version: 66.10
glider: 156
mission: 4
dive: 3
start: 7 17 113 18 58 26
data:
$ID,156
$MISSION,4
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,80
$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,-858701
$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,2147
$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,19
$R_STBD_OVSHOOT,55
$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
$GPS1,170713,185312,4743.317,-12225.137,8,1.1,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-66.2
$GPS2,170713,185730,4743.336,-12225.102,13,2.0,30,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.224
$KALMAN_X,-95.2,-89.4,-75.0,148.1,-137.2
$KALMAN_Y,-204.9,-194.2,-167.4,942.5,-286.2
$MHEAD_RNG_PITCHd_Wd,3.2,1109,-14.0,-8.000
$D_GRID,179
$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,17,-0.47,-146.6,0.0,0.0,0,73,0.00,0.00,-54.55,0.000,2,0.000,0.000,153,1988,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-146.6,3.2,-7.9,8,101,7.15,2.55,-10.48,0.000,4,0.244,0.063,1986,552,2783,0,0,0,0,0,0,26.01,26.31,26.64
$GC,335,-0.47,-146.6,36.3,-10.0,56,343,0.00,2.38,0.00,0.000,6,0.000,0.035,1975,1948,2785,0,0,0,0,0,0,28.83,26.44,28.83
$GC,409,-0.47,-146.6,43.2,-9.2,69,416,0.00,2.38,0.00,0.000,4,0.000,0.047,1975,556,2785,0,0,0,0,0,0,28.83,26.44,28.83
$GC,587,-0.47,-146.6,63.0,-10.7,101,594,0.00,2.38,0.00,0.000,6,0.000,0.035,1965,1981,2785,0,0,0,0,0,0,28.83,26.50,28.83
$GC,723,-0.47,-146.6,77.7,-9.9,126,731,0.10,2.15,0.00,0.000,4,0.181,0.047,1981,3385,2785,0,0,0,0,0,0,26.44,26.50,28.83
$GC,757,-0.47,-146.6,81.5,-12.0,131,763,0.00,2.12,0.00,0.000,6,0.000,0.038,1981,1957,2785,0,0,0,0,0,0,28.83,26.52,28.83
$GC,895,-0.47,-146.6,93.6,-7.2,156,903,0.00,2.38,0.00,0.000,4,0.000,0.048,1980,573,2785,0,0,0,0,0,0,28.83,26.53,28.83
$GC,950,-0.47,-146.6,100.8,-13.3,165,957,0.00,2.35,0.00,0.000,6,0.000,0.036,1972,1981,2785,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1089,-0.47,-146.6,114.1,-9.6,190,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1978,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.47,-146.6,127.5,-9.2,215,1236,0.00,2.40,0.00,0.000,4,0.000,0.047,1972,569,2785,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1288,-0.47,-146.6,133.4,-10.2,225,1296,0.12,2.38,0.00,0.000,6,0.161,0.037,1995,1989,2785,0,0,0,0,0,0,26.45,26.58,28.83
$GC,1429,-0.47,-146.6,146.5,-8.6,250,1437,0.00,2.47,0.00,0.000,4,0.000,0.048,1995,563,2785,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1477,-0.47,-146.6,150.4,-9.3,257,1484,0.00,2.38,0.00,0.000,6,0.000,0.036,1984,1982,2785,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1613,-0.47,-146.6,163.1,-8.3,282,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1980,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.47,-146.6,175.5,-9.1,307,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1979,2785,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1789,begin apogee
$GC,1797,-0.21,0.0,179.3,-9.3,314,1917,0.25,0.00,111.50,0.584,6,0.131,0.000,2070,1850,2183,0,0,0,0,0,0,26.50,28.83,24.97
$STATE,1918,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1921,0.47,146.6,184.5,0.0,333,2049,0.65,2.38,115.25,0.564,4,0.098,0.046,2293,3289,1584,0,0,0,0,0,0,25.53,25.25,24.71
