version: 66.07
glider: 156
mission: 5
dive: 11
start: 11 11 110 2 2 22
data:
$ID,156
$MISSION,5
$DIVE,11
$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,-612527.88
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,111110,015306,4805.243,-12221.540,17,0.9,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.3
$GPS2,111110,020126,4805.187,-12221.515,10,2.0,10,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,-0.028
$KALMAN_X,-1639.9,-95.7,157.5,3861.4,-331.4
$KALMAN_Y,-570.5,3.3,91.6,-4612.7,-175.4
$MHEAD_RNG_PITCHd_Wd,78.8,725,-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,15,-0.51,-146.0,0.0,0.0,0,82,0.00,0.00,-63.80,0.000,2,0.000,0.000,150,2292,2367,0,0,0,0,0,0
$GC,85,-0.51,-146.0,3.0,-2.4,9,137,7.03,2.47,-36.05,0.000,4,0.249,0.066,1876,876,3596,0,0,0,0,0,0
$GC,368,-0.51,-146.0,35.7,-11.9,60,376,0.00,2.42,0.00,0.000,6,0.000,0.052,1867,2266,3597,0,0,0,0,0,0
$GC,441,-0.51,-146.0,44.5,-11.7,73,448,0.00,2.40,0.00,0.000,4,0.000,0.054,1867,865,3597,0,0,0,0,0,0
$GC,536,-0.51,-146.0,55.8,-11.5,90,544,0.00,2.47,0.00,0.000,6,0.000,0.052,1857,2293,3597,0,0,0,0,0,0
$GC,677,-0.51,-146.0,73.1,-12.3,115,683,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2291,3597,0,0,0,0,0,0
$GC,816,-0.51,-146.0,90.6,-12.6,140,824,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2291,3597,0,0,0,0,0,0
$GC,956,-0.51,-146.0,108.5,-12.8,165,962,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2291,3597,0,0,0,0,0,0
$STATE,1047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1047,begin apogee
$GC,1054,-0.19,0.0,120.4,12.4,182,1170,0.38,0.00,108.95,0.645,6,0.150,0.000,1976,2203,3001,0,0,0,0,0,0
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1175,0.51,146.0,125.0,0.0,200,1300,0.68,0.00,113.38,0.622,6,0.106,0.000,2197,2203,2403,0,0,0,0,0,0
$GC,1432,0.51,146.0,104.3,10.1,243,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2203,2398,0,0,0,0,0,0
$GC,1569,0.51,146.0,90.7,9.7,268,1577,0.00,2.30,0.00,0.000,4,0.000,0.058,2197,3634,2397,0,0,0,0,0,0
$GC,1612,0.51,146.0,86.0,11.2,275,1619,0.00,2.20,0.00,0.000,6,0.000,0.049,2206,2225,2398,0,0,0,0,0,0
$GC,1750,0.51,146.0,71.2,10.2,300,1758,0.00,2.47,0.00,0.000,4,0.000,0.058,2218,805,2395,0,0,0,0,0,0
$GC,1783,0.51,146.0,68.1,10.3,305,1790,0.00,2.45,0.00,0.000,6,0.000,0.050,2219,2235,2394,0,0,0,0,0,0
$GC,1920,0.51,146.0,52.7,11.5,330,1928,0.00,2.20,0.00,0.000,4,0.000,0.056,2218,3633,2394,0,0,0,0,0,0
$GC,1980,0.51,146.0,44.9,13.4,340,1988,0.00,2.22,0.00,0.000,6,0.000,0.050,2228,2215,2396,0,0,0,0,0,0
$GC,2117,0.51,146.0,27.9,11.5,365,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2213,2395,0,0,0,0,0,0
$GC,2190,0.51,146.0,19.3,11.8,378,2198,0.00,2.40,0.00,0.000,4,0.000,0.057,2240,818,2394,0,0,0,0,0,0
$GC,2223,0.51,146.0,15.6,11.7,383,2232,0.08,2.40,0.00,0.000,6,0.154,0.048,2214,2224,2393,0,0,0,0,0,0
$GC,2297,0.51,146.0,8.8,9.3,396,2305,0.00,2.42,0.00,0.000,4,0.000,0.056,2224,814,2394,0,0,0,0,0,0
$GC,2313,0.51,146.0,7.4,8.3,398,2322,0.00,2.40,0.00,0.000,6,0.000,0.048,2224,2219,2393,0,0,0,0,0,0
$GC,2387,0.71,312.1,5.0,1.6,411,2521,0.15,0.43,127.12,0.565,3,0.072,0.057,2301,1960,1727,0,0,0,0,0,0
$STATE,2522,end climb,SURFACE_DEPTH_REACHED
$STATE,2522,begin surface coast
$FINISH,2.5,1.017167
$STATE,2640,end surface coast,CONTROL_FINISHED_OK
$STATE,2640,begin surface
$SM_CCo,2656,209.05,0.529,1,0,676,570.07
$SM_GC,1.66,0.00,0.00,209.05,0.000,0.000,0.529,146,2290,676,-5.94,0.28,570.07
$IRIDIUM_FIX,4748.51,-12220.12,111110,000016
$TT8_MAMPS,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,50.0
$24V_AH,23.9,3.504
$10V_AH,10.4,6.578
$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,14.150,34.325,349.450,209.050,0.000,23.024,34.423,303.793,0.500,0.000,13.622,959.106,226.607,591.056,1419.334,182.668,33.328,1087.082,0.000,1085.792,0.000,5.550,0.000
$DEVICE_MAMPS,249.390,88.740,644.895,528.615,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.768,235.702,795.037,817.922,0.000,0.000,0.000,0.000,0.000,0.000
$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,33614,452
$CAP_FILE_SIZE,55865,0
$CFSIZE,260165632,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,025101,4805.132,-12221.158,9,1.1,9,18.3