version: 66.07
glider: 156
mission: 5
dive: 1
start: 11 10 110 17 0 43
data:
$ID,156
$MISSION,5
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,620
$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,-612363.88
$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,2112
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,2290
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,36
$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
$GPS1,101110,165620,4807.950,-12223.355,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.8
$GPS2,101110,165944,4807.935,-12223.358,15,1.3,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.252
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,147.3,1787,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,138,0.00,0.00,-119.57,0.000,2,0.000,0.000,147,2300,3393,0,0,0,0,0,0
$GC,141,-0.57,-146.0,3.0,-2.0,17,165,7.07,1.65,-6.12,0.000,4,0.247,0.083,1917,3327,3598,0,0,0,0,0,0
$GC,190,-0.57,-146.0,6.9,-7.0,24,198,0.00,1.65,0.00,0.000,6,0.000,0.052,1917,2287,3598,0,0,0,0,0,0
$GC,264,-0.57,-146.0,13.4,-8.8,37,272,0.00,1.67,0.00,0.000,4,0.000,0.062,1910,3335,3598,0,0,0,0,0,0
$GC,461,-0.57,-146.0,31.1,-8.8,74,469,0.00,1.65,0.00,0.000,6,0.000,0.053,1910,2286,3598,0,0,0,0,0,0
$GC,535,-0.57,-146.0,37.6,-8.8,87,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,2285,3598,0,0,0,0,0,0
$GC,608,-0.57,-146.0,44.2,-8.4,100,616,0.00,1.80,0.00,0.000,4,0.000,0.056,1910,1236,3598,0,0,0,0,0,0
$STATE,620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,621,begin apogee
$GC,629,-0.16,0.0,45.4,8.4,102,744,0.45,0.00,107.35,0.625,6,0.132,0.000,2052,2279,3000,0,0,0,0,0,0
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,747,begin climb
$GC,749,0.57,146.0,48.2,0.0,120,870,0.68,1.83,111.85,0.594,4,0.069,0.056,2297,3353,2403,0,0,0,0,0,0
$GC,885,0.57,146.0,32.9,18.3,140,893,0.00,1.75,0.00,0.000,6,0.000,0.052,2304,2299,2401,0,0,0,0,0,0
$GC,958,0.57,146.0,18.3,16.8,153,966,0.00,1.88,0.00,0.000,4,0.000,0.054,2312,1231,2396,0,0,0,0,0,0
$GC,1000,0.57,146.0,10.6,18.3,160,1008,0.00,1.85,0.00,0.000,6,0.000,0.051,2312,2282,2394,0,0,0,0,0,0
$STATE,1055,end climb,SURFACE_DEPTH_REACHED
$STATE,1056,begin surface coast
$FINISH,2.4,1.016750
$STATE,1088,end surface coast,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$SM_CCo,1104,372.35,0.542,1,0,473,620.11
$SM_GC,1.11,0.00,0.00,372.35,0.000,0.000,0.542,151,2280,473,-6.13,-0.28,620.11
$IRIDIUM_FIX,4751.72,-12223.57,101110,161637
$TT8_MAMPS,0.026215
$HUMID,34.52
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,24.0,2.364
$10V_AH,10.3,5.938
$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,14.275,17.550,219.200,372.350,0.000,0.000,0.000,0.000,0.500,0.000,16.487,365.646,16.536,652.516,469.881,61.132,29.237,916.469,0.000,472.163,0.000,0.993,0.000
$DEVICE_MAMPS,247.095,82.620,625.005,541.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,114.143,116.112,392.320,401.839,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323592
$DATA_FILE_SIZE,13712,176
$CAP_FILE_SIZE,49834,0
$CFSIZE,260165632,256991232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,172619,4807.847,-12223.411,8,1.3,13,18.3