version: 66.07
glider: 156
mission: 5
dive: 19
start: 11 11 110 9 40 37
data:
$ID,156
$MISSION,5
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,135
$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,90
$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,230
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$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,-612537.88
$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,45
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,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
$GPS1,111110,093020,4806.407,-12222.197,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.0
$GPS2,111110,093940,4806.385,-12222.124,13,2.5,32,18.3
$SPEED_LIMITS,0.164,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.025,0.234
$KALMAN_X,-3300.6,135.7,55.0,4633.0,-168.3
$KALMAN_Y,-3569.1,-9.6,-66.6,777.4,-945.6
$MHEAD_RNG_PITCHd_Wd,335.6,1571,-4.4,-5.000
$D_GRID,135
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.39,-223.8,0.0,0.0,0,71,0.00,0.00,-50.38,0.000,2,0.000,0.000,151,2301,1937,0,0,0,0,0,0
$GC,74,-0.39,-223.8,3.0,-2.2,7,147,7.18,0.00,-58.83,0.000,6,0.249,0.000,1910,2301,3911,0,0,0,0,0,0
$GC,215,-0.39,-223.8,14.0,-10.2,29,222,0.00,2.38,0.00,0.000,4,0.000,0.063,1900,3775,3912,0,0,0,0,0,0
$GC,258,-0.39,-223.8,18.7,-10.5,36,266,0.00,2.38,0.00,0.000,6,0.000,0.049,1900,2273,3912,0,0,0,0,0,0
$GC,331,-0.39,-223.8,26.7,-11.0,49,339,0.00,2.75,0.00,0.000,4,0.000,0.056,1900,687,3912,0,0,0,0,0,0
$GC,368,-0.39,-223.8,30.9,-11.3,55,376,0.00,2.75,0.00,0.000,6,0.000,0.056,1888,2258,3912,0,0,0,0,0,0
$GC,440,-0.39,-223.8,38.7,-11.3,68,449,0.10,0.00,0.00,0.000,6,0.174,0.000,1915,2256,3912,0,0,0,0,0,0
$GC,516,-0.39,-223.8,45.3,-8.3,81,523,0.00,2.42,0.00,0.000,4,0.000,0.062,1904,3807,3913,0,0,0,0,0,0
$GC,557,-0.39,-223.8,48.7,-8.2,88,565,0.00,2.40,0.00,0.000,6,0.000,0.049,1904,2276,3912,0,0,0,0,0,0
$GC,697,-0.39,-223.8,60.7,-8.7,113,704,0.00,2.70,0.00,0.000,4,0.000,0.056,1904,686,3912,0,0,0,0,0,0
$GC,734,-0.39,-223.8,64.0,-8.7,119,741,0.00,2.75,0.00,0.000,6,0.000,0.054,1895,2297,3912,0,0,0,0,0,0
$GC,872,-0.39,-223.8,76.8,-9.5,144,880,0.00,2.38,0.00,0.000,4,0.000,0.062,1884,3797,3912,0,0,0,0,0,0
$GC,916,-0.39,-223.8,80.7,-9.6,151,923,0.12,2.35,0.00,0.000,6,0.142,0.048,1922,2273,3913,0,0,0,0,0,0
$GC,1058,-0.39,-223.8,90.9,-6.9,176,1066,0.00,2.70,0.00,0.000,4,0.000,0.056,1923,692,3912,0,0,0,0,0,0
$GC,1084,-0.39,-223.8,92.7,-6.8,180,1093,0.00,2.72,0.00,0.000,6,0.000,0.053,1917,2276,3912,0,0,0,0,0,0
$GC,1225,-0.39,-223.8,102.3,-7.1,205,1232,0.00,2.38,0.00,0.000,4,0.000,0.061,1906,3803,3912,0,0,0,0,0,0
$GC,1277,-0.39,-223.8,106.1,-7.4,214,1285,0.00,2.35,0.00,0.000,6,0.000,0.047,1906,2283,3913,0,0,0,0,0,0
$STATE,1344,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1344,begin apogee
