version: 66.07
glider: 156
mission: 5
dive: 14
start: 11 11 110 4 50 41
data:
$ID,156
$MISSION,5
$DIVE,14
$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,-612531.62
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,111110,044231,4805.276,-12221.075,39,1.2,39,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.4
$GPS2,111110,044943,4805.256,-12221.097,14,1.2,14,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.227
$KALMAN_X,-2396.9,-79.8,-125.0,5393.6,-344.2
$KALMAN_Y,-1132.9,56.3,-32.7,-3847.9,-263.7
$MHEAD_RNG_PITCHd_Wd,336.3,3996,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-85.12,0.000,2,0.000,0.000,151,2278,2894,0,0,0,0,0,0
$GC,106,-0.51,-146.0,3.1,-2.9,12,138,7.00,2.33,-18.52,0.000,4,0.248,0.073,1868,3699,3597,0,0,0,0,0,0
$GC,229,-0.51,-146.0,17.4,-12.8,33,238,0.00,2.25,0.00,0.000,6,0.000,0.050,1868,2284,3598,0,0,0,0,0,0
$GC,302,-0.51,-146.0,26.9,-12.6,46,310,0.00,2.45,0.00,0.000,4,0.000,0.055,1868,872,3598,0,0,0,0,0,0
$GC,360,-0.51,-146.0,34.5,-13.0,56,368,0.00,2.45,0.00,0.000,6,0.000,0.053,1858,2276,3598,0,0,0,0,0,0
$GC,434,-0.51,-146.0,44.5,-13.5,69,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2274,3598,0,0,0,0,0,0
$GC,571,-0.51,-146.0,62.5,-12.6,94,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2274,3598,0,0,0,0,0,0
$GC,711,-0.51,-146.0,79.9,-12.6,119,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2273,3598,0,0,0,0,0,0
$GC,855,-0.51,-146.0,97.6,-12.2,144,863,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2273,3598,0,0,0,0,0,0
$GC,995,-0.51,-146.0,114.9,-12.1,169,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2273,3598,0,0,0,0,0,0
$STATE,1043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1044,begin apogee
$GC,1050,-0.19,0.0,121.1,12.0,178,1166,0.38,0.00,109.30,0.649,6,0.151,0.000,1977,2205,3000,0,0,0,0,0,0
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1172,0.51,146.0,123.2,0.0,196,1298,0.68,2.60,113.22,0.624,4,0.109,0.057,2207,816,2403,0,0,0,0,0,0
$GC,1359,0.51,146.0,108.9,9.9,226,1367,0.00,2.50,0.00,0.000,6,0.000,0.050,2206,2214,2398,0,0,0,0,0,0
$GC,1501,0.51,146.0,93.5,11.1,251,1507,0.00,2.28,0.00,0.000,4,0.000,0.057,2207,3639,2397,0,0,0,0,0,0
$GC,1563,0.51,146.0,85.3,12.8,262,1571,0.00,2.25,0.00,0.000,6,0.000,0.049,2216,2233,2398,0,0,0,0,0,0
$GC,1705,0.51,146.0,68.9,11.6,287,1712,0.00,2.45,0.00,0.000,4,0.000,0.057,2228,806,2396,0,0,0,0,0,0
$GC,1753,0.51,146.0,63.3,10.9,295,1760,0.00,2.45,0.00,0.000,6,0.000,0.050,2228,2236,2395,0,0,0,0,0,0
$GC,1892,0.51,146.0,46.4,11.9,320,1901,0.00,2.20,0.00,0.000,4,0.000,0.056,2228,3627,2395,0,0,0,0,0,0
$GC,1940,0.51,146.0,39.7,13.6,328,1948,0.00,2.20,0.00,0.000,6,0.000,0.048,2237,2224,2396,0,0,0,0,0,0
$GC,2014,0.51,146.0,30.1,13.2,341,2022,0.00,2.42,0.00,0.000,4,0.000,0.057,2249,812,2395,0,0,0,0,0,0
$GC,2057,0.51,146.0,24.8,12.4,348,2066,0.10,2.42,0.00,0.000,6,0.154,0.049,2215,2228,2395,0,0,0,0,0,0
$GC,2131,0.51,146.0,16.7,10.6,361,2139,0.00,2.22,0.00,0.000,4,0.000,0.057,2215,3641,2395,0,0,0,0,0,0
$GC,2168,0.51,146.0,12.3,11.2,367,2176,0.00,2.22,0.00,0.000,6,0.000,0.047,2225,2215,2396,0,0,0,0,0,0
$GC,2241,0.51,146.0,5.8,7.9,380,2249,0.00,2.40,0.00,0.000,4,0.000,0.055,2236,812,2394,0,0,0,0,0,0
$GC,2275,0.58,204.2,4.3,5.1,385,2327,0.00,2.40,43.83,0.570,6,0.000,0.047,2236,2223,2167,0,0,0,0,0,0
$GC,2394,0.83,407.0,3.6,0.4,404,2453,0.20,0.00,50.88,0.453,2,0.066,0.000,2333,2222,1948,0,0,0,0,1,0
$STATE,2454,end climb,NO_VERTICAL_VELOCITY
$STATE,2454,begin surface
$SM_CCo,2458,296.90,0.531,1,0,450,625.50
$SM_GC,1.26,6.03,0.00,0.00,0.045,0.000,0.000,153,2297,448,-5.85,0.48,626.24
$IRIDIUM_FIX,4748.51,-12224.57,111110,030320
$TT8_MAMPS,0.026964
$HUMID,35.07
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,45.4
$24V_AH,23.9,3.843
$10V_AH,10.4,6.781
$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,14.375,42.700,317.225,296.900,0.000,27.562,29.562,238.085,1.000,0.000,15.071,888.792,300.863,675.096,1259.097,185.201,33.317,1153.292,0.000,980.563,0.000,9.889,0.000
$DEVICE_MAMPS,247.860,97.920,648.720,530.910,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.928,215.120,710.842,727.545,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,30430,412
$CAP_FILE_SIZE,57059,0
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,053919,4805.467,-12221.280,9,1.3,14,18.3