version: 66.07
glider: 156
mission: 5
dive: 20
start: 11 11 110 11 10 18
data:
$ID,156
$MISSION,5
$DIVE,20
$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,-613442
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,111110,093940,4806.385,-12222.124,901,99.0,901,18.3
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.7
$GPS2,111110,110919,4806.606,-12222.362,144,2.0,152,18.3
$SPEED_LIMITS,0.164,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,0.234
$KALMAN_X,-3709.4,226.5,216.4,4497.6,-248.6
$KALMAN_Y,-4393.7,-103.9,2.8,2034.2,-891.1
$MHEAD_RNG_PITCHd_Wd,334.8,1074,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.39,-223.8,0.0,0.0,0,61,0.00,0.00,-43.08,0.000,2,0.000,0.000,150,2305,1743,0,0,0,0,0,0
$GC,65,-0.39,-223.8,3.1,-3.2,6,138,7.05,2.35,-59.15,0.000,4,0.247,0.073,1902,3788,3914,0,0,0,0,0,0
$GC,230,-0.39,-223.8,18.8,-10.5,33,238,0.00,2.38,0.00,0.000,6,0.000,0.049,1902,2277,3915,0,0,0,0,0,0
$GC,304,-0.39,-223.8,26.7,-11.1,46,312,0.00,2.72,0.00,0.000,4,0.000,0.056,1902,700,3915,0,0,0,0,0,0
$GC,347,-0.39,-223.8,31.3,-11.1,53,355,0.00,2.72,0.00,0.000,6,0.000,0.055,1891,2266,3915,0,0,0,0,0,0
$GC,420,-0.39,-223.8,39.0,-10.7,66,428,0.00,2.45,0.00,0.000,4,0.000,0.063,1879,3802,3915,0,0,0,0,0,0
$GC,463,-0.39,-223.8,43.9,-11.1,73,471,0.12,2.38,0.00,0.000,6,0.146,0.050,1916,2271,3915,0,0,0,0,0,0
$GC,604,-0.39,-223.8,55.5,-8.0,98,612,0.00,2.70,0.00,0.000,4,0.000,0.056,1917,693,3915,0,0,0,0,0,0
$GC,637,-0.39,-223.8,58.1,-7.9,103,644,0.00,2.72,0.00,0.000,6,0.000,0.054,1911,2286,3915,0,0,0,0,0,0
$GC,776,-0.39,-223.8,69.5,-8.2,128,784,0.00,2.40,0.00,0.000,4,0.000,0.063,1900,3802,3916,0,0,0,0,0,0
$GC,830,-0.39,-223.8,74.0,-8.0,137,837,0.00,2.35,0.00,0.000,6,0.000,0.048,1900,2274,3915,0,0,0,0,0,0
$GC,971,-0.39,-223.8,86.0,-8.8,162,979,0.00,2.70,0.00,0.000,4,0.000,0.056,1900,691,3916,0,0,0,0,0,0
$GC,1015,-0.39,-223.8,90.0,-9.0,169,1022,0.00,2.70,0.00,0.000,6,0.000,0.054,1891,2287,3916,0,0,0,0,0,0
$GC,1152,-0.39,-223.8,103.1,-9.8,194,1160,0.00,2.38,0.00,0.000,4,0.000,0.062,1880,3796,3916,0,0,0,0,0,0
$GC,1207,-0.39,-223.8,108.0,-9.3,203,1214,0.12,2.33,0.00,0.000,6,0.142,0.048,1919,2278,3916,0,0,0,0,0,0
$STATE,1264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1264,begin apogee
$GC,1271,-0.19,0.0,112.5,7.3,213,1446,0.20,0.00,167.55,0.652,6,0.119,0.000,1987,2212,3000,0,0,0,0,0,0
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1450,0.39,223.8,118.5,0.0,240,1633,0.52,2.67,173.98,0.626,4,0.106,0.057,2161,3797,2086,0,0,0,0,0,0
$GC,1663,0.39,223.8,105.5,8.1,273,1670,0.00,2.58,0.00,0.000,6,0.000,0.047,2170,2221,2083,0,0,0,0,0,0
