,644.130,512.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.730,283.156,927.682,944.254,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,37133,508
$CAP_FILE_SIZE,60253,0
$CFSIZE,260165632,256692224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,004234,4805.639,-12221.854,121,99.0,140,18.3