version: 66.04
glider: 156
mission: 1
dive: 22
start: 8 16 108 14 30 27
data:
$ID,156
$MISSION,1
$DIVE,22
$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,-7529.8735
$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,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,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
$GPS1,142308,4807.660,-12223.886,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-68.2
$GPS2,142933,4807.646,-12223.903,17,1.9,17,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.030,0.224
$KALMAN_X,-1314.1,2.1,-29.3,4.6,-17.8
$KALMAN_Y,-1367.1,-296.3,-33.6,2511.8,-27.1
$MHEAD_RNG_PITCHd_Wd,334.1,666,-20.6,-10.000
$D_GRID,103
$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,-107.5,0.0,0.0,0,120,0.00,0.00,-100.25,0.000,6,0.000,0.000,37,2296,3955
$GC,123,-0.76,-107.5,2.0,-3.3,18,136,7.15,2.25,0.00,0.000,4,0.258,0.043,1787,3719,3956
$GC,353,-0.45,-107.5,25.5,-9.6,72,360,0.40,2.20,0.00,0.000,6,0.164,0.033,1905,2284,3958
$GC,427,-0.54,-107.5,29.7,-4.6,88,433,0.00,2.17,0.00,0.000,4,0.000,0.044,1905,901,3959
$GC,494,-0.62,-107.5,32.5,-4.5,103,500,0.15,2.20,0.00,0.000,6,0.061,0.040,1823,2300,3959
$GC,567,-0.48,-107.5,36.7,-6.7,119,573,0.20,0.00,0.00,0.000,6,0.153,0.000,1887,2301,3960
$GC,638,-0.53,-107.5,40.7,-5.9,135,644,0.00,2.25,0.00,0.000,4,0.000,0.052,1876,3713,3960
$GC,700,-0.56,-107.5,44.6,-6.9,148,706,0.00,2.15,0.00,0.000,6,0.000,0.032,1876,2303,3959
$GC,845,-0.60,-107.5,53.6,-6.3,179,850,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2303,3959
$GC,987,-0.65,-107.5,62.7,-6.1,210,993,0.12,0.00,0.00,0.000,6,0.067,0.000,1815,2301,3959
$GC,1131,-0.53,-107.5,75.3,-9.5,241,1137,0.17,0.00,0.00,0.000,6,0.155,0.000,1871,2301,3959
$GC,1276,-0.58,-107.5,85.3,-6.3,272,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2301,3959
$GC,1421,-0.63,-107.5,94.4,-6.2,303,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2301,3959
$GC,1563,-0.69,-107.5,102.8,-5.5,334,1570,0.15,2.22,0.00,0.000,4,0.065,0.052,1788,3707,3960
$STATE,1574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1580,-0.15,0.0,103.6,5.5,336,1666,0.65,0.00,80.43,0.644,6,0.163,0.000,1990,2189,3516
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1668,0.76,107.5,105.5,0.0,351,1753,0.85,0.00,80.88,0.617,6,0.094,0.000,2285,2189,3077
$GC,1889,0.63,107.5,77.4,14.7,396,1896,0.15,2.33,0.00,0.000,4,0.172,0.049,2247,3613,3075
$GC,1907,0.52,107.5,74.6,15.7,399,1913,0.17,2.25,0.00,0.000,6,0.167,0.033,2211,2191,3071
$GC,2050,0.64,117.8,59.7,9.4,430,2064,0.12,2.38,8.20,0.543,4,0.075,0.051,2270,3616,3035
$GC,2074,0.64,117.8,56.8,11.3,434,2080,0.00,2.22,0.00,0.000,6,0.000,0.035,2281,2196,3035
$GC,2217,0.55,117.8,36.6,13.8,465,2223,0.17,0.00,0.00,0.000,6,0.170,0.000,2229,2196,3034
$GC,2288,0.62,119.7,28.8,9.9,481,2295,0.00,2.30,0.00,0.000,4,0.000,0.051,2228,3605,3033
$GC,2306,0.68,123.6,26.9,9.8,484,2319,0.00,2.17,6.10,0.506,6,0.000,0.035,2239,2200,3010
$GC,2384,0.75,128.4,19.4,9.7,501,2391,0.15,0.00,5.20,0.479,6,0.066,0.000,2304,2200,2991
$GC,2456,0.64,128.4,10.0,13.0,517,2463,0.17,2.25,0.00,0.000,4,0.169,0.049,2251,3609,2991
$GC,2473,0.55,128.4,7.7,13.6,520,2480,0.15,2.17,0.00,0.000,6,0.162,0.035,2220,2201,2991
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2523,begin surface coast
$FINISH,1.1,1.019854
$STATE,2595,end surface coast,CONTROL_FINISHED_OK
$STATE,2595,begin surface
$SM_CCo,2608,259.27,0.568,0,0,1559,480.05
$SM_GC,0.05,0.00,0.00,259.27,0.000,0.000,0.568,30,2301,1559,-6.30,0.03,480.05
$IRIDIUM_FIX,4748.51,-12217.40,101197,131359
$TT8_MAMPS,0.028379
$HUMID,1993
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.2,37.3
$24V_AH,24.6,2.587
$10V_AH,10.7,1.770
$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,16.900,36.025,180.800,259.275,0.000,24.241,27.479,234.009,1.750,0.000,0.000,18.287,855.220,492.417,534.944,990.882,394.106,33.330,1019.179,0.000,990.181,0.000,5.818,0.000
$DEVICE_MAMPS,257.712,61.360,644.280,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.337,279.944,661.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28554,548
$CAP_FILE_SIZE,61708,0
$CFSIZE,260165632,258056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,151923,4807.858,-12223.969,14,2.8,33,18.3