version: 66.10
glider: 156
mission: 4
dive: 11
start: 7 18 113 4 46 30
data:
$ID,156
$MISSION,4
$DIVE,11
$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,60
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-858741.69
$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,3780
$C_ROLL_CLIMB,3780
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$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,4
$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,0
$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
$GPS1,180713,044106,4743.576,-12223.809,11,1.7,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-71.1
$GPS2,180713,044512,4743.545,-12223.836,10,1.8,16,18.2
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,0.347
$KALMAN_X,-472.9,36.8,199.0,1701.9,-386.4
$KALMAN_Y,-3143.0,5.4,283.5,3619.9,-709.4
$MHEAD_RNG_PITCHd_Wd,6.8,1284,-10.1,-10.000
$D_GRID,167
$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,-0.38,-244.4,0.0,0.0,0,80,0.00,0.00,-61.03,0.000,2,0.000,0.000,154,3770,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.38,-244.4,3.6,-9.5,9,106,7.38,0.00,-11.20,0.000,6,0.248,0.000,2014,3770,3183,0,0,0,0,0,0,25.86,28.83,26.46
$GC,172,-0.38,-244.4,18.9,-7.0,24,179,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,244,-0.38,-244.4,24.0,-6.9,37,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,316,-0.38,-244.4,29.3,-8.0,50,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,389,-0.38,-244.4,34.7,-7.5,63,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,461,-0.38,-244.4,40.2,-7.9,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-0.38,-244.4,51.4,-7.9,101,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.38,-244.4,62.2,-7.6,126,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.38,-244.4,72.4,-7.9,151,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.38,-244.4,82.1,-7.3,176,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1154,-0.38,-244.4,91.1,-7.3,201,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.38,-244.4,100.0,-7.9,226,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-0.38,-244.4,110.9,-8.3,251,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.38,-244.4,122.6,-8.9,276,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.38,-244.4,134.4,-9.5,301,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.38,-244.4,147.1,-8.7,326,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-0.38,-244.4,159.7,-10.8,351,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3186,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2060,begin apogee
$GC,2068,-0.21,0.0,167.4,-8.8,365,2260,0.15,0.00,183.65,0.571,6,0.086,0.000,2090,3769,2182,0,0,0,0,0,0,26.60,28.83,24.59
$STATE,2261,end apogee,CONTROL_FINISHED_OK
$STATE,2261,begin climb
$GC,2264,0.38,244.4,175.5,0.0,395,2468,0.50,0.00,190.88,0.550,6,0.085,0.000,2266,3770,1185,0,0,0,0,0,0,25.16,28.83,24.49
$GC,2601,0.41,338.7,155.7,8.2,451,2677,0.00,0.00,73.50,0.537,6,0.000,0.000,2266,3770,801,0,0,0,0,0,0,28.83,28.83,24.69
$GC,2812,0.41,338.7,138.3,11.1,487,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,0.41,338.7,125.5,10.1,512,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,0.42,365.7,113.3,9.5,537,3114,0.00,0.00,21.50,0.517,6,0.000,0.000,2266,3771,691,0,0,0,0,0,0,28.83,28.83,25.34
$GC,3249,0.42,365.7,96.7,11.7,565,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,0.43,398.9,82.6,9.4,590,3419,0.00,0.00,26.65,0.507,6,0.000,0.000,2266,3770,556,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3553,0.43,398.9,64.3,10.5,619,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3690,0.43,398.9,48.7,11.0,644,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,0.43,403.5,34.4,9.9,669,3834,0.00,0.00,4.88,0.389,6,0.000,0.000,2266,3770,536,0,0,0,0,0,0,28.83,28.83,25.65
$GC,3899,0.43,403.5,26.3,11.1,682,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,0.43,403.5,17.7,12.9,695,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4044,0.43,403.5,9.7,10.1,708,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,535,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4097,end climb,SURFACE_DEPTH_REACHED
$STATE,4097,begin surface coast
$FINISH,0.9,1.023918
$STATE,4119,end surface coast,CONTROL_FINISHED_OK
$STATE,4119,begin surface
$SM_CCo,4197,0.00,0.000,0,0,535,404.25
$SM_GC,0.44,5.47,0.00,0.00,0.038,0.000,0.000,134,3770,535,-6.19,-0.28,404.25,0,0,0,0,0,0,26.35,28.83,28.83
$IRIDIUM_FIX,4726.11,-12220.67,180713,040440
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,24.5,0.834
$10V_AH,10.5,0.987
$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,13.500,0.000,501.050,0.000,0.000,0.000,0.000,0.000,0.250,0.000,16.908,1531.286,513.143,486.577,1618.714,134.514,33.222,1185.069,0.000,1612.423,0.000,0.536,0.000
$DEVICE_MAMPS,247.860,0.000,571.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.361,301.258,1098.170,1124.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323636
$DATA_FILE_SIZE,60555,722
$CAP_FILE_SIZE,77955,1
$CFSIZE,260165632,257798144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,055713,4743.248,-12223.972,17,1.2,17,18.2