version: 66.04
glider: 156
mission: 1
dive: 7
start: 8 15 108 23 37 34
data:
$ID,156
$MISSION,1
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$D_FINISH,0
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-7206.5386
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$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,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,232601,4806.724,-12222.696,33,1.7,37,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-57.1
$GPS2,233639,4806.738,-12222.733,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.178
$KALMAN_X,-599.5,-152.9,-22.1,885.8,-135.4
$KALMAN_Y,395.6,-24.7,-61.2,-1181.6,139.7
$MHEAD_RNG_PITCHd_Wd,123.8,1640,-20.6,-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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-107.5,0.0,0.0,0,128,0.00,0.00,-109.75,0.000,6,0.000,0.000,34,2130,3955
$GC,130,-0.78,-107.5,3.6,-6.8,19,143,7.03,2.20,0.00,0.000,4,0.258,0.040,1792,722,3957
$GC,382,-0.49,-107.5,19.8,-6.8,78,389,0.32,2.20,0.00,0.000,6,0.173,0.037,1875,2137,3958
$GC,452,-0.49,-107.5,23.2,-4.7,94,458,0.00,2.20,0.00,0.000,4,0.000,0.042,1875,726,3958
$GC,697,-0.49,-107.5,37.7,-5.7,152,703,0.00,2.17,0.00,0.000,6,0.000,0.037,1865,2130,3958
$GC,770,-0.49,-107.5,42.1,-6.1,168,776,0.00,2.20,0.00,0.000,4,0.000,0.042,1866,715,3958
$GC,872,-0.48,-107.5,49.1,-7.0,190,879,0.12,2.20,0.00,0.000,6,0.156,0.038,1890,2140,3958
$GC,1017,-0.56,-107.5,57.5,-5.4,221,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2140,3958
$GC,1160,-0.67,-107.5,65.3,-5.5,252,1167,0.17,2.17,0.00,0.000,4,0.058,0.049,1788,3534,3958
$GC,1224,-0.47,-107.5,71.0,-9.8,265,1231,0.32,2.12,0.00,0.000,6,0.160,0.033,1884,2126,3958
$GC,1370,-0.56,-107.5,80.1,-6.1,296,1376,0.00,2.25,0.00,0.000,4,0.000,0.051,1875,3538,3958
$GC,1423,-0.63,-107.5,83.4,-6.5,307,1429,0.12,2.12,0.00,0.000,6,0.069,0.032,1814,2127,3958
$GC,1566,-0.52,-107.5,95.0,-8.1,338,1572,0.17,0.00,0.00,0.000,6,0.154,0.000,1871,2124,3958
$GC,1710,-0.59,-107.5,104.0,-6.0,369,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2124,3958
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1723,begin apogee
$GC,1727,-0.16,0.0,105.1,5.8,372,1812,0.35,0.00,79.45,0.639,6,0.134,0.000,1987,2124,3516
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1814,0.78,107.5,106.8,0.0,387,1899,0.85,0.00,79.38,0.611,6,0.093,0.000,2284,2123,3077
$GC,2036,0.65,107.5,78.7,15.1,432,2042,0.12,0.00,0.00,0.000,6,0.167,0.000,2253,2124,3075
$GC,2180,0.63,107.5,60.5,12.4,463,2186,0.00,2.28,0.00,0.000,4,0.000,0.049,2253,3547,3074
$GC,2246,0.55,107.5,51.4,14.1,477,2253,0.17,2.17,0.00,0.000,6,0.170,0.035,2215,2138,3074
$GC,2388,0.65,114.4,37.1,9.6,508,2401,0.10,0.00,6.35,0.513,6,0.084,0.000,2265,2138,3048
$GC,2464,0.60,114.4,27.9,12.4,525,2470,0.12,0.00,0.00,0.000,6,0.163,0.000,2233,2138,3048
$GC,2535,0.66,114.4,20.2,10.7,541,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2139,3047
$GC,2605,0.73,116.5,13.2,9.9,557,2612,0.12,2.22,0.00,0.000,4,0.075,0.050,2288,3542,3047
$GC,2648,0.59,116.5,7.8,13.5,566,2655,0.25,2.15,0.00,0.000,6,0.171,0.035,2229,2129,3047
$STATE,2688,end climb,SURFACE_DEPTH_REACHED
$STATE,2688,begin surface coast
$FINISH,2.0,1.018832
$STATE,2748,end surface coast,CONTROL_FINISHED_OK
$STATE,2748,begin surface
$SM_CCo,2762,320.62,0.558,0,0,1273,550.21
$SM_GC,0.13,0.00,0.00,320.62,0.000,0.000,0.558,36,2128,1273,-6.26,-0.11,550.21
$IRIDIUM_FIX,4748.51,-12226.29,091197,232353
$TT8_MAMPS,0.028379
$HUMID,2089
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,18.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.1,42.6
$24V_AH,24.8,1.207
$10V_AH,10.8,0.892
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.250,30.675,165.175,320.625,0.000,78.474,184.238,166.563,2.000,0.000,0.000,15.035,905.584,650.577,587.034,1064.617,531.185,33.330,1090.248,0.000,1062.025,0.000,7.372,0.000
$DEVICE_MAMPS,258.479,50.622,638.911,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.394,303.391,722.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28522,589
$CAP_FILE_SIZE,60499,0
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,002944,4806.580,-12222.596,8,1.5,13,18.3