version: 66.10
glider: 156
mission: 4
dive: 8
start: 7 18 113 0 58 8
data:
$ID,156
$MISSION,4
$DIVE,8
$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,-858707.38
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,180713,004835,4743.809,-12224.880,36,0.9,42,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-68.6
$GPS2,180713,005707,4743.847,-12224.825,12,1.8,12,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,0.079
$KALMAN_X,443.8,-222.7,250.7,-244.9,300.0
$KALMAN_Y,-688.2,-493.8,204.6,2290.1,167.7
$MHEAD_RNG_PITCHd_Wd,52.7,1775,-14.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.47,-146.6,0.0,0.0,0,80,0.00,0.00,-61.62,0.000,2,0.000,0.000,138,1968,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-146.6,4.1,-10.7,9,101,7.50,2.28,-3.62,0.000,4,0.252,0.059,1974,3394,2784,0,0,0,0,0,0,25.65,25.94,26.23
$GC,304,-0.47,-146.6,40.3,-9.6,50,312,0.00,2.17,0.00,0.000,6,0.000,0.035,1974,1981,2787,0,0,0,0,0,0,28.83,26.16,28.83
$GC,443,-0.47,-146.6,54.2,-9.8,75,450,0.00,2.45,0.00,0.000,4,0.000,0.048,1974,562,2787,0,0,0,0,0,0,28.83,26.22,28.83
$GC,494,-0.47,-146.6,59.8,-10.8,84,503,0.08,2.45,0.00,0.000,6,0.138,0.036,1990,1970,2787,0,0,0,0,0,0,26.14,26.26,28.83
$GC,636,-0.47,-146.6,72.0,-8.8,109,643,0.00,2.45,0.00,0.000,4,0.000,0.047,1991,558,2788,0,0,0,0,0,0,28.83,26.30,28.83
$GC,698,-0.47,-146.6,78.6,-10.8,120,706,0.00,2.45,0.00,0.000,6,0.000,0.034,1981,1976,2788,0,0,0,0,0,0,28.83,26.34,28.83
$GC,838,-0.47,-146.6,91.6,-9.3,145,844,0.00,2.12,0.00,0.000,4,0.000,0.047,1971,3393,2788,0,0,0,0,0,0,28.83,26.36,28.83
$GC,917,-0.47,-146.6,99.2,-9.6,159,923,0.00,2.10,0.00,0.000,6,0.000,0.034,1971,1974,2787,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1058,-0.47,-146.6,114.2,-11.4,184,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1971,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-0.47,-146.6,128.8,-10.1,209,1204,0.00,2.40,0.00,0.000,4,0.000,0.047,1971,565,2787,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1266,-0.47,-146.6,135.6,-10.3,221,1274,0.12,2.40,0.00,0.000,6,0.159,0.035,1994,1984,2787,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1406,-0.47,-146.6,146.7,-8.3,246,1414,0.00,2.47,0.00,0.000,4,0.000,0.045,1994,572,2788,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1454,-0.47,-146.6,151.1,-8.7,254,1462,0.00,2.42,0.00,0.000,6,0.000,0.034,1984,1979,2787,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1594,-0.47,-146.6,162.3,-8.1,279,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1978,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-0.47,-146.6,173.9,-8.4,304,1738,0.00,2.47,0.00,0.000,4,0.000,0.047,1984,570,2788,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1763,-0.21,0.0,176.4,-9.3,308,1884,0.30,0.00,111.75,0.580,6,0.132,0.000,2075,1888,2184,0,0,0,0,0,0,26.41,28.83,24.86
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1888,0.47,146.6,181.6,0.0,327,2014,0.62,0.00,117.68,0.560,6,0.093,0.000,2292,1888,1583,0,0,0,0,0,0,25.39,28.83,24.53
