version: 66.04
glider: 156
mission: 1
dive: 17
start: 8 16 108 9 50 46
data:
$ID,156
$MISSION,1
$DIVE,17
$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,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,-7413.752
$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,1
$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,36
$R_STBD_OVSHOOT,42
$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,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
$GPS1,094111,4806.900,-12223.294,12,2.7,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-71.9
$GPS2,094951,4806.861,-12223.232,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,0.211
$KALMAN_X,-1152.4,-53.4,31.8,666.3,1.0
$KALMAN_Y,-754.3,-136.1,-170.8,420.7,-74.2
$MHEAD_RNG_PITCHd_Wd,321.2,2314,-20.6,-10.000
$D_GRID,101
$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,-0.76,-107.5,0.0,0.0,0,114,0.00,0.00,-93.07,0.000,6,0.000,0.000,30,2309,3955
$GC,117,-0.76,-107.5,2.9,-6.6,17,129,7.15,0.00,0.00,0.000,6,0.258,0.000,1796,2308,3956
$GC,194,-0.54,-107.5,8.7,-4.9,34,200,0.22,2.28,0.00,0.000,4,0.166,0.043,1866,885,3957
$GC,248,-0.46,-107.5,10.9,-3.7,46,255,0.15,2.22,0.00,0.000,6,0.159,0.039,1897,2295,3957
$GC,320,-0.52,-107.5,13.6,-4.1,62,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2295,3957
$GC,390,-0.57,-107.5,16.4,-3.9,78,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2296,3958
$GC,460,-0.62,-107.5,19.4,-4.4,94,467,0.15,0.00,0.00,0.000,6,0.063,0.000,1826,2295,3958
$GC,531,-0.46,-107.5,23.9,-7.4,110,537,0.20,0.00,0.00,0.000,6,0.151,0.000,1890,2295,3958
$GC,601,-0.51,-107.5,27.9,-5.1,126,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2295,3958
$GC,671,-0.57,-107.5,31.9,-6.0,142,677,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2296,3958
$GC,741,-0.63,-107.5,35.8,-5.4,158,748,0.15,0.00,0.00,0.000,6,0.063,0.000,1818,2296,3958
$GC,812,-0.50,-107.5,41.4,-8.2,174,819,0.20,2.25,0.00,0.000,4,0.150,0.051,1872,3716,3959
$GC,875,-0.50,-107.5,45.8,-7.0,187,881,0.00,2.17,0.00,0.000,6,0.000,0.032,1872,2286,3958
$GC,1018,-0.50,-107.5,55.1,-6.4,218,1024,0.00,2.17,0.00,0.000,4,0.000,0.044,1872,891,3958
$GC,1133,-0.50,-107.5,63.6,-7.4,243,1140,0.00,2.22,0.00,0.000,6,0.000,0.040,1862,2310,3959
$GC,1276,-0.50,-107.5,73.7,-7.0,274,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2310,3958
$GC,1422,-0.50,-107.5,83.8,-6.8,305,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2310,3959
$GC,1564,-0.50,-107.5,93.5,-7.1,336,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2310,3958
$STATE,1677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1677,begin apogee
$GC,1682,-0.15,0.0,101.4,6.5,361,1768,0.40,0.00,80.15,0.641,6,0.133,0.000,1993,2191,3515
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1770,0.76,107.5,102.9,0.0,376,1855,0.85,0.00,80.78,0.616,6,0.091,0.000,2291,2191,3077
$GC,1993,0.62,107.5,73.9,16.2,421,1999,0.17,2.33,0.00,0.000,4,0.164,0.050,2239,3613,3071
$GC,2014,0.51,107.5,70.7,15.5,425,2021,0.15,2.20,0.00,0.000,6,0.166,0.034,2208,2216,3071
$GC,2157,0.64,121.8,56.5,9.1,456,2175,0.12,0.00,11.02,0.566,6,0.074,0.000,2270,2216,3019
$GC,2311,0.57,121.8,36.0,14.3,489,2317,0.15,0.00,0.00,0.000,6,0.162,0.000,2230,2216,3018
$GC,2383,0.63,121.8,27.8,10.3,505,2389,0.00,2.25,0.00,0.000,4,0.000,0.052,2230,3618,3017
$GC,2416,0.63,121.8,23.8,12.0,512,2422,0.00,2.20,0.00,0.000,6,0.000,0.035,2241,2199,3017
$GC,2486,0.68,121.8,16.0,11.0,528,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2198,3017
$GC,2555,0.73,121.8,8.6,10.8,544,2561,0.12,0.00,0.00,0.000,6,0.071,0.000,2297,2198,3017
$STATE,2595,end climb,SURFACE_DEPTH_REACHED
$STATE,2595,begin surface coast
$FINISH,0.6,1.018360
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2629,begin surface
$SM_CCo,2643,265.50,0.563,1,0,1558,480.05
$SM_GC,0.13,0.00,0.00,265.50,0.000,0.000,0.563,36,2317,1558,-6.29,0.48,480.05
$IRIDIUM_FIX,4748.51,-12219.12,101197,090922
$TT8_MAMPS,0.028379
$HUMID,1989
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.2,36.6
$24V_AH,24.6,2.147
$10V_AH,10.7,1.494
$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,16.350,22.600,171.950,265.500,0.000,51.005,106.327,207.406,1.250,0.000,0.000,11.609,869.297,549.611,544.246,1014.237,472.340,33.326,1038.276,0.000,1015.255,0.000,5.817,0.000
$DEVICE_MAMPS,257.712,62.127,641.212,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.476,294.204,697.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28516,561
$CAP_FILE_SIZE,61611,0
$CFSIZE,260165632,258240512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160808,104008,4807.042,-12223.418,8,1.5,13,18.3