version: 66.10
glider: 156
mission: 4
dive: 6
start: 7 17 113 22 38 4
data:
$ID,156
$MISSION,4
$DIVE,6
$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,-858704.75
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,170713,222906,4743.989,-12224.811,30,0.9,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-67.6
$GPS2,170713,223706,4744.057,-12224.707,9,1.7,14,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,-0.079
$KALMAN_X,39.6,-223.9,-77.8,631.6,213.5
$KALMAN_Y,-823.9,-476.8,-87.8,3089.2,-64.3
$MHEAD_RNG_PITCHd_Wd,216.9,313,-26.9,-8.000
$D_GRID,175
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.83,-45.2,0.0,0.0,0,81,0.00,0.00,-56.17,0.000,6,0.000,0.000,148,1993,2368,0,0,0,0,0,0,28.83,28.83,26.32
$GC,85,-0.83,-45.2,4.1,-10.0,9,101,6.97,2.50,0.00,0.000,4,0.250,0.044,1884,570,2369,0,0,0,0,0,0,25.68,25.98,28.83
$GC,150,-0.83,-45.2,19.9,-16.3,20,158,0.00,2.45,0.00,0.000,6,0.000,0.034,1874,1973,2369,0,0,0,0,0,0,28.83,26.06,28.83
$GC,223,-0.83,-45.2,30.5,-13.4,33,231,0.00,2.47,0.00,0.000,4,0.000,0.047,1874,584,2370,0,0,0,0,0,0,28.83,26.10,28.83
$GC,301,-0.83,-45.2,42.0,-15.3,47,308,0.00,2.40,0.00,0.000,6,0.000,0.034,1865,1985,2370,0,0,0,0,0,0,28.83,26.19,28.83
$GC,437,-0.83,-45.2,62.0,-16.3,72,445,0.00,2.15,0.00,0.000,4,0.000,0.044,1854,3390,2370,0,0,0,0,0,0,28.83,26.25,28.83
$GC,452,-0.83,-45.2,64.4,-15.7,74,461,0.00,2.12,0.00,0.000,6,0.000,0.035,1854,1993,2370,0,0,0,0,0,0,28.83,26.27,28.83
$GC,593,-0.83,-45.2,81.3,-13.9,99,599,0.00,2.47,0.00,0.000,4,0.000,0.047,1854,555,2370,0,0,0,0,0,0,28.83,26.31,28.83
$GC,843,-0.83,-45.2,117.7,-15.8,145,851,0.15,2.40,0.00,0.000,6,0.195,0.033,1878,1984,2370,0,0,0,0,0,0,26.20,26.41,28.83
$GC,985,-0.83,-45.2,136.9,-11.2,170,993,0.00,2.50,0.00,0.000,4,0.000,0.044,1879,555,2370,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1137,-0.83,-45.2,157.6,-13.8,197,1143,0.00,2.40,0.00,0.000,6,0.000,0.034,1869,1981,2370,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1277,-0.21,0.0,175.4,-12.3,221,1323,0.65,0.05,36.58,0.578,6,0.163,0.064,2069,1886,2182,0,0,0,0,0,0,26.29,25.91,25.44
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1327,0.83,45.2,179.2,0.0,228,1374,0.98,2.55,39.08,0.564,4,0.095,0.050,2423,499,1997,0,0,0,0,0,0,25.99,25.64,25.08
$GC,1382,0.84,73.2,177.1,4.7,236,1415,0.00,2.42,24.58,0.548,6,0.000,0.033,2423,1872,1883,0,0,0,0,0,0,28.83,25.71,24.96
$GC,1549,0.84,73.2,160.6,11.7,265,1555,0.00,2.20,0.00,0.000,4,0.000,0.044,2424,3305,1878,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1599,0.84,73.2,154.4,12.0,274,1607,0.00,2.17,0.00,0.000,6,0.000,0.038,2432,1917,1877,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1742,0.84,73.2,137.2,12.3,299,1748,0.00,2.12,0.00,0.000,4,0.000,0.044,2432,3297,1877,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1768,0.84,73.2,133.1,13.7,303,1775,0.00,2.17,0.00,0.000,6,0.000,0.038,2443,1868,1877,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1906,0.84,73.2,116.1,11.9,328,1914,0.00,2.45,0.00,0.000,4,0.000,0.047,2454,474,1877,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1951,0.84,73.2,110.6,12.2,335,1959,0.15,2.40,0.00,0.000,6,0.200,0.033,2419,1892,1876,0,0,0,0,0,0,26.04,26.27,28.83
$GC,2090,0.84,73.2,94.9,11.4,360,2098,0.00,2.15,0.00,0.000,4,0.000,0.045,2412,3283,1875,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2106,0.84,73.2,92.8,11.5,362,2114,0.00,2.17,0.00,0.000,6,0.000,0.039,2423,1877,1875,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2244,0.84,73.2,78.2,10.4,387,2251,0.00,2.42,0.00,0.000,4,0.000,0.050,2434,472,1875,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2497,0.84,84.6,55.4,6.6,433,2511,0.00,2.38,9.30,0.477,6,0.000,0.033,2434,1891,1838,0,0,0,0,0,0,28.83,26.44,25.75
$GC,2643,0.85,99.5,45.4,6.2,459,2663,0.00,2.55,13.75,0.488,4,0.000,0.049,2445,473,1776,0,0,0,0,0,0,28.83,26.22,25.69
$GC,2900,0.85,104.2,23.2,7.4,507,2915,0.00,2.40,4.60,0.383,6,0.000,0.033,2445,1872,1758,0,0,0,0,0,0,28.83,26.38,25.74
$GC,2980,0.85,113.0,17.4,7.0,521,2996,0.00,2.45,8.25,0.447,4,0.000,0.047,2456,469,1725,0,0,0,0,0,0,28.83,26.25,25.72
$GC,3056,0.85,121.0,11.7,7.1,534,3073,0.10,2.42,8.60,0.444,6,0.185,0.032,2427,1871,1688,0,0,0,0,0,0,26.11,26.33,25.67
$GC,3138,0.86,157.5,8.0,3.7,548,3173,0.00,0.00,29.60,0.474,6,0.000,0.000,2426,1870,1539,0,0,0,0,0,0,28.83,28.83,25.47
$STATE,3216,end climb,SURFACE_DEPTH_REACHED
$STATE,3216,begin surface coast
$FINISH,-0.2,1.023771
$STATE,3256,end surface coast,CONTROL_FINISHED_OK
$STATE,3256,begin surface
$SM_CCo,3274,107.95,0.464,0,0,958,300.24
$SM_GC,0.45,6.15,0.17,107.95,0.057,0.065,0.464,136,2000,958,-6.18,-0.88,300.24,0,0,0,0,0,0,26.13,26.15,24.90
$IRIDIUM_FIX,4726.11,-12227.78,170713,212109
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.55
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.4,62.2
$24V_AH,24.9,0.461
$10V_AH,10.4,0.649
$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,15.150,61.750,174.325,107.950,0.000,31.694,28.546,280.074,1.250,0.000,15.018,1307.293,354.946,368.450,1630.256,208.979,33.228,891.172,0.000,1291.622,0.000,10.257,0.000
$DEVICE_MAMPS,250.155,65.025,577.575,464.355,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.101,257.007,904.945,920.230,0.000,0.000,0.000,0.000,0.000,0.000
$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,43699,568
$CAP_FILE_SIZE,68688,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,233519,4743.983,-12224.896,10,1.8,10,18.2