$GC,1801,0.39,223.8,93.3,8.9,298,1809,0.00,2.85,0.00,0.000,4,0.000,0.059,2182,631,2079,0,0,0,0,0,0
$GC,1850,0.39,223.8,89.3,8.6,306,1858,0.00,2.80,0.00,0.000,6,0.000,0.049,2182,2218,2075,0,0,0,0,0,0
$GC,1992,0.39,223.8,76.1,9.5,331,1999,0.00,2.50,0.00,0.000,4,0.000,0.058,2182,3803,2075,0,0,0,0,0,0
$GC,2040,0.39,223.8,70.9,10.5,339,2047,0.00,2.47,0.00,0.000,6,0.000,0.048,2193,2214,2076,0,0,0,0,0,0
$GC,2178,0.39,223.8,56.1,10.6,364,2186,0.00,2.75,0.00,0.000,4,0.000,0.057,2205,632,2074,0,0,0,0,0,0
$GC,2221,0.39,223.8,52.1,9.9,371,2229,0.12,2.75,0.00,0.000,6,0.136,0.049,2169,2238,2073,0,0,0,0,0,0
$GC,2364,0.39,223.8,40.9,7.8,396,2372,0.00,2.45,0.00,0.000,4,0.000,0.058,2169,3787,2074,0,0,0,0,0,0
$GC,2401,0.39,223.8,37.5,8.3,402,2409,0.00,2.45,0.00,0.000,6,0.000,0.047,2177,2222,2074,0,0,0,0,0,0
$GC,2475,0.39,223.8,31.6,8.5,415,2483,0.00,2.75,0.00,0.000,4,0.000,0.058,2190,632,2073,0,0,0,0,0,0
$GC,2518,0.39,223.8,28.2,7.9,422,2526,0.00,2.72,0.00,0.000,6,0.000,0.048,2190,2219,2072,0,0,0,0,0,0
$GC,2592,0.39,223.8,22.4,8.2,435,2600,0.00,2.47,0.00,0.000,4,0.000,0.058,2190,3788,2073,0,0,0,0,0,0
$GC,2635,0.39,223.8,18.2,9.4,442,2643,0.00,2.45,0.00,0.000,6,0.000,0.047,2200,2217,2074,0,0,0,0,0,0
$GC,2708,0.39,223.8,11.6,9.0,455,2716,0.00,2.72,0.00,0.000,4,0.000,0.057,2213,629,2072,0,0,0,0,0,0
$GC,2755,0.39,223.8,8.2,7.1,463,2764,0.10,2.72,0.00,0.000,6,0.095,0.048,2174,2225,2072,0,0,0,0,0,0
$GC,2830,0.67,446.1,6.1,1.5,476,3013,0.25,2.97,172.73,0.568,4,0.106,0.053,2265,625,1180,0,0,0,0,0,0
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,3.2,1.016253
$STATE,3051,end surface coast,CONTROL_FINISHED_OK
$STATE,3052,begin surface
$SM_CCo,3071,107.12,0.513,1,0,677,570.07
$SM_GC,2.58,0.00,0.00,107.12,0.000,0.000,0.513,155,2284,677,-5.91,0.11,570.07
$IRIDIUM_FIX,4751.72,-12228.02,111110,090930
$TT8_MAMPS,0.026964
$HUMID,34.60
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,37.4
$24V_AH,23.7,4.551
$10V_AH,10.3,7.248
$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,14.350,83.400,514.250,107.125,0.000,164.786,162.071,190.171,0.500,0.000,152.801,1058.613,481.264,641.102,1842.854,207.338,33.312,1248.318,0.000,1200.131,0.000,7.251,0.000
$DEVICE_MAMPS,247.095,111.690,651.780,512.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.294,264.634,873.862,892.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,40326,508
$CAP_FILE_SIZE,70646,0
$CFSIZE,260165632,256200704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,110919,4806.606,-12222.362,901,99.0,901,18.3