version: 66.07
glider: 156
mission: 5
dive: 15
start: 11 11 110 5 47 35
data:
$ID,156
$MISSION,5
$DIVE,15
$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,-612532.88
$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
$GPS1,111110,053919,4805.467,-12221.280,9,1.3,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.7
$GPS2,111110,054637,4805.466,-12221.314,14,1.5,14,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,0.227
$KALMAN_X,-2508.7,-66.9,-207.7,5307.5,-200.7
$KALMAN_Y,-1636.7,101.6,-39.4,-2994.0,-426.8
$MHEAD_RNG_PITCHd_Wd,334.6,3523,-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,12,begin dive
$GC,15,-0.51,-146.0,0.0,0.0,0,124,0.00,0.00,-105.93,0.000,2,0.000,0.000,154,2297,3173,0,0,0,0,0,0
$GC,127,-0.51,-146.0,3.7,-3.3,15,151,7.03,2.22,-10.32,0.000,4,0.252,0.071,1865,3685,3596,0,0,0,0,0,0
$GC,356,-0.51,-146.0,34.0,-12.5,57,364,0.00,2.20,0.00,0.000,6,0.000,0.049,1865,2290,3596,0,0,0,0,0,0
$GC,427,-0.51,-146.0,43.1,-12.4,70,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2290,3596,0,0,0,0,0,0
$GC,568,-0.51,-146.0,60.3,-12.5,95,574,0.00,2.42,0.00,0.000,4,0.000,0.055,1865,869,3596,0,0,0,0,0,0
$GC,626,-0.51,-146.0,67.5,-11.9,105,633,0.00,2.40,0.00,0.000,6,0.000,0.054,1855,2265,3596,0,0,0,0,0,0
$GC,770,-0.51,-146.0,85.1,-12.5,130,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2263,3596,0,0,0,0,0,0
$GC,910,-0.51,-146.0,103.8,-12.7,155,917,0.00,2.22,0.00,0.000,4,0.000,0.060,1844,3702,3596,0,0,0,0,0,0
$GC,936,-0.51,-146.0,107.2,-12.9,159,944,0.12,2.20,0.00,0.000,6,0.165,0.048,1877,2270,3596,0,0,0,0,0,0
$STATE,997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,997,begin apogee
$GC,1004,-0.19,0.0,114.4,10.7,170,1120,0.30,0.00,109.12,0.645,6,0.149,0.000,1975,2212,2999,0,0,0,0,0,0
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1125,0.51,146.0,119.9,0.0,188,1251,0.70,2.42,113.35,0.622,4,0.116,0.057,2200,3628,2405,0,0,0,0,0,0
$GC,1276,0.51,146.0,108.6,11.5,211,1283,0.00,2.28,0.00,0.000,6,0.000,0.048,2210,2224,2404,0,0,0,0,0,0
$GC,1415,0.51,146.0,91.6,12.1,236,1423,0.00,2.50,0.00,0.000,4,0.000,0.057,2221,808,2398,0,0,0,0,0,0
$GC,1452,0.51,146.0,86.9,11.9,242,1460,0.00,2.47,0.00,0.000,6,0.000,0.049,2221,2219,2396,0,0,0,0,0,0
$GC,1595,0.51,146.0,70.1,12.5,267,1601,0.00,2.22,0.00,0.000,4,0.000,0.056,2221,3644,2396,0,0,0,0,0,0
$GC,1635,0.51,146.0,64.0,14.2,274,1643,0.00,2.28,0.00,0.000,6,0.000,0.047,2231,2205,2397,0,0,0,0,0,0
$GC,1776,0.51,146.0,45.2,12.8,299,1782,0.00,2.35,0.00,0.000,4,0.000,0.056,2243,815,2396,0,0,0,0,0,0
$GC,1813,0.51,146.0,40.5,13.1,305,1820,0.12,2.40,0.00,0.000,6,0.171,0.047,2209,2233,2394,0,0,0,0,0,0
$GC,1950,0.51,146.0,25.9,9.9,330,1958,0.00,2.20,0.00,0.000,4,0.000,0.056,2209,3629,2395,0,0,0,0,0,0
$GC,2013,0.51,146.0,18.8,11.4,341,2021,0.00,2.20,0.00,0.000,6,0.000,0.048,2218,2225,2396,0,0,0,0,0,0
$GC,2087,0.51,146.0,11.0,10.2,354,2095,0.00,2.42,0.00,0.000,4,0.000,0.056,2230,809,2395,0,0,0,0,0,0
$GC,2184,0.59,218.3,4.1,4.6,372,2250,0.00,2.40,54.78,0.571,6,0.000,0.047,2230,2218,2110,0,0,0,0,0,0
$GC,2317,0.86,432.4,3.3,0.0,393,2390,0.25,0.00,65.12,0.477,2,0.070,0.000,2339,2218,1815,0,0,0,0,1,0
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,2.8,1.019622
$STATE,2416,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2416,begin surface
$SM_CCo,2433,225.77,0.530,1,0,676,570.07
$SM_GC,1.26,0.00,0.00,225.77,0.000,0.000,0.530,156,2292,676,-5.91,0.34,570.07
$IRIDIUM_FIX,4748.51,-12214.67,111110,040434
$TT8_MAMPS,0.026964
$HUMID,33.54
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,33.4
$24V_AH,23.8,3.951
$10V_AH,10.4,6.846
$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,14.725,42.000,342.375,225.775,0.000,31.145,29.261,244.634,1.250,0.000,14.937,858.864,182.294,617.781,1273.624,181.436,33.327,1086.131,0.000,983.622,0.000,13.159,0.000
$DEVICE_MAMPS,251.685,116.280,644.895,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.528,219.979,731.066,749.208,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,30522,407
$CAP_FILE_SIZE,55049,0
$CFSIZE,260165632,256462848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,063250,4805.668,-12221.487,12,1.6,12,18.3