version: 66.10
glider: 156
mission: 4
dive: 1
start: 7 17 113 16 59 55
data:
$ID,156
$MISSION,4
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,15
$T_MISSION,22
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51659
$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,5
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4830
$TGT_DEFAULT_LON,-945
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-858578.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2159
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,2183
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,150
$AH0_10V,100
$MINV_24V,18.799999
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.349596
$PRESSURE_SLOPE,0.00011457827
$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,90
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0044387965
$SEABIRD_T_H,0.00063806708
$SEABIRD_T_I,2.5317064e-05
$SEABIRD_T_J,2.7623407e-06
$SEABIRD_C_G,-10.165077
$SEABIRD_C_H,1.1464247
$SEABIRD_C_I,-0.0014949233
$SEABIRD_C_J,0.00019957028
$GPS1,170713,165537,4743.122,-12225.017,7,1.4,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-55.2
$GPS2,170713,165854,4743.138,-12225.008,11,1.2,16,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,0.256
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,352.2,1434,-17.5,-10.000
$D_GRID,178
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.6,0.0,0.0,0,93,0.00,0.00,-74.75,0.000,2,0.000,0.000,134,1917,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.57,-146.6,3.0,-6.8,11,127,7.10,2.33,-11.95,0.000,4,0.236,0.061,1968,577,2782,0,0,0,0,0,0,26.03,26.40,26.77
$GC,361,-0.57,-146.6,31.5,-10.0,60,369,0.00,2.25,0.00,0.000,6,0.000,0.036,1959,1913,2785,0,0,0,0,0,0,28.83,26.50,28.83
$GC,433,-0.57,-146.6,40.0,-13.8,73,441,0.00,2.28,0.00,0.000,4,0.000,0.047,1959,585,2785,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,471,-0.21,0.0,45.1,-16.0,78,585,0.40,0.00,109.32,0.460,6,0.131,0.000,2083,1823,2183,0,0,0,0,0,0,26.33,28.83,25.27
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,589,0.57,146.6,53.2,0.0,96,709,0.73,0.00,111.53,0.447,6,0.092,0.000,2339,1824,1583,0,0,0,0,0,0,25.75,28.83,25.10
$GC,839,0.57,147.1,34.1,10.0,139,847,0.00,2.38,0.00,0.000,4,0.000,0.050,2350,485,1578,0,0,0,0,0,0,28.83,26.12,28.83
$GC,871,0.57,147.1,30.7,10.6,144,879,0.00,2.30,0.00,0.000,6,0.000,0.033,2350,1828,1577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,944,0.58,183.0,23.7,8.4,157,979,0.00,2.22,27.02,0.436,4,0.000,0.045,2350,3232,1435,0,0,0,0,0,0,28.83,26.01,25.55
$GC,1004,0.58,183.0,17.9,11.0,166,1012,0.00,2.10,0.00,0.000,6,0.000,0.040,2360,1906,1432,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1077,0.58,183.0,10.1,10.4,179,1084,0.00,2.50,0.00,0.000,4,0.000,0.050,2372,456,1432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1109,0.58,183.0,6.5,11.2,184,1116,0.00,2.33,0.00,0.000,6,0.000,0.032,2371,1819,1431,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1142,end climb,SURFACE_DEPTH_REACHED
$STATE,1143,begin surface coast
$FINISH,1.3,1.023815
$STATE,1175,end surface coast,CONTROL_FINISHED_OK
$STATE,1175,begin surface
$SM_CCo,1193,179.07,0.431,0,0,451,424.85
$SM_CCo,1377,-0.30,0.000,0,0,451,424.85
$SM_CCo,1382,0.00,0.000,0,0,451,424.85
$SM_GC,1.00,5.95,0.15,0.00,0.061,0.066,0.000,132,1954,451,-6.21,-2.54,424.85,0,0,0,0,0,0,26.36,26.39,28.83
$IRIDIUM_FIX,4726.11,-12227.78,170713,161611
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,17.90
$XPDR_PINGS,5
$24V_AH,25.1,0.128
$10V_AH,10.5,0.325
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.175,22.950,247.875,179.075,0.000,0.000,0.000,0.000,1.250,0.000,17.087,410.246,18.520,448.276,520.904,69.182,29.127,718.531,0.000,517.916,0.000,1.001,0.000
$DEVICE_MAMPS,236.385,65.790,459.765,430.695,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,130.859,116.867,430.827,437.358,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324012
$DATA_FILE_SIZE,13656,196
$CAP_FILE_SIZE,50612,0
$CFSIZE,260165632,258334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,172349,4743.158,-12225.123,11,1.5,11,18.2