$GC,2148,0.47,146.6,164.3,9.0,371,2155,0.00,2.55,0.00,0.000,4,0.000,0.050,2304,472,1578,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2196,0.47,146.6,160.1,8.9,379,2203,0.00,2.45,0.00,0.000,6,0.000,0.034,2304,1886,1578,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2333,0.47,146.6,147.8,9.0,404,2341,0.00,2.20,0.00,0.000,4,0.000,0.046,2304,3287,1577,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2359,0.47,146.6,145.3,9.4,408,2367,0.00,2.17,0.00,0.000,6,0.000,0.037,2314,1888,1577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2499,0.47,146.6,132.3,9.3,433,2506,0.00,2.47,0.00,0.000,4,0.000,0.050,2326,465,1577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2550,0.47,146.6,127.3,9.7,442,2558,0.00,2.45,0.00,0.000,6,0.000,0.034,2326,1872,1577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2689,0.47,146.6,113.0,11.1,467,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1870,1576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2825,0.47,146.6,99.3,9.0,492,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1869,1576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2963,0.47,146.6,86.4,9.7,517,2970,0.00,2.17,0.00,0.000,4,0.000,0.047,2326,3299,1576,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3044,0.47,146.6,78.2,10.7,531,3051,0.12,2.12,0.00,0.000,6,0.169,0.035,2300,1878,1576,0,0,0,0,0,0,26.25,26.39,28.83
$GC,3182,0.47,146.6,66.6,8.4,556,3190,0.00,2.47,0.00,0.000,4,0.000,0.050,2312,474,1576,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3269,0.47,146.6,58.9,9.0,571,3275,0.00,2.38,0.00,0.000,6,0.000,0.033,2312,1888,1576,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3406,0.47,146.6,46.3,9.3,596,3414,0.00,2.17,0.00,0.000,4,0.000,0.049,2312,3287,1576,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3482,0.47,146.6,39.5,9.2,609,3490,0.00,2.15,0.00,0.000,6,0.000,0.036,2322,1881,1576,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3555,0.47,146.6,33.0,9.0,622,3563,0.00,2.45,0.00,0.000,4,0.000,0.050,2334,476,1575,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3598,0.47,146.6,29.2,9.5,629,3606,0.08,2.40,0.00,0.000,6,0.136,0.034,2305,1879,1575,0,0,0,0,0,0,26.36,26.49,28.83
$GC,3671,0.49,217.7,23.9,5.4,642,3727,0.00,0.00,54.00,0.490,6,0.000,0.000,2305,1876,1295,0,0,0,0,0,0,28.83,28.83,25.45
$GC,3792,0.49,217.7,14.7,8.4,662,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1878,1291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,0.50,255.4,9.6,6.6,675,3900,0.00,0.00,29.30,0.471,6,0.000,0.000,2305,1877,1141,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3965,0.52,305.9,3.6,6.1,692,3981,0.00,0.00,13.52,0.448,2,0.000,0.000,2304,1878,1076,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3982,end climb,SURFACE_DEPTH_REACHED
$STATE,3982,begin surface coast
$FINISH,-0.1,1.023929
$STATE,4029,end surface coast,CONTROL_FINISHED_OK
$STATE,4029,begin surface
$SM_CCo,4047,22.83,0.461,0,0,959,300.24
$SM_GC,-0.08,5.72,0.15,22.83,0.046,0.073,0.461,144,2001,959,-6.17,-1.24,300.24,0,0,0,0,0,0,25.98,25.99,25.29
$IRIDIUM_FIX,4722.92,-12211.84,170713,232332
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.20
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.3,79.9
$24V_AH,24.5,0.595
$10V_AH,10.4,0.786
$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,14.550,65.725,326.250,22.825,0.000,30.398,30.008,310.738,0.750,0.000,13.524,1550.209,457.663,412.548,1945.289,226.530,33.223,1082.248,0.000,1577.052,0.000,5.636,0.000
$DEVICE_MAMPS,252.450,72.675,579.870,460.530,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.205,301.046,1080.514,1096.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,53758,703
$CAP_FILE_SIZE,79509,0
$CFSIZE,260165632,257945600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,020705,4743.928,-12224.116,8,1.2,24,18.2