version: 66.07
glider: 156
mission: 5
dive: 13
start: 11 11 110 3 53 53
data:
$ID,156
$MISSION,5
$DIVE,13
$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,-612530.38
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,111110,034520,4805.058,-12220.883,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.3
$GPS2,111110,035255,4805.024,-12220.915,15,1.4,32,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.001,0.228
$KALMAN_X,-2353.8,-47.7,16.3,5403.6,-512.4
$KALMAN_Y,-642.9,-4.5,-30.8,-4713.0,-128.8
$MHEAD_RNG_PITCHd_Wd,342.1,4476,-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,13,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,103,0.00,0.00,-84.93,0.000,2,0.000,0.000,157,2287,2909,0,0,0,0,0,0
$GC,106,-0.51,-146.0,3.2,-2.4,12,138,6.95,2.30,-17.62,0.000,4,0.247,0.073,1867,3690,3597,0,0,0,0,0,0
$GC,163,-0.51,-146.0,8.6,-6.7,20,171,0.00,2.22,0.00,0.000,6,0.000,0.050,1867,2294,3599,0,0,0,0,0,0
$GC,236,-0.51,-146.0,17.3,-12.1,33,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2293,3598,0,0,0,0,0,0
$GC,309,-0.51,-146.0,27.0,-12.6,46,317,0.00,2.47,0.00,0.000,4,0.000,0.057,1867,871,3599,0,0,0,0,0,0
$GC,341,-0.51,-146.0,31.2,-13.2,51,349,0.00,2.45,0.00,0.000,6,0.000,0.053,1857,2272,3599,0,0,0,0,0,0
$GC,413,-0.51,-146.0,40.8,-13.7,64,421,0.00,2.42,0.00,0.000,4,0.000,0.055,1857,875,3599,0,0,0,0,0,0
$GC,468,-0.51,-146.0,48.0,-13.4,73,475,0.12,2.42,0.00,0.000,6,0.168,0.053,1879,2296,3599,0,0,0,0,0,0
$GC,608,-0.51,-146.0,64.0,-10.9,98,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2294,3599,0,0,0,0,0,0
$GC,748,-0.51,-146.0,79.3,-10.7,123,754,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2293,3599,0,0,0,0,0,0
$GC,889,-0.51,-146.0,94.5,-10.5,148,896,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2293,3598,0,0,0,0,0,0
$GC,1029,-0.51,-146.0,109.5,-10.5,173,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2293,3599,0,0,0,0,0,0
$STATE,1073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1073,begin apogee
$GC,1080,-0.19,0.0,114.4,10.7,181,1196,0.30,0.00,109.35,0.645,6,0.143,0.000,1977,2207,3000,0,0,0,0,0,0
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,0.51,146.0,119.9,0.0,199,1325,0.70,0.00,113.20,0.623,6,0.113,0.000,2203,2207,2405,0,0,0,0,0,0
$GC,1456,0.51,146.0,96.8,11.4,242,1463,0.00,2.33,0.00,0.000,4,0.000,0.057,2203,3635,2399,0,0,0,0,0,0
$GC,1499,0.51,146.0,91.4,12.7,249,1506,0.00,2.25,0.00,0.000,6,0.000,0.049,2212,2223,2399,0,0,0,0,0,0
$GC,1638,0.51,146.0,74.8,11.8,274,1646,0.00,2.47,0.00,0.000,4,0.000,0.058,2224,811,2397,0,0,0,0,0,0
$GC,1664,0.51,146.0,71.6,11.8,278,1672,0.00,2.45,0.00,0.000,6,0.000,0.049,2224,2218,2395,0,0,0,0,0,0
$GC,1807,0.51,146.0,54.5,12.3,303,1814,0.00,2.20,0.00,0.000,4,0.000,0.056,2224,3640,2395,0,0,0,0,0,0
$GC,1855,0.51,146.0,47.5,14.4,311,1862,0.00,2.20,0.00,0.000,6,0.000,0.047,2234,2212,2396,0,0,0,0,0,0
$GC,1990,0.51,146.0,29.7,13.3,336,1998,0.00,2.40,0.00,0.000,4,0.000,0.057,2245,818,2395,0,0,0,0,0,0
$GC,2058,0.51,146.0,21.2,11.7,348,2067,0.12,2.42,0.00,0.000,6,0.157,0.047,2205,2233,2394,0,0,0,0,0,0
$GC,2132,0.51,146.0,14.2,8.6,361,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2232,2394,0,0,0,0,0,0
$GC,2205,0.52,158.7,8.9,6.6,374,2221,0.00,2.17,9.23,0.519,4,0.000,0.054,2205,3634,2355,0,0,0,0,0,0
$GC,2247,0.53,164.3,6.2,6.8,380,2262,0.00,2.22,5.95,0.461,6,0.000,0.047,2214,2217,2332,0,0,0,0,0,0
$GC,2328,0.78,366.6,4.5,0.4,394,2430,0.22,0.00,98.53,0.566,2,0.060,0.000,2328,2216,1820,0,0,0,0,0,0
$STATE,2431,end climb,SURFACE_DEPTH_REACHED
$STATE,2431,begin surface coast
$FINISH,2.4,1.018356
$STATE,2592,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2592,begin surface
$SM_CCo,2608,225.95,0.533,1,0,677,570.07
$SM_GC,1.63,0.00,0.00,225.95,0.000,0.000,0.533,152,2279,677,-5.92,-0.06,570.07
$IRIDIUM_FIX,4745.30,-12220.12,111110,020205
$TT8_MAMPS,0.026964
$HUMID,34.64
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.1,39.3
$24V_AH,23.9,3.728
$10V_AH,10.4,6.715
$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,14.400,37.650,336.250,225.950,0.000,25.549,29.812,248.776,1.000,0.000,33.131,944.058,203.001,613.102,1354.330,193.190,33.316,1103.707,0.000,1056.765,0.000,7.058,0.000
$DEVICE_MAMPS,247.095,94.860,644.895,533.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.458,239.313,789.629,807.691,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,33825,439
$CAP_FILE_SIZE,58285,0
$CFSIZE,260165632,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,044231,4805.276,-12221.075,39,1.2,39,18.3