version: 66.10
glider: 156
mission: 4
dive: 9
start: 7 18 113 2 16 50
data:
$ID,156
$MISSION,4
$DIVE,9
$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,-858708.75
$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,34
$R_STBD_OVSHOOT,58
$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
$GPS1,180713,020705,4743.928,-12224.116,8,1.2,24,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-68.1
$GPS2,180713,021550,4743.955,-12224.092,15,1.9,15,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,0.116
$KALMAN_X,82.6,-58.2,375.0,747.3,-5.7
$KALMAN_Y,-1164.7,-293.0,342.9,2631.2,-49.5
$MHEAD_RNG_PITCHd_Wd,37.7,866,-17.1,-8.000
$D_GRID,172
$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,-0.55,-104.4,0.0,0.0,0,80,0.00,0.00,-60.92,0.000,2,0.000,0.000,144,2002,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.55,-104.4,3.6,-9.4,9,100,7.28,2.08,-1.92,0.000,4,0.248,0.055,1949,3373,2609,0,0,0,0,0,0,25.71,25.95,26.23
$GC,335,-0.55,-104.4,39.2,-10.6,56,342,0.00,2.10,0.00,0.000,6,0.000,0.035,1949,1990,2612,0,0,0,0,0,0,28.83,26.17,28.83
$GC,410,-0.55,-104.4,47.4,-11.0,69,416,0.00,2.10,0.00,0.000,4,0.000,0.047,1940,3365,2613,0,0,0,0,0,0,28.83,26.19,28.83
$GC,586,-0.55,-104.4,66.0,-11.0,101,593,0.00,2.05,0.00,0.000,6,0.000,0.033,1940,1977,2613,0,0,0,0,0,0,28.83,26.31,28.83
$GC,723,-0.55,-104.4,81.7,-10.7,126,730,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1975,2613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.55,-104.4,97.7,-11.3,151,867,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1975,2613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.55,-104.4,112.8,-11.1,176,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1974,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.55,-104.4,127.4,-10.6,201,1143,0.00,2.42,0.00,0.000,4,0.000,0.047,1939,560,2613,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1300,-0.55,-104.4,147.9,-12.7,231,1307,0.15,2.35,0.00,0.000,6,0.164,0.035,1969,1953,2614,0,0,0,0,0,0,26.33,26.48,28.83
$GC,1440,-0.55,-104.4,161.1,-9.0,256,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1950,2614,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1565,begin apogee
$GC,1573,-0.21,0.0,172.2,-8.3,279,1662,0.30,0.05,80.70,0.579,6,0.132,0.065,2071,1893,2183,0,0,0,0,0,0,26.39,25.50,25.08
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1666,0.55,104.4,176.2,0.0,293,1761,0.73,2.22,86.03,0.560,4,0.096,0.041,2320,3284,1756,0,0,0,0,0,0,25.58,25.14,24.62
$GC,1788,0.55,104.4,169.7,9.2,312,1796,0.00,2.17,0.00,0.000,6,0.000,0.037,2330,1922,1753,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1929,0.55,104.4,155.1,10.6,337,1935,0.00,2.58,0.00,0.000,4,0.000,0.050,2342,462,1751,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2020,0.55,104.4,144.7,11.6,353,2027,0.00,2.42,0.00,0.000,6,0.000,0.034,2342,1874,1750,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2158,0.55,104.4,128.9,10.8,378,2166,0.00,2.22,0.00,0.000,4,0.000,0.046,2342,3290,1749,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2201,0.55,104.4,123.4,13.0,385,2208,0.00,2.15,0.00,0.000,6,0.000,0.038,2353,1877,1749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2341,0.55,104.4,108.7,10.2,410,2349,0.00,2.50,0.00,0.000,4,0.000,0.052,2364,469,1748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2397,0.55,104.4,102.8,11.3,419,2404,0.15,2.42,0.00,0.000,6,0.175,0.034,2325,1886,1748,0,0,0,0,0,0,26.08,26.25,28.83
$GC,2535,0.55,104.4,90.1,8.8,444,2543,0.00,2.50,0.00,0.000,4,0.000,0.049,2337,478,1747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2572,0.55,104.4,86.5,9.3,450,2580,0.00,2.42,0.00,0.000,6,0.000,0.034,2336,1873,1747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2713,0.55,110.1,75.8,7.7,475,2727,0.00,2.22,4.50,0.398,4,0.000,0.047,2337,3300,1734,0,0,0,0,0,0,28.83,26.29,25.72
$GC,2796,0.55,110.1,68.4,8.9,489,2803,0.00,2.15,0.00,0.000,6,0.000,0.037,2346,1874,1734,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2932,0.55,110.1,56.5,9.3,514,2940,0.00,2.45,0.00,0.000,4,0.000,0.051,2358,478,1734,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2966,0.55,110.1,53.4,9.4,519,2974,0.12,2.38,0.00,0.000,6,0.174,0.034,2326,1888,1733,0,0,0,0,0,0,26.25,26.40,28.83
$GC,3105,0.56,133.3,43.3,6.8,544,3131,0.00,0.00,19.92,0.497,6,0.000,0.000,2326,1885,1638,0,0,0,0,0,0,28.83,28.83,25.68
$GC,3260,0.56,135.7,31.8,7.9,572,3268,0.00,2.53,0.00,0.000,4,0.000,0.050,2338,474,1635,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3292,0.56,135.7,28.9,8.3,577,3300,0.00,2.45,0.00,0.000,6,0.000,0.034,2337,1885,1635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3365,0.56,135.7,23.0,8.8,590,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1883,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3437,0.56,135.7,16.9,8.5,603,3445,0.00,2.17,0.00,0.000,4,0.000,0.045,2338,3291,1634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3530,0.56,139.4,8.8,7.8,620,3546,0.00,2.15,5.43,0.404,6,0.000,0.035,2347,1882,1615,0,0,0,0,0,0,28.83,26.42,25.78
$GC,3611,0.59,241.7,6.0,2.7,634,3675,0.00,0.00,61.05,0.475,2,0.000,0.000,2347,1882,1294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3676,end climb,SURFACE_DEPTH_REACHED
$STATE,3676,begin surface coast
$FINISH,-0.5,1.008259
$STATE,3733,end surface coast,CONTROL_FINISHED_OK
$STATE,3733,begin surface
$SM_CCo,3751,62.58,0.464,0,0,959,300.24
$SM_GC,0.12,5.85,0.17,62.58,0.048,0.062,0.464,148,1988,959,-6.16,-1.19,300.24,0,0,0,0,0,0,25.96,25.97,25.01
$IRIDIUM_FIX,4726.11,-12227.78,180713,000047
$TT8_MAMPS,0.027713,0.027713
$HUMID,51.53
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.3,73.2
$24V_AH,24.6,0.664
$10V_AH,10.4,0.853
$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,14.575,55.600,257.625,62.575,0.000,30.048,32.723,312.440,0.750,0.000,15.897,1459.728,411.034,393.460,1853.578,228.734,33.209,1001.273,0.000,1477.189,0.000,5.616,0.000
$DEVICE_MAMPS,247.860,67.320,579.105,463.590,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.774,295.911,1034.767,1048.721,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,47125,654
$CAP_FILE_SIZE,74151,0
$CFSIZE,260165632,257904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,032135,4743.939,-12223.638,12,1.2,28,18.2