version: 66.04
glider: 156
mission: 1
dive: 14
start: 8 16 108 6 27 32
data:
$ID,156
$MISSION,1
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,480
$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,-7372.2451
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2047
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,33
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,31
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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
$GPS1,061953,4806.281,-12222.596,11,7.5,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-69.7
$GPS2,062637,4806.267,-12222.602,15,2.0,25,18.3
$SPEED_LIMITS,0.121,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.182
$KALMAN_X,-955.3,-150.9,-15.3,1395.8,52.9
$KALMAN_Y,-171.5,-22.0,-70.0,-1475.8,-201.9
$MHEAD_RNG_PITCHd_Wd,316.9,3646,-14.6,-6.965
$D_GRID,140
$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,-0.58,-107.5,0.0,0.0,0,126,0.00,0.00,-107.80,0.000,6,0.000,0.000,35,2120,3956
$GC,129,-0.58,-107.5,1.9,-2.8,19,142,7.30,2.55,0.00,0.000,4,0.255,0.044,1841,3719,3958
$GC,347,-0.25,-107.5,14.7,-5.6,70,355,0.40,2.17,0.00,0.000,6,0.142,0.031,1963,2295,3959
$GC,419,-0.35,-107.5,17.2,-2.9,86,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2296,3959
$GC,489,-0.46,-107.5,19.1,-3.0,102,495,0.17,0.00,0.00,0.000,6,0.054,0.000,1869,2294,3959
$GC,559,-0.26,-107.5,22.7,-5.5,118,566,0.28,2.20,0.00,0.000,4,0.141,0.042,1959,895,3960
$GC,602,-0.30,-107.5,24.6,-4.4,127,609,0.00,2.22,0.00,0.000,6,0.000,0.040,1950,2312,3960
$GC,673,-0.38,-107.5,27.3,-3.7,143,680,0.00,2.22,0.00,0.000,4,0.000,0.052,1940,3719,3960
$GC,712,-0.45,-107.5,28.9,-4.0,151,718,0.12,2.15,0.00,0.000,6,0.064,0.031,1867,2300,3960
$GC,783,-0.28,-107.5,33.5,-6.9,167,789,0.25,0.00,0.00,0.000,6,0.143,0.000,1949,2298,3960
$GC,853,-0.38,-107.5,36.4,-3.7,183,859,0.00,2.20,0.00,0.000,4,0.000,0.043,1950,892,3960
$GC,899,-0.47,-107.5,38.3,-4.1,193,906,0.15,2.20,0.00,0.000,6,0.064,0.041,1863,2304,3960
$GC,974,-0.29,-107.5,42.6,-6.0,209,981,0.25,2.22,0.00,0.000,4,0.143,0.051,1936,3714,3960
$GC,1019,-0.32,-107.5,44.5,-4.2,218,1026,0.00,2.15,0.00,0.000,6,0.000,0.032,1936,2294,3960
$GC,1163,-0.39,-107.5,50.0,-4.0,249,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2294,3960
$GC,1306,-0.46,-107.5,55.7,-4.0,280,1312,0.12,0.00,0.00,0.000,6,0.067,0.000,1868,2293,3960
$GC,1449,-0.32,-107.5,64.8,-6.3,311,1455,0.22,0.00,0.00,0.000,6,0.140,0.000,1943,2292,3960
$GC,1593,-0.42,-107.5,70.5,-3.7,342,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2292,3960
$GC,1737,-0.52,-107.5,76.0,-3.7,373,1743,0.17,0.00,0.00,0.000,6,0.059,0.000,1852,2291,3960
$GC,1878,-0.34,-107.5,85.9,-7.3,404,1885,0.25,0.00,0.00,0.000,6,0.144,0.000,1934,2292,3960
$GC,2022,-0.41,-107.5,92.0,-3.9,435,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2291,3960
$GC,2164,-0.50,-107.5,97.5,-4.0,466,2170,0.15,0.00,0.00,0.000,6,0.064,0.000,1859,2291,3960
$STATE,2174,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2174,begin apogee
$GC,2179,-0.15,0.0,98.2,4.1,468,2265,0.43,0.00,80.30,0.649,6,0.143,0.000,1995,2192,3515
$STATE,2265,end apogee,CONTROL_FINISHED_OK
$STATE,2266,begin climb
$GC,2267,0.58,107.5,99.6,0.0,483,2353,0.68,0.00,80.70,0.621,6,0.095,0.000,2231,2191,3073
$GC,2490,0.45,107.5,78.7,11.0,528,2497,0.15,2.30,0.00,0.000,4,0.157,0.051,2190,3605,3070
$GC,2530,0.37,107.5,74.6,10.5,536,2537,0.12,2.20,0.00,0.000,6,0.156,0.035,2167,2204,3070
$GC,2673,0.43,107.5,64.2,7.0,567,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2204,3070
$GC,2816,0.51,112.4,54.4,6.7,598,2823,0.15,0.00,4.20,0.446,6,0.064,0.000,2234,2204,3057
$GC,2961,0.39,112.4,39.8,10.5,629,2968,0.22,2.25,0.00,0.000,4,0.149,0.052,2162,3607,3056
$GC,2983,0.31,112.4,37.6,10.1,633,2989,0.00,2.17,0.00,0.000,6,0.000,0.035,2172,2199,3056
$GC,3056,0.39,117.6,32.5,6.7,649,3063,0.00,0.00,5.62,0.508,6,0.000,0.000,2172,2199,3035
$GC,3127,0.49,127.9,27.7,6.5,665,3140,0.00,0.00,9.20,0.565,6,0.000,0.000,2172,2199,2994
$GC,3204,0.59,133.6,22.7,6.7,682,3217,0.17,2.28,5.97,0.510,4,0.061,0.051,2262,3613,2970
$GC,3232,0.56,133.6,20.0,8.6,687,3239,0.17,2.20,0.00,0.000,6,0.168,0.036,2226,2200,2970
$GC,3304,0.48,133.6,12.3,10.0,703,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2200,2969
$GC,3376,0.43,133.6,5.5,9.4,719,3382,0.15,0.00,0.00,0.000,6,0.158,0.000,2183,2199,2969
$STATE,3395,end climb,SURFACE_DEPTH_REACHED
$STATE,3395,begin surface coast
$FINISH,1.4,1.020998
$STATE,3449,end surface coast,CONTROL_FINISHED_OK
$STATE,3449,begin surface
$SM_CCo,3463,254.75,0.570,0,0,1559,480.05
$SM_GC,0.13,0.00,0.00,254.75,0.000,0.000,0.570,33,2299,1559,-6.30,-0.03,480.05
$IRIDIUM_FIX,4748.51,-12224.57,101197,050538
$TT8_MAMPS,0.028379
$HUMID,2018
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.1,39.1
$24V_AH,24.6,1.875
$10V_AH,10.7,1.306
$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,17.850,35.950,186.000,254.750,0.000,24.949,39.649,231.181,1.750,0.000,0.000,25.624,1156.155,655.547,565.348,1332.024,428.138,33.331,1191.902,0.000,1322.638,0.000,5.825,0.000
$DEVICE_MAMPS,255.411,70.564,648.882,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.744,381.694,899.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37952,736
$CAP_FILE_SIZE,78557,0
$CFSIZE,260165632,258326528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,073036,4806.485,-12222.907,11,2.5,30,18.3