version: 66.10
glider: 156
mission: 4
dive: 7
start: 7 17 113 23 44 24
data:
$ID,156
$MISSION,4
$DIVE,7
$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,-858706
$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,35
$R_STBD_OVSHOOT,46
$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,110
$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
$GPS1,170713,233519,4743.983,-12224.896,10,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-68.1
$GPS2,170713,234325,4744.039,-12224.843,13,1.9,13,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,-0.107
$KALMAN_X,240.3,-252.7,75.8,140.2,356.9
$KALMAN_Y,-638.7,-530.1,70.1,2761.8,116.1
$MHEAD_RNG_PITCHd_Wd,201.1,263,-26.9,-8.000
$D_GRID,176
$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,16,begin dive
$GC,19,-0.83,-45.2,0.0,0.0,0,81,0.00,0.00,-56.00,0.000,6,0.000,0.000,136,1995,2370,0,0,0,0,0,0,28.83,28.83,26.30
$GC,85,-0.83,-45.2,3.8,-9.7,9,100,7.03,0.00,0.00,0.000,6,0.250,0.000,1872,1993,2371,0,0,0,0,0,0,25.67,28.83,28.83
$GC,165,-0.83,-45.2,21.1,-14.1,23,173,0.00,2.55,0.00,0.000,4,0.000,0.048,1876,577,2372,0,0,0,0,0,0,28.83,26.03,28.83
$GC,341,-0.83,-45.2,47.2,-14.0,56,349,0.00,2.40,0.00,0.000,6,0.000,0.034,1867,1960,2373,0,0,0,0,0,0,28.83,26.20,28.83
$GC,479,-0.83,-45.2,66.4,-12.2,81,486,0.00,2.42,0.00,0.000,4,0.000,0.045,1866,561,2374,0,0,0,0,0,0,28.83,26.25,28.83
$GC,527,-0.83,-45.2,72.6,-13.1,89,534,0.00,2.42,0.00,0.000,6,0.000,0.034,1855,1986,2373,0,0,0,0,0,0,28.83,26.29,28.83
$GC,663,-0.83,-45.2,91.0,-13.6,114,671,0.00,2.50,0.00,0.000,4,0.000,0.046,1856,571,2373,0,0,0,0,0,0,28.83,26.32,28.83
$GC,862,-0.83,-45.2,121.1,-17.1,150,871,0.10,2.42,0.00,0.000,6,0.178,0.034,1874,1974,2373,0,0,0,0,0,0,26.20,26.40,28.83
$GC,1005,-0.83,-45.2,140.7,-14.5,175,1012,0.00,2.42,0.00,0.000,4,0.000,0.046,1874,569,2373,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1063,-0.83,-45.2,149.6,-15.0,185,1070,0.00,2.40,0.00,0.000,6,0.000,0.036,1865,1983,2373,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1202,-0.83,-45.2,170.0,-13.2,210,1210,0.00,2.47,0.00,0.000,4,0.000,0.046,1865,570,2373,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1245,begin apogee
$GC,1255,-0.21,0.0,176.4,-14.4,217,1299,0.70,0.00,37.17,0.575,6,0.168,0.000,2068,1890,2182,0,0,0,0,0,0,26.27,28.83,25.43
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1304,0.83,45.2,181.2,0.0,224,1349,0.98,0.00,39.10,0.561,6,0.096,0.000,2409,1890,1997,0,0,0,0,0,0,25.94,28.83,25.07
$GC,1484,0.83,51.8,170.1,7.2,255,1498,0.00,0.00,6.28,0.467,6,0.000,0.000,2409,1889,1971,0,0,0,0,0,0,28.83,28.83,25.29
$GC,1632,0.83,59.2,159.7,7.1,281,1646,0.00,0.00,7.22,0.484,6,0.000,0.000,2409,1889,1943,0,0,0,0,0,0,28.83,28.83,25.40
$GC,1780,0.83,59.2,148.0,8.9,307,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1889,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,0.83,59.2,134.7,9.1,332,1924,0.00,2.17,0.00,0.000,4,0.000,0.046,2408,3292,1940,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1972,0.83,59.2,129.7,8.9,341,1978,0.00,2.12,0.00,0.000,6,0.000,0.037,2419,1886,1939,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2110,0.83,59.2,117.6,8.6,366,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1885,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,0.83,59.2,105.9,8.7,391,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1886,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,0.83,63.0,95.3,7.5,416,2400,0.00,2.50,4.78,0.414,4,0.000,0.050,2431,474,1925,0,0,0,0,0,0,28.83,26.34,25.72
$GC,2644,0.83,63.0,72.2,9.3,463,2650,0.00,2.38,0.00,0.000,6,0.000,0.033,2431,1888,1924,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2783,0.83,63.0,59.3,8.9,488,2791,0.00,2.15,0.00,0.000,4,0.000,0.045,2430,3283,1924,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3033,0.83,63.0,38.4,8.6,534,3041,0.00,2.15,0.00,0.000,6,0.000,0.038,2441,1882,1924,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3106,0.83,63.8,32.5,7.9,547,3114,0.00,2.17,0.00,0.000,4,0.000,0.044,2441,3281,1923,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3184,0.84,87.6,27.5,5.2,561,3214,0.10,2.15,21.48,0.492,6,0.192,0.038,2421,1885,1825,0,0,0,0,0,0,26.31,26.53,25.75
$GC,3279,0.85,122.5,23.3,3.9,577,3315,0.00,2.47,28.85,0.483,4,0.000,0.049,2432,466,1682,0,0,0,0,0,0,28.83,26.01,25.52
$GC,3428,0.85,122.5,11.5,11.4,603,3435,0.00,2.45,0.00,0.000,6,0.000,0.034,2431,1879,1680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3501,0.86,148.0,5.7,5.0,616,3530,0.00,2.22,21.05,0.468,4,0.000,0.044,2432,3294,1578,0,0,0,0,0,0,28.83,25.98,25.50
$STATE,3562,end climb,SURFACE_DEPTH_REACHED
$STATE,3562,begin surface coast
$FINISH,-0.5,1.023950
$STATE,3631,end surface coast,CONTROL_FINISHED_OK
$STATE,3632,begin surface
$SM_CCo,3652,115.25,0.464,0,0,959,300.24
$SM_GC,0.24,6.10,2.05,115.25,0.052,0.034,0.464,139,1977,959,-6.18,0.88,300.24,0,0,0,0,0,0,26.16,26.13,24.88
$IRIDIUM_FIX,4726.11,-12227.78,170713,222216
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.83
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.7,66.6
$24V_AH,24.9,0.520
$10V_AH,10.4,0.714
$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,15.000,51.325,165.925,115.250,0.000,29.649,33.408,283.081,1.000,0.000,14.663,1461.958,417.721,372.960,1794.449,214.062,33.239,937.653,0.000,1446.381,0.000,8.755,0.000
$DEVICE_MAMPS,250.155,49.725,574.515,463.590,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.918,283.867,1014.461,1030.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323620
$DATA_FILE_SIZE,46916,639
$CAP_FILE_SIZE,70346,0
$CFSIZE,260165632,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,004835,4743.809,-12224.880,36,0.9,42,18.2