version: 66.07
glider: 156
mission: 5
dive: 17
start: 11 11 110 7 38 56
data:
$ID,156
$MISSION,5
$DIVE,17
$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,-612535.38
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,111110,073022,4805.906,-12221.730,9,3.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.8
$GPS2,111110,073758,4805.922,-12221.765,16,2.6,35,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,0.225
$KALMAN_X,-3060.5,74.1,-121.5,5078.0,-163.4
$KALMAN_Y,-2270.0,21.4,-166.0,-1313.6,-435.4
$MHEAD_RNG_PITCHd_Wd,332.0,2513,-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,13,begin dive
$GC,15,-0.51,-146.0,0.0,0.0,0,103,0.00,0.00,-84.88,0.000,2,0.000,0.000,150,2290,2818,0,0,0,0,0,0
$GC,106,-0.51,-146.0,3.2,-2.7,12,145,6.95,2.28,-25.55,0.000,4,0.245,0.072,1869,3688,3598,0,0,0,0,0,0
$GC,374,-0.51,-146.0,31.2,-12.7,61,382,0.00,2.20,0.00,0.000,6,0.000,0.048,1869,2290,3598,0,0,0,0,0,0
$GC,447,-0.51,-146.0,40.3,-12.7,74,455,0.00,2.20,0.00,0.000,4,0.000,0.059,1860,3671,3598,0,0,0,0,0,0
$GC,555,-0.51,-146.0,54.3,-12.4,93,562,0.00,2.15,0.00,0.000,6,0.000,0.048,1860,2277,3598,0,0,0,0,0,0
$GC,693,-0.51,-146.0,71.7,-12.4,118,701,0.00,2.42,0.00,0.000,4,0.000,0.054,1860,868,3598,0,0,0,0,0,0
$GC,780,-0.51,-146.0,82.6,-12.4,133,788,0.12,2.40,0.00,0.000,6,0.176,0.053,1882,2269,3598,0,0,0,0,0,0
$GC,921,-0.51,-146.0,97.8,-10.4,158,928,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2268,3598,0,0,0,0,0,0
$GC,1061,-0.51,-146.0,111.8,-9.8,183,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2267,3598,0,0,0,0,0,0
$STATE,1073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1073,begin apogee
$GC,1080,-0.19,0.0,113.2,9.9,185,1195,0.30,0.00,109.47,0.644,6,0.144,0.000,1980,2214,3001,0,0,0,0,0,0
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1201,0.51,146.0,118.4,0.0,203,1325,0.68,0.00,113.68,0.623,6,0.112,0.000,2199,2214,2403,0,0,0,0,0,0
$GC,1455,0.51,146.0,95.7,11.0,246,1463,0.00,2.33,0.00,0.000,4,0.000,0.057,2199,3638,2397,0,0,0,0,0,0
$GC,1493,0.51,146.0,91.3,12.0,252,1501,0.00,2.28,0.00,0.000,6,0.000,0.049,2208,2227,2397,0,0,0,0,0,0
$GC,1636,0.51,146.0,75.1,11.0,277,1643,0.00,2.42,0.00,0.000,4,0.000,0.057,2220,810,2395,0,0,0,0,0,0
$GC,1683,0.51,146.0,69.6,11.1,285,1691,0.00,2.42,0.00,0.000,6,0.000,0.050,2220,2225,2393,0,0,0,0,0,0
$GC,1823,0.51,146.0,53.1,11.6,310,1831,0.00,2.22,0.00,0.000,4,0.000,0.057,2220,3629,2394,0,0,0,0,0,0
$GC,1872,0.51,146.0,46.5,13.5,318,1880,0.00,2.22,0.00,0.000,6,0.000,0.047,2230,2212,2395,0,0,0,0,0,0
$GC,2010,0.51,146.0,29.0,12.9,343,2018,0.00,2.40,0.00,0.000,4,0.000,0.054,2241,814,2394,0,0,0,0,0,0
$GC,2051,0.51,146.0,23.8,12.0,350,2060,0.08,2.42,0.00,0.000,6,0.147,0.047,2216,2227,2393,0,0,0,0,0,0
$GC,2126,0.51,146.0,16.2,9.8,363,2134,0.00,2.20,0.00,0.000,4,0.000,0.056,2215,3627,2393,0,0,0,0,0,0
$GC,2172,0.51,146.0,11.1,11.4,371,2181,0.00,2.20,0.00,0.000,6,0.000,0.047,2225,2212,2395,0,0,0,0,0,0
$GC,2246,0.51,146.0,4.5,8.0,384,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2209,2393,0,0,0,0,0,0
$GC,2319,0.79,376.4,3.7,-0.5,397,2414,0.20,0.00,86.53,0.508,2,0.063,0.000,2329,2208,2004,0,0,0,0,1,0
$STATE,2415,end climb,NO_VERTICAL_VELOCITY
$STATE,2415,begin surface
$SM_CCo,2432,262.60,0.534,1,0,677,570.07
$SM_GC,1.56,0.00,0.00,262.60,0.000,0.000,0.534,157,2288,677,-5.90,0.23,570.07
$IRIDIUM_FIX,4748.51,-12224.57,111110,060654
$TT8_MAMPS,0.026964
$HUMID,33.50
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,38.0
$24V_AH,23.8,4.175
$10V_AH,10.4,6.979
$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,14.550,36.975,309.675,262.600,0.000,23.036,29.269,248.124,1.000,0.000,37.401,876.790,194.311,629.016,1287.626,180.398,33.324,1088.489,0.000,980.282,0.000,9.915,0.000
$DEVICE_MAMPS,244.800,110.925,644.130,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.958,220.776,723.439,738.828,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323120
$DATA_FILE_SIZE,30446,410
$CAP_FILE_SIZE,54060,0
$CFSIZE,260165632,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,082507,4806.137,-12221.914,32,1.3,32,18.3