$GC,1351,-0.19,0.0,111.7,7.9,226,1521,0.25,0.00,166.48,0.645,6,0.123,0.000,1992,2203,3001,0,0,0,0,0,0
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1524,0.39,223.8,117.1,0.0,252,1708,0.52,2.70,173.88,0.617,4,0.106,0.057,2165,3802,2085,0,0,0,0,0,0
$GC,1731,0.39,223.8,103.6,8.7,284,1739,0.00,2.60,0.00,0.000,6,0.000,0.047,2176,2235,2083,0,0,0,0,0,0
$GC,1872,0.39,223.8,90.5,9.5,309,1879,0.00,2.83,0.00,0.000,4,0.000,0.057,2188,623,2079,0,0,0,0,0,0
$GC,1913,0.39,223.8,86.8,9.1,316,1921,0.00,2.83,0.00,0.000,6,0.000,0.050,2188,2223,2076,0,0,0,0,0,0
$GC,2053,0.39,223.8,73.3,10.0,341,2060,0.00,2.53,0.00,0.000,4,0.000,0.059,2188,3808,2076,0,0,0,0,0,0
$GC,2101,0.39,223.8,68.1,10.9,349,2108,0.00,2.50,0.00,0.000,6,0.000,0.047,2199,2214,2076,0,0,0,0,0,0
$GC,2239,0.39,223.8,53.0,10.6,374,2247,0.00,2.75,0.00,0.000,4,0.000,0.057,2212,634,2075,0,0,0,0,0,0
$GC,2293,0.39,223.8,47.8,10.0,383,2301,0.12,2.72,0.00,0.000,6,0.140,0.048,2176,2227,2073,0,0,0,0,0,0
$GC,2434,0.39,223.8,36.3,8.1,408,2442,0.00,2.47,0.00,0.000,4,0.000,0.057,2176,3791,2074,0,0,0,0,0,0
$GC,2480,0.39,223.8,31.9,9.1,416,2489,0.00,2.45,0.00,0.000,6,0.000,0.047,2184,2226,2074,0,0,0,0,0,0
$GC,2554,0.39,223.8,25.4,8.8,429,2562,0.00,2.75,0.00,0.000,4,0.000,0.058,2197,632,2073,0,0,0,0,0,0
$GC,2591,0.39,223.8,22.4,8.3,435,2599,0.00,2.72,0.00,0.000,6,0.000,0.049,2197,2220,2072,0,0,0,0,0,0
$GC,2665,0.39,223.8,16.1,9.3,448,2673,0.00,2.47,0.00,0.000,4,0.000,0.058,2197,3793,2073,0,0,0,0,0,0
$GC,2701,0.39,223.8,12.5,9.4,454,2710,0.00,2.47,0.00,0.000,6,0.000,0.047,2207,2205,2074,0,0,0,0,0,0
$GC,2775,0.39,223.8,7.2,6.8,467,2783,0.12,0.00,0.00,0.000,6,0.142,0.000,2170,2202,2073,0,0,0,0,0,0
$GC,2849,0.72,485.9,6.2,0.9,480,3024,0.28,0.00,169.50,0.565,2,0.088,0.000,2272,2200,1197,0,0,0,0,0,0
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,3.0,1.014551
$STATE,3216,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3216,begin surface
$SM_CCo,3232,109.40,0.517,1,0,676,570.07
$SM_GC,2.33,0.00,0.00,109.40,0.000,0.000,0.517,150,2306,676,-5.92,0.74,570.07
$IRIDIUM_FIX,4751.72,-12219.12,111110,080810
$TT8_MAMPS,0.026964
$HUMID,34.72
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,36.5
$24V_AH,23.7,4.422
$10V_AH,10.4,7.143
$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,14.475,72.450,509.850,109.400,0.000,30.220,34.147,338.865,0.500,0.000,34.384,1124.365,246.796,641.246,1694.604,208.309,33.312,1270.202,0.000,1290.274,0.000,5.515,0.000
$DEVICE_MAMPS,249.390,97.155,644.895,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.165,289.033,958.197,979.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323116
$DATA_FILE_SIZE,40320,541
$CAP_FILE_SIZE,71843,0
$CFSIZE,260165632,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,093940,4806.385,-12222.124,901,99.0,901,18.3