version: 66.10
glider: 156
mission: 4
dive: 4
start: 7 17 113 20 14 46
data:
$ID,156
$MISSION,4
$DIVE,4
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-858702.25
$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,34
$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
$GPS1,170713,200748,4743.564,-12225.154,8,1.2,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-67.7
$GPS2,170713,201349,4743.627,-12225.071,10,1.3,10,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,0.170
$KALMAN_X,-314.3,-207.5,-85.2,531.9,-183.3
$KALMAN_Y,-480.1,-351.7,-195.1,1936.3,-262.2
$MHEAD_RNG_PITCHd_Wd,15.9,608,-17.4,-8.000
$D_GRID,180
$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,-0.56,-101.9,0.0,0.0,0,73,0.00,0.00,-54.65,0.000,2,0.000,0.000,148,2001,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.56,-113.4,3.1,-7.4,8,101,7.15,2.12,-7.85,0.000,4,0.244,0.061,1953,3379,2648,0,0,0,0,0,0,25.82,26.08,26.41
$GC,334,-0.56,-113.4,39.4,-12.3,56,342,0.00,2.12,0.00,0.000,6,0.000,0.038,1953,1986,2650,0,0,0,0,0,0,28.83,26.28,28.83
$GC,410,-0.56,-113.4,48.4,-11.4,69,417,0.00,2.10,0.00,0.000,4,0.000,0.047,1944,3368,2650,0,0,0,0,0,0,28.83,26.30,28.83
$GC,651,-0.56,-113.4,76.0,-11.5,113,658,0.00,2.08,0.00,0.000,6,0.000,0.037,1943,1971,2651,0,0,0,0,0,0,28.83,26.40,28.83
$GC,791,-0.56,-113.4,92.6,-11.5,138,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1967,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.56,-113.4,109.6,-12.0,163,934,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1966,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.57,-132.4,124.5,-7.0,188,1074,0.00,0.00,-0.45,0.000,6,0.000,0.000,1944,1966,2729,0,0,0,0,0,0,28.83,28.83,26.69
$GC,1207,-0.57,-132.4,139.6,-11.0,213,1214,0.00,2.45,0.00,0.000,4,0.000,0.050,1944,559,2733,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1339,-0.57,-132.4,155.7,-12.6,237,1347,0.12,2.35,0.00,0.000,6,0.165,0.036,1966,1959,2734,0,0,0,0,0,0,26.40,26.55,28.83
$GC,1479,-0.57,-132.4,169.5,-9.8,262,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1956,2734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1577,begin apogee
$GC,1584,-0.21,0.0,180.0,-9.5,280,1692,0.32,0.00,102.62,0.588,6,0.132,0.000,2075,1848,2183,0,0,0,0,0,0,26.46,28.83,24.94
$STATE,1693,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin climb
$GC,1697,0.57,132.4,185.2,0.0,297,1812,0.73,2.33,105.60,0.566,4,0.096,0.045,2324,3291,1643,0,0,0,0,0,0,25.48,25.18,24.65
$GC,1869,0.57,132.4,173.8,11.0,325,1876,0.00,2.20,0.00,0.000,6,0.000,0.041,2335,1911,1639,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2009,0.57,132.4,158.8,11.2,350,2016,0.00,2.58,0.00,0.000,4,0.000,0.051,2347,467,1638,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2110,0.57,132.4,147.8,10.6,368,2118,0.00,2.47,0.00,0.000,6,0.000,0.034,2347,1892,1637,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2251,0.57,132.4,131.6,12.5,393,2258,0.00,2.50,0.00,0.000,4,0.000,0.050,2358,462,1637,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2281,0.57,132.4,127.5,12.9,398,2289,0.00,2.47,0.00,0.000,6,0.000,0.034,2358,1886,1636,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2420,0.57,132.4,111.0,10.7,423,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1883,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,0.57,132.4,97.0,10.6,448,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1883,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,0.57,132.4,82.1,10.9,473,2700,0.00,2.12,0.00,0.000,4,0.000,0.047,2358,3290,1636,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2774,0.57,132.4,72.7,11.6,487,2781,0.15,2.15,0.00,0.000,6,0.186,0.041,2330,1864,1636,0,0,0,0,0,0,26.25,26.41,28.83
$GC,2912,0.57,132.4,59.6,9.0,512,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1863,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,0.57,132.4,48.0,8.6,537,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1863,1636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,0.57,132.4,35.6,8.4,562,3194,0.00,2.42,0.00,0.000,4,0.000,0.053,2341,478,1636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3265,0.57,137.3,29.7,7.7,576,3274,0.00,2.40,4.30,0.379,6,0.000,0.034,2341,1880,1623,0,0,0,0,0,0,28.83,26.53,25.87
$GC,3338,0.57,137.3,23.6,8.2,589,3346,0.00,2.47,0.00,0.000,4,0.000,0.053,2352,478,1622,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3386,0.57,139.4,19.8,7.9,597,3395,0.00,2.40,3.53,0.332,6,0.000,0.035,2352,1880,1614,0,0,0,0,0,0,28.83,26.51,25.86
$GC,3460,0.57,139.4,12.8,9.4,610,3468,0.00,2.17,0.00,0.000,4,0.000,0.046,2352,3296,1614,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3543,0.57,160.4,5.8,6.9,625,3566,0.00,2.17,17.80,0.479,6,0.000,0.041,2362,1885,1529,0,0,0,0,0,0,28.83,26.49,25.79
$STATE,3613,end climb,SURFACE_DEPTH_REACHED
$STATE,3613,begin surface coast
$FINISH,0.2,1.023790
$STATE,3708,end surface coast,CONTROL_FINISHED_OK
$STATE,3708,begin surface
$SM_CCo,3726,104.62,0.474,0,0,959,300.24
$SM_GC,0.68,5.80,0.17,104.62,0.049,0.064,0.474,141,2000,959,-6.19,-1.07,300.24,0,0,0,0,0,0,26.41,26.44,25.08
$IRIDIUM_FIX,4729.30,-12225.08,170713,181801
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.88
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,62.4
$24V_AH,24.7,0.342
$10V_AH,10.4,0.527
$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,14.275,46.425,233.850,104.625,0.000,28.693,32.516,178.806,1.250,0.000,13.152,1467.306,412.326,405.354,1727.368,183.549,32.222,995.972,0.000,1484.898,0.000,10.261,0.000
$DEVICE_MAMPS,244.035,69.615,587.520,473.535,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.144,291.480,1037.341,1052.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,50407,655
$CAP_FILE_SIZE,67705,0
$CFSIZE,260165632,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,211952,4743.837,-12224.714,12,99.0,31,18.2