version: 66.07
glider: 156
mission: 5
dive: 23
start: 11 11 110 14 35 11
data:
$ID,156
$MISSION,5
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$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,62
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-614348.81
$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,33
$R_STBD_OVSHOOT,26
$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,4
$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
$GPS1,111110,142613,4807.332,-12222.886,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.2
$GPS2,111110,143414,4807.404,-12222.957,14,1.5,14,18.3
$SPEED_LIMITS,0.070,0.192
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.180,0.067
$KALMAN_X,-4894.5,347.6,85.0,4958.6,-685.5
$KALMAN_Y,-3432.0,-1034.0,-58.6,3535.6,97.6
$MHEAD_RNG_PITCHd_Wd,51.3,1106,-15.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-97.3,0.0,0.0,0,96,0.00,0.00,-76.95,0.000,2,0.000,0.000,159,2270,2357,0,0,0,0,0,0
$GC,100,-0.54,-97.3,3.6,-3.1,11,146,6.93,2.50,-32.80,0.000,4,0.247,0.069,1852,3804,3399,0,0,0,0,0,0
$GC,284,-0.54,-97.3,17.8,-9.9,43,292,0.00,2.38,0.00,0.000,6,0.000,0.046,1858,2286,3400,0,0,0,0,0,0
$GC,357,-0.54,-97.3,24.9,-10.0,56,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2286,3400,0,0,0,0,0,0
$GC,430,-0.54,-97.3,32.9,-10.9,69,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2286,3400,0,0,0,0,0,0
$GC,501,-0.54,-97.3,41.7,-12.1,82,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2286,3400,0,0,0,0,0,0
$GC,641,-0.54,-97.3,57.5,-11.1,107,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2286,3400,0,0,0,0,0,0
$GC,777,-0.54,-97.3,72.6,-11.0,132,786,0.00,2.72,0.00,0.000,4,0.000,0.055,1858,696,3400,0,0,0,0,0,0
$GC,832,-0.54,-97.3,78.7,-11.6,141,839,0.00,2.70,0.00,0.000,6,0.000,0.051,1848,2284,3400,0,0,0,0,0,0
$GC,975,-0.54,-97.3,95.0,-11.1,166,983,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2281,3400,0,0,0,0,0,0
$GC,1116,-0.54,-97.3,110.9,-11.3,191,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2281,3400,0,0,0,0,0,0
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1136,-0.19,0.0,112.4,11.1,193,1214,0.40,0.00,74.07,0.653,6,0.152,0.000,1974,2209,3000,0,0,0,0,0,0
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1218,0.54,97.3,116.8,0.0,205,1302,0.73,2.65,75.50,0.629,4,0.112,0.054,2209,3802,2603,0,0,0,0,0,0
$GC,1316,0.54,97.3,110.2,9.2,220,1324,0.00,2.58,0.00,0.000,6,0.000,0.046,2220,2238,2602,0,0,0,0,0,0
$GC,1459,0.54,97.3,93.4,11.7,245,1466,0.00,2.80,0.00,0.000,4,0.000,0.054,2233,625,2597,0,0,0,0,0,0
$GC,1490,0.54,97.3,89.3,12.1,250,1498,0.00,2.80,0.00,0.000,6,0.000,0.049,2233,2225,2596,0,0,0,0,0,0
$GC,1630,0.54,97.3,71.9,12.5,275,1637,0.00,2.47,0.00,0.000,4,0.000,0.056,2233,3800,2596,0,0,0,0,0,0
$GC,1667,0.54,97.3,66.8,13.4,281,1674,0.00,2.47,0.00,0.000,6,0.000,0.044,2244,2209,2596,0,0,0,0,0,0
$GC,1805,0.54,97.3,47.9,13.5,306,1813,0.00,2.70,0.00,0.000,4,0.000,0.054,2257,637,2595,0,0,0,0,0,0
$GC,1827,0.54,97.3,45.1,13.4,309,1835,0.12,2.67,0.00,0.000,6,0.184,0.047,2225,2225,2595,0,0,0,0,0,0
$GC,1966,0.54,97.3,29.9,11.0,334,1974,0.00,2.47,0.00,0.000,4,0.000,0.055,2225,3799,2595,0,0,0,0,0,0
$GC,2008,0.54,97.3,24.7,11.8,341,2016,0.00,2.45,0.00,0.000,6,0.000,0.044,2236,2224,2596,0,0,0,0,0,0
$GC,2082,0.54,97.3,16.2,11.2,354,2090,0.00,2.72,0.00,0.000,4,0.000,0.054,2249,627,2595,0,0,0,0,0,0
$GC,2108,0.54,97.3,13.2,11.2,358,2116,0.00,2.72,0.00,0.000,6,0.000,0.047,2248,2223,2594,0,0,0,0,0,0
$GC,2182,0.54,97.3,6.9,7.2,371,2190,0.00,2.47,0.00,0.000,4,0.000,0.055,2249,3805,2595,0,0,0,0,0,0
$STATE,2411,end climb,NO_VERTICAL_VELOCITY
$STATE,2411,begin surface
$SM_CCo,2415,415.45,0.555,0,0,451,625.50
$SM_GC,1.49,5.88,0.00,0.00,0.049,0.000,0.000,149,2271,446,-5.86,-0.23,626.73
$IRIDIUM_FIX,4751.72,-12219.12,111110,131300
$TT8_MAMPS,0.026964
$HUMID,34.56
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,35.5
$24V_AH,23.7,4.932
$10V_AH,10.3,7.475
$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,14.050,46.900,149.575,415.450,0.000,25.005,31.534,287.735,0.500,0.000,15.663,940.939,283.710,684.096,1322.412,199.667,33.305,1105.946,0.000,1011.434,0.000,5.511,0.000
$DEVICE_MAMPS,247.095,93.330,653.310,555.390,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.427,228.876,756.488,774.688,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323348
$DATA_FILE_SIZE,30257,415
$CAP_FILE_SIZE,55076,0
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,152502,4807.596,-12222.726,14,1.4,14,18.3