$GC,2078,0.47,146.6,175.9,9.6,358,2086,0.00,2.20,0.00,0.000,6,0.000,0.041,2303,1918,1580,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2219,0.47,146.6,163.6,8.7,383,2226,0.00,2.53,0.00,0.000,4,0.000,0.053,2315,472,1579,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2267,0.47,146.6,159.3,9.0,391,2273,0.00,2.40,0.00,0.000,6,0.000,0.034,2315,1886,1578,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2402,0.47,146.6,144.4,11.5,416,2411,0.00,2.53,0.00,0.000,4,0.000,0.053,2327,470,1577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2440,0.47,146.6,140.1,11.2,422,2447,0.00,2.45,0.00,0.000,6,0.000,0.035,2326,1890,1577,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2582,0.47,146.6,124.3,11.4,447,2588,0.00,2.47,0.00,0.000,4,0.000,0.051,2338,467,1577,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2643,0.47,146.6,116.8,12.5,458,2652,0.10,2.45,0.00,0.000,6,0.139,0.034,2302,1885,1577,0,0,0,0,0,0,26.20,26.36,28.83
$GC,2785,0.47,146.6,103.9,8.3,483,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,1886,1577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,0.47,146.6,91.6,8.5,508,2928,0.00,2.50,0.00,0.000,4,0.000,0.051,2313,472,1576,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2942,0.47,146.6,89.5,10.1,511,2949,0.00,2.38,0.00,0.000,6,0.000,0.034,2313,1874,1576,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3082,0.47,146.6,75.7,10.2,536,3090,0.00,2.20,0.00,0.000,4,0.000,0.047,2313,3300,1576,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3127,0.47,146.6,70.9,10.4,543,3134,0.00,2.15,0.00,0.000,6,0.000,0.040,2324,1870,1576,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3262,0.47,146.6,58.0,8.9,568,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1869,1575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3402,0.47,146.6,45.7,9.6,593,3408,0.00,2.40,0.00,0.000,4,0.000,0.052,2335,468,1575,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3460,0.47,146.6,40.2,9.2,603,3467,0.12,2.40,0.00,0.000,6,0.161,0.034,2299,1903,1575,0,0,0,0,0,0,26.40,26.54,28.83
$GC,3596,0.48,188.2,31.8,6.5,628,3631,0.00,0.00,31.38,0.497,6,0.000,0.000,2299,1900,1414,0,0,0,0,0,0,28.83,28.83,25.70
$GC,3696,0.48,188.2,23.8,8.4,645,3704,0.00,2.55,0.00,0.000,4,0.000,0.052,2311,472,1411,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3753,0.48,188.2,19.2,8.4,655,3761,0.00,2.42,0.00,0.000,6,0.000,0.034,2310,1878,1411,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3827,0.49,209.4,14.1,7.2,668,3848,0.00,0.00,17.02,0.475,6,0.000,0.000,2311,1876,1328,0,0,0,0,0,0,28.83,28.83,25.67
$GC,3913,0.50,234.1,8.2,7.1,683,3942,0.00,2.53,19.95,0.469,4,0.000,0.051,2322,477,1228,0,0,0,0,0,0,28.83,26.06,25.56
$GC,3967,0.52,331.4,5.3,4.4,691,4017,0.00,2.42,44.97,0.467,2,0.000,0.033,2322,1883,990,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,4018,end climb,SURFACE_DEPTH_REACHED
$STATE,4018,begin surface coast
$FINISH,-0.2,1.023962
$STATE,4083,end surface coast,CONTROL_FINISHED_OK
$STATE,4083,begin surface
$SM_CCo,4101,6.07,0.396,0,0,958,300.24
$SM_GC,2.01,5.75,0.15,6.07,0.047,0.069,0.396,148,1999,958,-6.16,-1.13,300.24,0,0,0,0,0,0,26.00,26.00,25.39
$IRIDIUM_FIX,4726.11,-12227.78,170713,181842
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.39
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.4,54.4
$24V_AH,24.7,0.277
$10V_AH,10.4,0.461
$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,14.250,71.975,340.075,6.075,0.000,0.000,0.000,0.000,1.500,0.000,33.022,1562.232,437.138,409.993,1627.514,165.309,31.301,1086.753,0.000,1596.699,0.000,11.800,0.000
$DEVICE_MAMPS,244.035,68.850,584.460,396.270,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.244,314.271,1118.758,1132.508,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,53863,710
$CAP_FILE_SIZE,85520,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,200748,4743.564,-12225.154,8,1.2,13,18.2