version: 66.07
glider: 156
mission: 5
dive: 21
start: 11 11 110 12 35 38
data:
$ID,156
$MISSION,5
$DIVE,21
$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,-614346.31
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,111110,110919,4806.606,-12222.362,901,99.0,901,18.3
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-74.7
$GPS2,111110,123439,4806.990,-12222.600,42,99.0,61,18.3
$SPEED_LIMITS,0.164,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.162
$KALMAN_X,-3954.4,270.9,278.0,4342.1,-402.0
$KALMAN_Y,-4765.2,-291.9,17.1,3286.9,-692.5
$MHEAD_RNG_PITCHd_Wd,334.4,495,-11.1,-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,-0.41,-89.6,0.0,0.0,0,75,0.00,0.00,-56.95,0.000,2,0.000,0.000,155,2282,2122,0,0,0,0,0,0
$GC,79,-0.48,-150.5,3.3,-2.7,8,138,7.12,2.42,-41.42,0.000,4,0.257,0.073,1874,3796,3616,0,0,0,0,0,0
$GC,303,-0.48,-150.5,27.2,-12.2,47,311,0.00,2.38,0.00,0.000,6,0.000,0.049,1873,2282,3616,0,0,0,0,0,0
$GC,375,-0.48,-150.5,36.6,-12.8,60,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2280,3616,0,0,0,0,0,0
$GC,450,-0.48,-150.5,45.9,-12.4,73,457,0.00,2.72,0.00,0.000,4,0.000,0.056,1873,689,3616,0,0,0,0,0,0
$GC,501,-0.48,-150.5,52.7,-12.7,82,509,0.00,2.75,0.00,0.000,6,0.000,0.054,1862,2274,3616,0,0,0,0,0,0
$GC,642,-0.48,-150.5,69.9,-12.3,107,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2272,3616,0,0,0,0,0,0
$GC,780,-0.48,-150.5,86.8,-12.1,132,788,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2271,3616,0,0,0,0,0,0
$GC,920,-0.48,-150.5,103.4,-12.1,157,926,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2271,3616,0,0,0,0,0,0
$STATE,986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,986,begin apogee
$GC,993,-0.19,0.0,111.6,12.0,169,1110,0.35,0.00,112.70,0.655,6,0.150,0.000,1974,2200,3000,0,0,0,0,0,0
$STATE,1113,end apogee,CONTROL_FINISHED_OK
$STATE,1113,begin climb
$GC,1116,0.48,150.5,117.5,0.0,187,1240,0.68,0.00,116.93,0.630,6,0.113,0.000,2193,2200,2386,0,0,0,0,0,0
$GC,1371,0.48,150.5,96.1,10.2,230,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2200,2379,0,0,0,0,0,0
$GC,1511,0.48,150.5,82.3,10.1,255,1517,0.00,2.58,0.00,0.000,4,0.000,0.059,2192,3807,2379,0,0,0,0,0,0
$GC,1558,0.48,150.5,76.9,10.9,263,1565,0.00,2.50,0.00,0.000,6,0.000,0.048,2204,2219,2379,0,0,0,0,0,0
$GC,1698,0.48,150.5,62.1,10.5,288,1706,0.00,2.75,0.00,0.000,4,0.000,0.057,2216,636,2376,0,0,0,0,0,0
$GC,1734,0.48,150.5,58.2,10.3,294,1742,0.00,2.75,0.00,0.000,6,0.000,0.050,2216,2226,2374,0,0,0,0,0,0
$GC,1877,0.48,150.5,42.7,11.1,319,1884,0.00,2.47,0.00,0.000,4,0.000,0.057,2217,3799,2375,0,0,0,0,0,0
$GC,1920,0.48,150.5,37.3,12.2,326,1928,0.00,2.47,0.00,0.000,6,0.000,0.047,2228,2220,2377,0,0,0,0,0,0
$GC,1993,0.48,150.5,28.3,11.4,339,2001,0.00,2.72,0.00,0.000,4,0.000,0.055,2240,632,2375,0,0,0,0,0,0
$GC,2020,0.48,150.5,25.1,11.6,343,2029,0.10,2.72,0.00,0.000,6,0.142,0.048,2206,2222,2374,0,0,0,0,0,0
$GC,2093,0.48,150.5,17.7,9.4,356,2101,0.00,2.47,0.00,0.000,4,0.000,0.057,2206,3797,2375,0,0,0,0,0,0
$GC,2130,0.48,150.5,13.8,10.0,362,2139,0.00,2.45,0.00,0.000,6,0.000,0.047,2217,2223,2377,0,0,0,0,0,0
$GC,2203,0.48,150.5,7.4,8.0,375,2211,0.00,2.72,0.00,0.000,4,0.000,0.055,2229,628,2374,0,0,0,0,0,0
$GC,2272,0.55,201.0,4.8,3.1,387,2331,0.00,2.70,47.50,0.461,6,0.000,0.047,2229,2217,2181,0,0,0,0,1,0
$GC,2398,0.70,328.9,4.6,0.1,407,2429,0.12,0.00,22.83,0.311,2,0.090,0.000,2298,2216,2115,0,0,0,0,1,0
$STATE,2430,end climb,NO_VERTICAL_VELOCITY
$STATE,2430,begin surface
$SM_CCo,2433,331.77,0.541,1,0,450,625.50
$SM_GC,1.77,6.07,0.00,0.00,0.056,0.000,0.000,155,2295,447,-5.86,0.45,626.49
$IRIDIUM_FIX,4745.30,-12302.11,111110,111127
$TT8_MAMPS,0.026964
$HUMID,34.13
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,36.0
$24V_AH,23.8,4.674
$10V_AH,10.3,7.340
$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,14.450,41.800,299.950,331.775,0.000,166.859,175.035,169.728,0.500,0.000,63.463,890.696,529.936,696.457,1534.389,177.789,33.305,1155.253,0.000,980.186,0.000,5.511,0.000
$DEVICE_MAMPS,257.040,95.625,654.840,540.855,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.636,216.617,718.320,733.050,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323112
$DATA_FILE_SIZE,30510,411
$CAP_FILE_SIZE,56207,0
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,111110,132454,4807.349,-12222.899,38,0.9,42,18.3