version: 66.10
glider: 156
mission: 4
dive: 2
start: 7 17 113 17 49 13
data:
$ID,156
$MISSION,4
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,300
$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,-858662.94
$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,22
$R_STBD_OVSHOOT,57
$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
$GPS1,170713,174419,4743.191,-12225.006,14,1.6,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.0
$GPS2,170713,174818,4743.204,-12224.979,12,1.6,17,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,0.257
$KALMAN_X,-1.8,-1.8,-1.8,40.4,-5.1
$KALMAN_Y,-26.4,-26.4,-26.4,203.8,-73.4
$MHEAD_RNG_PITCHd_Wd,351.1,1308,-17.5,-10.000
$D_GRID,177
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.6,0.0,0.0,0,93,0.00,0.00,-74.25,0.000,2,0.000,0.000,148,1950,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.57,-146.6,3.2,-8.2,11,121,7.00,2.42,-10.73,0.000,4,0.238,0.062,1967,559,2783,0,0,1,0,0,0,26.10,26.32,26.74
$GC,355,-0.57,-146.6,35.0,-11.6,59,363,0.00,2.38,0.00,0.000,6,0.000,0.035,1957,1949,2787,0,0,0,0,0,0,28.83,26.50,28.83
$GC,427,-0.57,-146.6,43.7,-11.9,72,435,0.00,2.42,0.00,0.000,4,0.000,0.050,1957,555,2786,0,0,0,0,0,0,28.83,26.51,28.83
$GC,600,-0.57,-146.6,63.7,-12.8,103,607,0.00,2.40,0.00,0.000,6,0.000,0.035,1946,1990,2786,0,0,0,0,0,0,28.83,26.55,28.83
$GC,735,-0.57,-146.6,81.7,-12.6,128,742,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1988,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.57,-146.6,97.9,-10.6,153,880,0.00,2.45,0.00,0.000,4,0.000,0.048,1946,550,2787,0,0,0,0,0,0,28.83,26.57,28.83
$GC,976,-0.57,-146.6,109.4,-11.7,171,983,0.12,2.38,0.00,0.000,6,0.164,0.036,1968,1982,2786,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1114,-0.57,-146.6,124.1,-10.2,196,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1980,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.57,-146.6,139.3,-12.3,221,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1979,2786,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1344,begin apogee
$GC,1352,-0.21,0.0,150.1,-12.6,237,1472,0.35,0.05,112.05,0.558,6,0.125,0.066,2088,1887,2182,0,0,0,0,0,0,26.48,25.51,25.07
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1478,0.57,146.6,157.7,0.0,256,1600,0.73,2.30,113.45,0.539,4,0.087,0.044,2342,3278,1584,0,0,0,0,0,0,25.65,25.38,24.85
$GC,1621,0.57,146.6,149.2,10.9,278,1629,0.00,2.20,0.00,0.000,6,0.000,0.041,2352,1926,1581,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1763,0.58,158.1,133.6,9.5,303,1778,0.00,2.62,9.52,0.482,4,0.000,0.053,2363,458,1538,0,0,0,0,0,0,28.83,25.95,25.41
$GC,1923,0.58,158.1,113.2,11.3,332,1931,0.00,2.42,0.00,0.000,6,0.000,0.034,2364,1874,1535,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2066,0.58,158.1,98.3,11.5,357,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1874,1534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,0.58,158.1,78.5,13.0,382,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1874,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,0.58,158.1,60.4,14.2,407,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1873,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,0.58,158.1,42.4,12.1,432,2482,0.00,2.47,0.00,0.000,4,0.000,0.053,2375,458,1532,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2501,0.58,158.1,39.5,11.0,436,2510,0.08,2.42,0.00,0.000,6,0.160,0.034,2351,1887,1532,0,0,0,0,0,0,26.32,26.50,28.83
$GC,2575,0.58,167.2,32.1,9.6,449,2590,0.00,0.00,7.35,0.441,6,0.000,0.000,2350,1886,1503,0,0,0,0,0,0,28.83,28.83,25.86
$GC,2655,0.58,167.2,24.3,10.3,463,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1886,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,0.58,167.2,17.1,10.2,476,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1886,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,0.58,169.1,9.6,9.9,489,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1886,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2871,0.61,278.5,3.3,5.0,502,2886,0.00,0.00,13.55,0.462,2,0.000,0.000,2350,1887,1436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2887,end climb,SURFACE_DEPTH_REACHED
$STATE,2887,begin surface coast
$FINISH,-0.1,1.023508
$STATE,2970,end surface coast,CONTROL_FINISHED_OK
$STATE,2970,begin surface
$SM_CCo,2988,87.03,0.468,0,0,958,300.24
$SM_GC,0.86,5.68,0.12,87.03,0.040,0.083,0.468,136,1993,958,-6.22,-1.39,300.24,0,0,0,0,0,0,26.46,26.48,25.25
$IRIDIUM_FIX,4726.11,-12217.96,170713,171748
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.39
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.1,49.8
$24V_AH,24.9,0.203
$10V_AH,10.5,0.386
$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,13.950,29.275,255.925,87.025,0.000,0.000,0.000,0.000,1.500,0.000,18.180,1141.122,294.920,398.084,1207.084,115.414,30.072,901.910,0.000,1195.386,0.000,11.790,0.000
$DEVICE_MAMPS,237.915,83.385,558.450,468.180,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.102,238.466,853.781,866.944,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,36976,520
$CAP_FILE_SIZE,68091,0
$CFSIZE,260165632,258260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,170713,184153,4743.257,-12225.235,24,1.2,42,18.2