version: 66.07
glider: 156
mission: 5
dive: 2
start: 11 10 110 17 50 37
data:
$ID,156
$MISSION,5
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,180
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,-612446.69
$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,2172
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,30
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$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,0
$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,3
$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
$GPS1,101110,174536,4807.770,-12223.454,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.5
$GPS2,101110,174944,4807.750,-12223.465,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.212
$KALMAN_X,-46.3,-46.3,-46.3,11.6,-105.4
$KALMAN_Y,-28.4,-28.4,-28.4,-254.8,-64.7
$MHEAD_RNG_PITCHd_Wd,126.5,1503,-17.5,-10.000
$D_GRID,105
$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,-0.63,-146.0,0.0,0.0,0,151,0.00,0.00,-128.60,0.000,6,0.000,0.000,151,2282,3597,0,0,0,0,0,0
$GC,154,-0.63,-146.0,2.9,-3.0,19,170,7.12,1.85,0.00,0.000,4,0.243,0.050,1971,1211,3598,0,0,0,0,0,0
$GC,359,-0.63,-146.0,22.1,-6.0,57,367,0.00,1.85,0.00,0.000,6,0.000,0.056,1964,2280,3598,0,0,0,0,0,0
$GC,433,-0.63,-146.0,26.1,-5.3,70,441,0.00,1.67,0.00,0.000,4,0.000,0.061,1957,3338,3598,0,0,0,0,0,0
$GC,466,-0.63,-146.0,28.0,-5.7,75,474,0.00,1.67,0.00,0.000,6,0.000,0.054,1956,2276,3598,0,0,0,0,0,0
$GC,540,-0.63,-146.0,32.3,-5.6,88,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2275,3598,0,0,0,0,0,0
$GC,612,-0.63,-146.0,36.3,-5.5,101,620,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2275,3598,0,0,0,0,0,0
$GC,686,-0.63,-146.0,40.2,-5.4,114,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2275,3598,0,0,0,0,0,0
$GC,826,-0.63,-146.0,47.3,-4.9,139,832,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2275,3598,0,0,0,0,0,0
$GC,962,-0.63,-146.0,54.3,-4.9,164,970,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2274,3598,0,0,0,0,0,0
$GC,1102,-0.63,-146.0,61.1,-5.2,189,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2274,3598,0,0,0,0,0,0
$GC,1239,-0.63,-146.0,67.7,-4.9,214,1247,0.00,1.77,0.00,0.000,4,0.000,0.057,1956,1228,3598,0,0,0,0,0,0
$GC,1262,-0.63,-146.0,68.7,-4.9,217,1269,0.00,1.80,0.00,0.000,6,0.000,0.057,1950,2290,3599,0,0,0,0,0,0
$GC,1401,-0.63,-146.0,75.6,-4.7,242,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2288,3599,0,0,0,0,0,0
$GC,1545,-0.63,-146.0,82.6,-5.6,267,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2287,3599,0,0,0,0,0,0
$GC,1684,-0.63,-146.0,89.7,-5.0,292,1695,0.00,1.62,0.00,0.000,4,0.000,0.060,1943,3331,3598,0,0,0,0,0,0
$GC,1709,-0.63,-146.0,90.9,-5.0,295,1716,0.00,1.65,0.00,0.000,6,0.000,0.054,1943,2272,3598,0,0,0,0,0,0
$GC,1852,-0.63,-146.0,98.6,-5.4,320,1860,0.00,1.77,0.00,0.000,4,0.000,0.055,1943,1223,3599,0,0,0,0,0,0
$GC,1875,-0.63,-146.0,99.8,-5.9,323,1882,0.12,1.77,0.00,0.000,6,0.149,0.057,1973,2286,3599,0,0,1,0,0,0
$STATE,1995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1997,begin apogee
$GC,2004,-0.18,0.0,105.1,4.4,345,2120,0.38,0.00,107.75,0.651,6,0.096,0.000,2115,2218,3001,0,0,0,0,0,0
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2125,0.63,146.0,108.7,0.0,363,2249,0.70,1.75,112.85,0.624,4,0.051,0.054,2385,3284,2403,0,0,0,0,0,0
$GC,2293,0.63,146.0,78.1,32.1,390,2302,0.00,1.73,0.00,0.000,6,0.000,0.052,2393,2235,2399,0,0,0,0,0,0
$GC,2435,0.63,146.0,35.5,29.7,415,2443,0.00,1.88,0.00,0.000,4,0.000,0.051,2402,1161,2395,0,0,0,0,0,0
$GC,2457,0.63,146.0,28.5,30.5,418,2465,0.00,1.83,0.00,0.000,6,0.000,0.049,2402,2219,2394,0,0,1,0,0,0
$GC,2530,0.63,146.0,9.8,24.3,431,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2217,2394,0,0,0,0,0,0
$STATE,2564,end climb,SURFACE_DEPTH_REACHED
$STATE,2564,begin surface coast
$FINISH,2.3,1.016460
$STATE,2582,end surface coast,CONTROL_FINISHED_OK
$STATE,2582,begin surface
$SM_CCo,2599,332.75,0.539,1,0,677,570.07
$SM_GC,1.45,0.00,0.00,332.75,0.000,0.000,0.539,150,2290,677,-6.32,0.28,570.07
$IRIDIUM_FIX,4751.72,-12219.12,101110,171743
$TT8_MAMPS,0.026964
$HUMID,34.80
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,26.8
$24V_AH,24.0,2.483
$10V_AH,10.3,6.013
$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,14.875,24.825,220.600,332.750,0.000,0.000,0.000,0.000,1.750,0.000,15.686,960.767,246.201,670.446,1035.276,99.644,30.182,1134.182,0.000,1034.974,0.000,12.993,0.000
$DEVICE_MAMPS,243.270,106.335,651.015,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.433,222.190,741.181,758.392,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323204
$DATA_FILE_SIZE,33803,440
$CAP_FILE_SIZE,69171,0
$CFSIZE,260165632,256925696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,101110,184043,4807.487,-12223.352,12,1.9,30,18.3