version: 66.04
glider: 156
mission: 1
dive: 19
start: 8 16 108 11 43 30
data:
$ID,156
$MISSION,1
$DIVE,19
$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,-7481.8799
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,113624,4807.177,-12223.579,20,4.8,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-70.5
$GPS2,114235,4807.153,-12223.553,10,3.4,29,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,0.214
$KALMAN_X,-1217.7,-20.6,14.0,322.0,-8.8
$KALMAN_Y,-979.2,-220.0,-131.4,1232.8,-9.2
$MHEAD_RNG_PITCHd_Wd,323.7,1664,-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,-97.35,0.000,6,0.000,0.000,34,2314,3955
$GC,116,-0.76,-107.5,1.8,-3.3,17,130,7.05,2.28,0.00,0.000,4,0.253,0.041,1804,886,3957
$GC,265,-0.51,-107.5,13.3,-5.9,51,272,0.30,2.22,0.00,0.000,6,0.164,0.039,1880,2296,3958
$GC,336,-0.51,-107.5,16.6,-4.6,67,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,406,-0.51,-107.5,19.9,-4.7,83,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,476,-0.51,-107.5,23.6,-5.6,99,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,545,-0.51,-107.5,27.5,-5.5,115,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,615,-0.51,-107.5,31.6,-6.1,131,620,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2297,3959
$GC,685,-0.51,-107.5,36.0,-7.1,147,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,755,-0.54,-107.5,40.5,-6.9,163,760,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,896,-0.59,-107.5,49.6,-6.3,194,901,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2296,3959
$GC,1040,-0.64,-107.5,58.6,-6.4,225,1047,0.12,2.25,0.00,0.000,4,0.068,0.051,1808,3716,3959
$GC,1103,-0.49,-107.5,64.4,-9.8,238,1110,0.28,2.15,0.00,0.000,6,0.150,0.033,1891,2296,3959
$GC,1247,-0.58,-107.5,73.2,-5.7,269,1253,0.00,2.17,0.00,0.000,4,0.000,0.044,1892,900,3960
$GC,1295,-0.67,-107.5,75.9,-6.0,279,1301,0.15,2.20,0.00,0.000,6,0.061,0.041,1811,2306,3959
$GC,1439,-0.55,-107.5,87.8,-8.5,310,1445,0.17,0.00,0.00,0.000,6,0.157,0.000,1866,2307,3960
$GC,1582,-0.59,-107.5,97.3,-6.1,341,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2307,3960
$STATE,1641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1646,-0.15,0.0,101.0,5.9,354,1731,0.40,0.00,80.40,0.641,6,0.137,0.000,1997,2191,3515
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1733,0.76,107.5,102.2,0.0,369,1819,0.82,0.00,80.82,0.614,6,0.091,0.000,2286,2190,3076
$GC,1955,0.63,107.5,73.3,14.9,414,1961,0.15,0.00,0.00,0.000,6,0.167,0.000,2248,2190,3071
$GC,2098,0.63,107.5,55.0,12.5,445,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2190,3070
$GC,2239,0.63,107.5,38.1,11.7,476,2245,0.00,2.28,0.00,0.000,4,0.000,0.051,2247,3609,3070
$GC,2290,0.58,107.5,31.7,12.5,487,2296,0.00,2.17,0.00,0.000,6,0.000,0.035,2257,2206,3069
$GC,2361,0.58,107.5,22.8,12.2,503,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2206,3069
$GC,2430,0.58,107.5,14.7,11.0,519,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2206,3069
$GC,2500,0.58,107.5,6.9,11.2,535,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2207,3069
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,1.0,1.019813
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2569,begin surface
$SM_CCo,2583,272.45,0.563,0,0,1558,480.05
$SM_GC,0.01,0.00,0.00,272.45,0.000,0.000,0.563,33,2312,1558,-6.30,0.34,480.05
$IRIDIUM_FIX,4748.51,-12226.29,101197,101044
$TT8_MAMPS,0.028379
$HUMID,1974
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,36.4
$24V_AH,24.6,2.322
$10V_AH,10.7,1.606
$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,15.550,17.975,161.225,272.450,0.000,23.532,31.820,203.256,1.250,0.000,0.000,30.479,847.574,487.549,532.912,1012.431,361.962,33.334,1014.593,0.000,997.745,0.000,5.815,0.000
$DEVICE_MAMPS,253.110,65.195,641.212,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.677,288.516,682.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28632,551
$CAP_FILE_SIZE,57106,0
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,123151,4807.322,-12223.708,10,1.3,10,18.3