version: 66.04
glider: 156
mission: 1
dive: 13
start: 8 16 108 5 28 27
data:
$ID,156
$MISSION,1
$DIVE,13
$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,-7345.9922
$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,36
$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
$GPS1,052127,4806.178,-12222.403,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-68.1
$GPS2,052732,4806.145,-12222.398,10,1.2,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.199
$KALMAN_X,-890.5,-176.0,-41.4,1632.6,49.4
$KALMAN_Y,-59.5,-6.7,-17.4,-1880.0,-114.2
$MHEAD_RNG_PITCHd_Wd,313.4,3965,-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,-107.5,0.0,0.0,0,127,0.00,0.00,-108.05,0.000,6,0.000,0.000,30,2122,3955
$GC,130,-0.78,-107.5,2.0,-3.8,19,143,7.03,2.25,0.00,0.000,4,0.255,0.043,1771,3543,3956
$GC,286,-0.44,-107.5,13.9,-6.8,55,293,0.43,2.20,0.00,0.000,6,0.166,0.033,1895,2114,3957
$GC,358,-0.49,-107.5,17.3,-4.5,71,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2114,3957
$GC,428,-0.54,-107.5,20.6,-4.8,87,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2114,3958
$GC,498,-0.59,-107.5,24.1,-5.4,103,505,0.15,2.28,0.00,0.000,4,0.064,0.049,1816,3545,3958
$GC,566,-0.40,-107.5,29.3,-8.5,118,573,0.30,2.15,0.00,0.000,6,0.152,0.033,1906,2133,3957
$GC,637,-0.52,-107.5,33.4,-5.2,134,644,0.12,0.00,0.00,0.000,6,0.071,0.000,1842,2132,3958
$GC,707,-0.45,-107.5,38.3,-7.1,150,714,0.17,0.00,0.00,0.000,6,0.152,0.000,1898,2129,3958
$GC,780,-0.55,-107.5,42.4,-5.3,166,786,0.12,0.00,0.00,0.000,6,0.070,0.000,1836,2130,3958
$GC,924,-0.48,-107.5,53.6,-8.1,197,931,0.17,2.22,0.00,0.000,4,0.150,0.050,1881,3537,3958
$GC,1003,-0.56,-107.5,59.2,-6.7,214,1010,0.00,2.15,0.00,0.000,6,0.000,0.033,1881,2124,3958
$GC,1148,-0.64,-107.5,68.3,-6.6,245,1154,0.15,0.00,0.00,0.000,6,0.063,0.000,1810,2124,3958
$GC,1291,-0.52,-107.5,81.2,-9.0,276,1298,0.17,2.25,0.00,0.000,4,0.156,0.050,1856,3547,3958
$GC,1345,-0.52,-107.5,85.5,-7.8,287,1350,0.00,2.15,0.00,0.000,6,0.000,0.034,1856,2132,3958
$GC,1488,-0.52,-107.5,95.4,-6.6,318,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2132,3958
$GC,1632,-0.53,-107.5,105.0,-6.4,349,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2132,3958
$STATE,1641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1646,-0.16,0.0,105.7,6.1,351,1730,0.40,0.00,80.43,0.647,6,0.138,0.000,1986,2131,3516
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1733,0.78,107.5,107.2,0.0,366,1820,0.88,2.40,80.10,0.620,4,0.096,0.046,2299,731,3076
$GC,1850,0.66,107.5,94.7,15.2,387,1856,0.17,2.30,0.00,0.000,6,0.168,0.040,2253,2129,3075
$GC,1993,0.65,107.5,75.2,12.7,418,1999,0.00,2.30,0.00,0.000,4,0.000,0.051,2253,3548,3075
$GC,2019,0.59,107.5,71.9,13.2,423,2025,0.12,2.22,0.00,0.000,6,0.175,0.036,2232,2138,3075
$GC,2162,0.64,107.5,55.4,10.9,454,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2138,3075
$GC,2303,0.69,107.5,40.6,10.5,485,2309,0.00,2.25,0.00,0.000,4,0.000,0.051,2231,3543,3074
$GC,2330,0.71,107.5,37.7,11.1,490,2337,0.00,2.20,0.00,0.000,6,0.000,0.036,2242,2125,3074
$GC,2400,0.75,107.5,29.8,10.9,506,2406,0.12,0.00,0.00,0.000,6,0.071,0.000,2297,2124,3074
$GC,2471,0.64,107.5,20.5,13.8,522,2477,0.17,0.00,0.00,0.000,6,0.171,0.000,2244,2124,3073
$GC,2542,0.68,107.5,12.5,10.7,538,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2124,3073
$GC,2612,0.77,119.4,5.7,9.3,554,2627,0.12,2.33,9.43,0.557,4,0.074,0.051,2299,3540,3028
$STATE,2631,end climb,SURFACE_DEPTH_REACHED
$STATE,2631,begin surface coast
$FINISH,0.6,1.017077
$STATE,2684,end surface coast,CONTROL_FINISHED_OK
$STATE,2684,begin surface
$SM_CCo,2700,319.88,0.561,0,0,1272,550.21
$SM_GC,-0.04,0.00,0.00,319.88,0.000,0.000,0.561,35,2119,1272,-6.27,-0.31,550.21
$IRIDIUM_FIX,4748.51,-12221.84,101197,040458
$TT8_MAMPS,0.028379
$HUMID,2044
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.3,50.5
$24V_AH,24.6,1.784
$10V_AH,10.7,1.235
$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,17.050,35.900,169.950,319.875,0.000,26.251,25.335,216.098,1.250,0.000,0.000,15.898,887.140,502.184,605.662,1029.993,375.513,33.347,1109.769,0.000,1027.040,0.000,5.854,0.000
$DEVICE_MAMPS,254.644,51.389,647.348,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.042,293.318,696.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,569
$CAP_FILE_SIZE,63739,0
$CFSIZE,260165632,258396160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,061953,4806.281,-12222.596,11,7.5,30,18.3