version: 66.04
glider: 156
mission: 1
dive: 15
start: 8 16 108 7 38 22
data:
$ID,156
$MISSION,1
$DIVE,15
$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,-7386.77
$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,35
$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,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
$GPS1,073036,4806.485,-12222.907,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-70.9
$GPS2,073727,4806.479,-12222.918,13,1.3,13,18.3
$SPEED_LIMITS,0.121,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,0.190
$KALMAN_X,-1089.0,-102.6,26.7,1048.1,-21.8
$KALMAN_Y,-384.9,-60.2,-142.7,-758.8,-192.2
$MHEAD_RNG_PITCHd_Wd,323.6,3119,-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,-107.5,0.0,0.0,0,115,0.00,0.00,-98.20,0.000,6,0.000,0.000,33,2300,3955
$GC,118,-0.58,-107.5,1.5,-1.8,17,131,7.43,2.25,0.00,0.000,4,0.259,0.041,1865,885,3957
$GC,208,-0.33,-107.5,8.0,-5.4,37,216,0.30,2.25,0.00,0.000,6,0.158,0.040,1942,2306,3958
$GC,280,-0.35,-107.5,10.3,-2.9,53,286,0.00,2.25,0.00,0.000,4,0.000,0.052,1932,3712,3958
$GC,321,-0.35,-107.5,11.7,-3.5,62,327,0.00,2.17,0.00,0.000,6,0.000,0.031,1933,2293,3959
$GC,392,-0.35,-107.5,14.2,-3.4,78,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2293,3959
$GC,461,-0.35,-107.5,16.8,-3.9,94,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2293,3959
$GC,531,-0.35,-107.5,19.6,-4.1,110,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2293,3959
$GC,601,-0.35,-107.5,22.6,-4.3,126,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2291,3959
$GC,670,-0.35,-107.5,25.6,-4.3,142,676,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2291,3959
$GC,740,-0.37,-107.5,28.8,-4.5,158,745,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2291,3959
$GC,810,-0.40,-107.5,32.1,-4.6,174,816,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2291,3959
$GC,880,-0.43,-107.5,35.3,-4.6,190,886,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2291,3960
$GC,950,-0.47,-107.5,38.3,-4.5,206,957,0.12,0.00,0.00,0.000,6,0.065,0.000,1866,2290,3960
$GC,1023,-0.30,-107.5,43.0,-6.7,222,1029,0.22,0.00,0.00,0.000,6,0.143,0.000,1942,2291,3960
$GC,1167,-0.38,-107.5,49.2,-4.3,253,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2291,3960
$GC,1310,-0.47,-107.5,55.5,-4.4,284,1316,0.15,0.00,0.00,0.000,6,0.060,0.000,1864,2290,3960
$GC,1454,-0.31,-107.5,65.5,-7.0,315,1460,0.25,0.00,0.00,0.000,6,0.141,0.000,1946,2290,3960
$GC,1597,-0.42,-107.5,71.7,-4.0,346,1603,0.12,0.00,0.00,0.000,6,0.066,0.000,1878,2290,3960
$GC,1743,-0.31,-107.5,80.6,-6.4,377,1750,0.20,2.25,0.00,0.000,4,0.138,0.053,1935,3710,3960
$GC,1797,-0.41,-107.5,83.2,-4.4,388,1803,0.00,2.12,0.00,0.000,6,0.000,0.033,1935,2300,3960
$GC,1942,-0.48,-107.5,89.1,-4.3,419,1949,0.15,2.20,0.00,0.000,4,0.061,0.044,1851,892,3960
$GC,1982,-0.36,-107.5,91.8,-6.6,427,1989,0.30,2.20,0.00,0.000,6,0.150,0.041,1933,2304,3960
$GC,2126,-0.44,-107.5,98.0,-4.2,458,2132,0.00,2.22,0.00,0.000,4,0.000,0.054,1923,3717,3960
$STATE,2168,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2169,begin apogee
$GC,2175,-0.15,0.0,100.0,4.6,467,2261,0.22,0.00,80.53,0.651,6,0.117,0.000,1999,2191,3516
$STATE,2261,end apogee,CONTROL_FINISHED_OK
$STATE,2261,begin climb
$GC,2263,0.58,107.5,101.6,0.0,482,2355,0.65,2.42,80.93,0.622,4,0.093,0.051,2229,3605,3075
$GC,2380,0.40,107.5,92.6,10.4,503,2387,0.22,2.28,0.00,0.000,6,0.152,0.035,2177,2190,3071
$GC,2525,0.43,107.5,80.4,7.8,534,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2190,3070
$GC,2667,0.46,107.5,69.9,7.4,565,2674,0.00,2.30,0.00,0.000,4,0.000,0.051,2177,3611,3070
$GC,2692,0.46,107.5,67.9,7.7,570,2698,0.00,2.20,0.00,0.000,6,0.000,0.035,2186,2198,3070
$GC,2836,0.46,107.5,56.7,7.7,601,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2197,3070
$GC,2976,0.46,107.5,46.4,7.3,632,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2197,3069
$GC,3115,0.47,107.5,35.9,7.6,663,3121,0.00,2.25,0.00,0.000,4,0.000,0.052,2186,3609,3069
$GC,3153,0.47,107.5,32.6,8.6,671,3160,0.00,2.17,0.00,0.000,6,0.000,0.036,2197,2198,3069
$GC,3223,0.47,107.5,26.8,8.0,687,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2197,3069
$GC,3292,0.47,107.5,21.3,8.2,703,3298,0.00,2.25,0.00,0.000,4,0.000,0.051,2197,3613,3069
$GC,3313,0.46,107.5,19.6,7.8,707,3320,0.00,2.20,0.00,0.000,6,0.000,0.035,2207,2204,3068
$GC,3384,0.44,107.5,13.7,8.0,723,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2205,3068
$GC,3454,0.44,107.5,8.3,7.4,739,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2204,3068
$STATE,3518,end climb,SURFACE_DEPTH_REACHED
$STATE,3518,begin surface coast
$FINISH,1.5,1.018432
$STATE,3589,end surface coast,CONTROL_FINISHED_OK
$STATE,3590,begin surface
$SM_CCo,3603,274.92,0.571,1,0,1558,480.05
$SM_GC,0.04,0.00,0.00,274.92,0.000,0.000,0.571,37,2311,1558,-6.28,0.31,480.05
$IRIDIUM_FIX,4748.51,-12229.01,101197,060609
$TT8_MAMPS,0.027612
$HUMID,2046
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,37.5
$24V_AH,24.6,1.966
$10V_AH,10.7,1.380
$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,16.125,40.475,161.450,274.925,0.000,28.145,30.831,251.829,1.500,0.000,0.000,13.898,1200.840,690.479,588.866,1386.393,440.021,33.333,1237.218,0.000,1383.866,0.000,6.781,0.000
$DEVICE_MAMPS,259.246,69.030,651.183,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.854,402.863,951.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,771
$CAP_FILE_SIZE,79089,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160808,084351,4806.734,-12223.162,11,1.6,11,18.3