version: 66.04
glider: 156
mission: 1
dive: 12
start: 8 16 108 4 30 51
data:
$ID,156
$MISSION,1
$DIVE,12
$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,-7329.4648
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,042338,4806.078,-12222.218,38,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-69.8
$GPS2,042956,4806.055,-12222.206,15,1.3,26,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.196
$KALMAN_X,-860.4,-193.1,-61.3,1875.9,34.7
$KALMAN_Y,110.7,-4.4,37.6,-2273.8,-89.8
$MHEAD_RNG_PITCHd_Wd,312.1,4230,-20.6,-10.000
$D_GRID,107
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-107.5,0.0,0.0,0,126,0.00,0.00,-106.95,0.000,6,0.000,0.000,38,2124,3955
$GC,128,-0.78,-107.5,2.5,-5.4,19,142,7.10,2.25,0.00,0.000,4,0.261,0.042,1770,3548,3956
$GC,264,-0.44,-107.5,12.8,-6.5,50,272,0.38,2.22,0.00,0.000,6,0.173,0.033,1898,2124,3957
$GC,336,-0.50,-107.5,15.9,-3.9,66,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2124,3958
$GC,406,-0.55,-107.5,18.6,-4.0,82,413,0.12,2.25,0.00,0.000,4,0.071,0.048,1827,3539,3958
$GC,469,-0.40,-107.5,22.6,-7.6,96,477,0.28,2.15,0.00,0.000,6,0.153,0.033,1909,2130,3958
$GC,540,-0.51,-107.5,26.3,-4.4,112,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2129,3958
$GC,611,-0.63,-107.5,29.6,-4.5,128,617,0.17,0.00,0.00,0.000,6,0.059,0.000,1820,2127,3959
$GC,681,-0.50,-107.5,34.7,-7.7,144,688,0.17,2.25,0.00,0.000,4,0.154,0.048,1865,3550,3959
$GC,762,-0.50,-107.5,40.6,-7.0,162,768,0.00,2.15,0.00,0.000,6,0.000,0.033,1865,2133,3959
$GC,906,-0.52,-107.5,50.3,-6.8,193,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2133,3959
$GC,1049,-0.55,-107.5,60.3,-7.1,224,1056,0.00,2.22,0.00,0.000,4,0.000,0.050,1855,3543,3958
$GC,1143,-0.55,-107.5,67.4,-7.4,244,1149,0.00,2.15,0.00,0.000,6,0.000,0.034,1855,2126,3959
$GC,1287,-0.55,-107.5,77.5,-6.9,275,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2126,3958
$GC,1431,-0.55,-107.5,87.5,-6.9,306,1437,0.00,2.25,0.00,0.000,4,0.000,0.051,1844,3534,3959
$GC,1516,-0.54,-107.5,94.0,-7.7,324,1522,0.00,2.12,0.00,0.000,6,0.000,0.034,1844,2131,3959
$GC,1659,-0.54,-107.5,104.2,-7.2,355,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2131,3959
$STATE,1699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1699,begin apogee
$GC,1703,-0.16,0.0,107.2,7.2,364,1788,0.43,0.00,80.45,0.650,6,0.140,0.000,1984,2128,3516
$STATE,1789,end apogee,CONTROL_FINISHED_OK
$STATE,1789,begin climb
$GC,1791,0.78,107.5,109.0,0.0,379,1876,0.88,0.00,80.28,0.622,6,0.096,0.000,2286,2128,3076
$GC,2011,0.67,107.5,80.9,15.0,424,2017,0.00,2.30,0.00,0.000,4,0.000,0.049,2286,3547,3075
$GC,2055,0.51,107.5,73.6,16.8,433,2062,0.32,2.22,0.00,0.000,6,0.173,0.036,2206,2137,3075
$GC,2198,0.66,118.3,58.6,9.3,464,2211,0.15,0.00,9.25,0.559,6,0.067,0.000,2278,2137,3033
$GC,2347,0.60,118.3,38.9,13.6,496,2354,0.17,2.25,0.00,0.000,4,0.164,0.051,2225,3538,3032
$GC,2377,0.60,118.3,34.8,14.0,502,2384,0.00,2.20,0.00,0.000,6,0.000,0.036,2235,2125,3032
$GC,2447,0.67,118.3,27.2,10.5,518,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2125,3031
$GC,2517,0.75,125.7,20.0,9.5,534,2531,0.15,2.28,6.85,0.526,4,0.067,0.050,2300,3541,3003
$GC,2541,0.75,125.7,16.9,11.9,538,2548,0.00,2.20,0.00,0.000,6,0.000,0.036,2310,2125,3003
$GC,2611,0.64,125.7,6.7,14.6,554,2617,0.20,0.00,0.00,0.000,6,0.172,0.000,2250,2125,3003
$STATE,2631,end climb,SURFACE_DEPTH_REACHED
$STATE,2631,begin surface coast
$FINISH,1.5,1.019920
$STATE,2661,end surface coast,CONTROL_FINISHED_OK
$STATE,2661,begin surface
$SM_CCo,2674,315.27,0.562,0,0,1272,550.21
$SM_GC,0.15,0.00,0.00,315.27,0.000,0.000,0.562,29,2122,1272,-6.29,-0.25,550.21
$IRIDIUM_FIX,4748.51,-12220.12,101197,030355
$TT8_MAMPS,0.028379
$HUMID,2045
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.0,42.3
$24V_AH,24.6,1.688
$10V_AH,10.7,1.178
$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,16.575,35.475,176.825,315.275,0.000,31.559,28.300,211.246,1.750,0.000,0.000,26.446,872.728,504.982,597.989,1032.781,374.190,33.339,1099.913,0.000,1015.846,0.000,8.344,0.000
$DEVICE_MAMPS,260.780,50.622,650.416,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.813,289.391,685.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28590,565
$CAP_FILE_SIZE,62372,0
$CFSIZE,260165632,258433024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,052127,4806.178,-12222.403,12,1.2,12,18.3