version: 66.07
glider: 156
mission: 5
dive: 4
start: 11 10 110 19 46 45
data:
$ID,156
$MISSION,5
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,180
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,-612519.12
$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,2060
$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,30
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$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,0
$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,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
$GPS1,101110,193908,4807.223,-12223.247,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.7
$GPS2,101110,194550,4807.179,-12223.259,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,-0.137
$KALMAN_X,-243.2,-180.5,-144.8,693.9,-72.3
$KALMAN_Y,-148.3,-99.2,-87.7,-1065.3,-48.7
$MHEAD_RNG_PITCHd_Wd,107.6,461,-19.8,-10.000
$D_GRID,103
$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,-0.68,-115.8,0.0,0.0,0,137,0.00,0.00,-112.68,0.000,6,0.000,0.000,154,2289,3473,0,0,0,0,0,0
$GC,140,-0.72,-146.0,2.9,-2.6,17,157,6.65,1.83,-2.95,0.000,4,0.243,0.063,1831,1216,3597,0,0,0,0,0,0
$GC,345,-0.72,-146.0,36.6,-15.5,55,353,0.00,1.83,0.00,0.000,6,0.000,0.053,1824,2267,3597,0,0,0,0,0,0
$GC,418,-0.72,-146.0,48.5,-15.6,68,426,0.00,1.77,0.00,0.000,4,0.000,0.050,1824,1230,3598,0,0,0,0,0,0
$GC,623,-0.72,-146.0,78.2,-14.4,105,630,0.00,1.77,0.00,0.000,6,0.000,0.054,1816,2284,3597,0,0,1,0,0,0
$GC,770,-0.72,-146.0,100.2,-15.6,130,777,0.00,1.83,0.00,0.000,4,0.000,0.052,1816,1214,3598,0,0,0,0,0,0
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,797,-0.19,0.0,103.4,15.0,133,912,0.57,0.00,108.57,0.637,6,0.159,0.000,1989,2220,3001,0,0,0,0,0,0
$STATE,915,end apogee,CONTROL_FINISHED_OK
$STATE,915,begin climb
$GC,918,0.72,146.0,109.4,0.0,151,1041,0.90,1.73,113.00,0.616,4,0.102,0.052,2285,3277,2403,0,0,0,0,0,0
$GC,1076,0.72,146.0,88.5,21.9,176,1084,0.00,1.75,0.00,0.000,6,0.000,0.052,2292,2218,2400,0,0,0,0,0,0
$GC,1216,0.72,146.0,58.5,21.1,201,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2216,2397,0,0,0,0,0,0
$GC,1353,0.72,146.0,31.5,19.0,226,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2216,2396,0,0,0,0,0,0
$GC,1425,0.72,146.0,17.7,19.3,239,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2216,2395,0,0,0,0,0,0
$GC,1498,0.72,146.0,6.0,14.4,252,1506,0.00,1.67,0.00,0.000,4,0.000,0.053,2292,3279,2395,0,0,0,0,0,0
$GC,1515,0.72,146.0,4.0,12.6,254,1523,0.00,1.67,0.00,0.000,6,0.000,0.050,2300,2213,2394,0,0,0,0,0,0
$STATE,1529,end climb,SURFACE_DEPTH_REACHED
$STATE,1529,begin surface coast
$FINISH,2.5,1.017870
$STATE,1556,end surface coast,CONTROL_FINISHED_OK
$STATE,1556,begin surface
$SM_CCo,1573,335.02,0.535,1,0,677,570.07
$SM_GC,1.17,0.00,0.00,335.02,0.000,0.000,0.535,152,2280,677,-5.97,0.00,570.07
$IRIDIUM_FIX,4748.51,-12226.29,101110,191905
$TT8_MAMPS,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,32.2
$24V_AH,23.9,2.712
$10V_AH,10.3,6.114
$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,14.150,17.700,221.575,335.025,0.000,30.391,35.044,212.639,1.250,0.000,13.526,553.554,118.555,621.032,897.710,136.915,32.323,937.697,0.000,630.927,0.000,11.767,0.000
$DEVICE_MAMPS,243.270,95.625,637.245,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.666,137.078,460.858,472.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323184
$DATA_FILE_SIZE,20334,261
$CAP_FILE_SIZE,38195,0
$CFSIZE,260165632,256901120
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,101110,201931,4807.078,-12223.042,9,2.0,14,18.3