version: 66.07
glider: 156
mission: 5
dive: 22
start: 11 11 110 13 40 16
data:
$ID,156
$MISSION,5
$DIVE,22
$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,-614347.56
$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,27
$R_STBD_OVSHOOT,42
$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
$GPS1,111110,132454,4807.349,-12222.899,38,0.9,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.1
$GPS2,111110,133919,4807.445,-12222.985,16,1.1,33,18.3
$SPEED_LIMITS,0.164,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.093
$KALMAN_X,-4273.7,298.6,208.1,4227.8,-637.5
$KALMAN_Y,-4385.1,-632.7,-24.0,4128.9,-387.3
$MHEAD_RNG_PITCHd_Wd,106.5,824,-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,-89.6,0.0,0.0,0,97,0.00,0.00,-78.25,0.000,2,0.000,0.000,155,2295,2382,0,0,0,0,0,0
$GC,100,-0.50,-166.6,3.5,-2.1,11,152,7.03,0.00,-39.50,0.000,6,0.249,0.000,1876,2295,3683,0,0,0,0,0,0
$GC,218,-0.50,-166.6,13.0,-12.3,30,226,0.00,2.38,0.00,0.000,4,0.000,0.060,1867,3777,3682,0,0,0,0,0,0
$GC,251,-0.50,-166.6,17.2,-12.8,35,259,0.00,2.38,0.00,0.000,6,0.000,0.048,1867,2273,3682,0,0,0,0,0,0
$GC,324,-0.50,-166.6,26.7,-12.8,48,332,0.00,2.75,0.00,0.000,4,0.000,0.055,1867,689,3683,0,0,0,0,0,0
$GC,347,-0.50,-166.6,29.9,-13.2,51,355,0.00,2.72,0.00,0.000,6,0.000,0.052,1855,2253,3683,0,0,0,0,0,0
$GC,421,-0.50,-166.6,40.2,-14.6,64,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2252,3683,0,0,0,0,0,0
$GC,561,-0.50,-166.6,59.5,-13.5,89,568,0.00,2.45,0.00,0.000,4,0.000,0.060,1844,3810,3683,0,0,0,0,0,0
$GC,581,-0.50,-166.6,62.6,-13.8,92,590,0.10,2.40,0.00,0.000,6,0.144,0.047,1877,2278,3683,0,0,0,0,0,0
$GC,724,-0.50,-166.6,79.0,-11.3,117,731,0.00,2.70,0.00,0.000,4,0.000,0.055,1877,685,3683,0,0,0,0,0,0
$GC,754,-0.50,-166.6,82.6,-11.1,122,762,0.00,2.75,0.00,0.000,6,0.000,0.054,1867,2276,3683,0,0,0,0,0,0
$GC,898,-0.50,-166.6,98.8,-11.6,147,904,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2274,3683,0,0,0,0,0,0
$STATE,1007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1007,begin apogee
$GC,1014,-0.19,0.0,112.1,11.6,167,1146,0.35,0.00,125.40,0.651,6,0.140,0.000,1980,2201,3000,0,0,0,0,0,0
$STATE,1147,end apogee,CONTROL_FINISHED_OK
$STATE,1147,begin climb
$GC,1149,0.50,166.6,118.2,0.0,187,1294,0.68,2.92,130.25,0.625,4,0.109,0.056,2211,642,2318,0,0,0,0,0,0
$GC,1308,0.50,166.6,106.2,10.2,211,1316,0.00,2.83,0.00,0.000,6,0.000,0.048,2210,2224,2313,0,0,0,0,0,0
$GC,1446,0.50,166.6,89.5,12.2,236,1454,0.00,2.55,0.00,0.000,4,0.000,0.057,2210,3792,2312,0,0,0,0,0,0
$GC,1490,0.50,166.6,83.8,13.2,243,1497,0.00,2.47,0.00,0.000,6,0.000,0.047,2222,2232,2311,0,0,0,0,0,0
$GC,1629,0.50,166.6,65.4,12.8,268,1637,0.00,2.78,0.00,0.000,4,0.000,0.056,2235,638,2310,0,0,0,0,0,0
$GC,1662,0.50,166.6,61.0,13.2,273,1669,0.00,2.70,0.00,0.000,6,0.000,0.048,2234,2222,2309,0,0,0,0,0,0
$GC,1800,0.50,166.6,42.3,13.7,298,1808,0.00,2.50,0.00,0.000,4,0.000,0.057,2235,3797,2308,0,0,0,0,0,0
$GC,1833,0.50,166.6,37.4,14.5,303,1842,0.10,2.47,0.00,0.000,6,0.159,0.045,2213,2218,2310,0,0,0,0,0,0
$GC,1907,0.50,166.6,28.1,11.4,316,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2215,2309,0,0,0,0,0,0
$GC,1980,0.50,166.6,19.7,11.1,329,1988,0.00,2.72,0.00,0.000,4,0.000,0.055,2225,632,2308,0,0,0,0,0,0
$GC,2012,0.50,166.6,16.1,11.2,334,2020,0.00,2.72,0.00,0.000,6,0.000,0.047,2225,2221,2308,0,0,0,0,0,0
$GC,2086,0.50,166.6,8.8,9.8,347,2094,0.00,2.47,0.00,0.000,4,0.000,0.057,2225,3793,2308,0,0,0,0,0,0
$STATE,2150,end climb,SURFACE_DEPTH_REACHED
$STATE,2151,begin surface coast
$FINISH,4.4,1.018904
$STATE,2221,end surface coast,CONTROL_FINISHED_OK
$STATE,2221,begin surface
$SM_CCo,2225,371.08,0.545,1,0,451,625.50
$SM_GC,1.62,5.85,0.00,0.00,0.055,0.000,0.000,159,2270,447,-5.85,-0.28,626.49
$IRIDIUM_FIX,4748.51,-12224.57,111110,121248
$TT8_MAMPS,0.026964
$HUMID,34.05
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.6,36.3
$24V_AH,23.7,4.820
$10V_AH,10.3,7.406
$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,14.100,52.250,255.650,371.075,0.000,27.235,34.667,645.915,0.750,0.000,34.193,817.790,265.039,723.302,1593.640,185.804,33.305,1149.316,0.000,886.503,0.000,5.514,0.000
$DEVICE_MAMPS,249.390,94.860,651.015,544.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.852,196.482,647.054,660.199,0.000,0.000,0.000,0.000,0.000,0.000
$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,27090,372
$CAP_FILE_SIZE,61028,0
$CFSIZE,260165632,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,142613,4807.332,-12222.886,8,1.6,8,18.3