version: 66.10
glider: 156
mission: 4
dive: 13
start: 7 18 113 7 27 48
data:
$ID,156
$MISSION,4
$DIVE,13
$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,100
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-858744.19
$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,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
$GPS1,180713,071718,4743.031,-12224.182,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-68.1
$GPS2,180713,072655,4743.039,-12224.193,15,1.9,15,18.2
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,0.119
$KALMAN_X,-1237.3,-61.7,-368.0,2686.8,-482.4
$KALMAN_Y,-5263.3,-181.1,-580.7,5848.8,-1109.0
$MHEAD_RNG_PITCHd_Wd,311.4,982,-27.6,-8.000
$D_GRID,171
$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,-0.85,-45.2,0.0,0.0,0,101,0.00,2.65,-76.38,0.000,6,0.000,0.044,146,1968,2366,0,0,0,0,0,0,28.83,26.08,26.36
$GC,105,-0.85,-45.2,3.8,-9.6,12,113,6.72,0.00,0.00,0.000,6,0.240,0.000,1866,1962,2367,0,0,0,0,0,0,25.77,28.83,28.83
$GC,178,-0.85,-45.2,20.5,-14.0,25,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1962,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,250,-0.85,-45.2,30.3,-12.8,38,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1962,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,322,-0.85,-45.2,39.3,-13.1,51,330,0.00,2.25,0.00,0.000,4,0.000,0.049,1856,3393,2370,0,0,0,0,0,0,28.83,26.18,28.83
$GC,355,-0.85,-45.2,43.6,-12.8,56,363,0.00,2.12,0.00,0.000,6,0.000,0.035,1856,1996,2370,0,0,0,0,0,0,28.83,26.21,28.83
$GC,495,-0.85,-45.2,62.2,-13.4,81,502,0.00,2.45,0.00,0.000,4,0.000,0.047,1856,569,2369,0,0,0,0,0,0,28.83,26.26,28.83
$GC,744,-0.85,-45.2,96.9,-14.2,127,751,0.00,2.42,0.00,0.000,6,0.000,0.037,1846,1989,2369,0,0,0,0,0,0,28.83,26.36,28.83
$GC,881,-0.85,-45.2,115.8,-12.6,152,889,0.00,2.47,0.00,0.000,4,0.000,0.047,1846,575,2369,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1106,-0.85,-45.2,151.5,-18.9,193,1113,0.15,2.38,0.00,0.000,6,0.190,0.036,1871,1986,2368,0,0,0,0,0,0,26.28,26.45,28.83
$GC,1247,-0.85,-45.2,168.0,-12.0,218,1254,0.00,2.47,0.00,0.000,4,0.000,0.047,1871,568,2368,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1280,-0.21,0.0,171.7,-12.3,222,1326,0.68,0.00,37.35,0.575,6,0.165,0.000,2070,1891,2183,0,0,0,0,0,0,26.30,28.83,25.46
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1330,0.85,45.2,175.5,0.0,229,1376,1.00,2.28,38.95,0.560,4,0.099,0.045,2418,3298,1997,0,0,0,0,0,0,25.95,25.62,25.10
$GC,1428,0.85,45.2,169.4,8.9,245,1435,0.00,2.20,0.00,0.000,6,0.000,0.037,2428,1877,1994,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1567,0.85,45.2,156.6,9.5,270,1575,0.00,2.47,0.00,0.000,4,0.000,0.050,2440,479,1993,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1707,0.85,45.2,141.7,10.8,295,1713,0.00,2.40,0.00,0.000,6,0.000,0.034,2439,1891,1991,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1844,0.85,45.2,128.3,9.9,320,1852,0.00,2.17,0.00,0.000,4,0.000,0.046,2440,3287,1990,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1941,0.85,45.2,118.2,10.2,337,1948,0.00,2.15,0.00,0.000,6,0.000,0.039,2449,1867,1989,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2081,0.85,51.2,108.0,7.3,362,2095,0.00,2.45,5.15,0.429,4,0.000,0.049,2460,479,1973,0,0,0,0,0,0,28.83,26.27,25.67
$GC,2109,0.85,53.9,105.8,7.7,366,2118,0.12,2.42,3.90,0.369,6,0.192,0.034,2424,1888,1963,0,0,0,0,0,0,26.06,26.29,25.64
$GC,2253,0.85,60.9,94.9,7.2,391,2268,0.00,2.15,7.35,0.470,4,0.000,0.044,2424,3294,1934,0,0,0,0,0,0,28.83,26.21,25.70
$GC,2304,0.85,60.9,90.4,8.8,399,2310,0.00,2.15,0.00,0.000,6,0.000,0.037,2433,1892,1934,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2443,0.85,63.1,79.0,7.7,424,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1891,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,0.85,63.1,67.7,9.1,449,2590,0.00,2.45,0.00,0.000,4,0.000,0.048,2445,459,1932,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2834,0.85,63.1,44.5,8.5,495,2841,0.00,2.40,0.00,0.000,6,0.000,0.034,2446,1888,1932,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2972,0.86,85.2,34.8,5.4,520,3001,0.00,2.47,20.92,0.494,4,0.000,0.047,2456,466,1835,0,0,0,0,0,0,28.83,26.22,25.72
$GC,3104,0.86,85.2,22.3,11.7,543,3112,0.00,2.42,0.00,0.000,6,0.000,0.034,2457,1873,1833,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3177,0.86,85.2,14.3,10.3,556,3185,0.12,0.00,0.00,0.000,6,0.204,0.000,2423,1883,1832,0,0,0,0,0,0,26.15,28.83,28.83
$GC,3250,0.86,92.0,8.7,7.2,569,3265,0.00,2.53,6.75,0.426,4,0.000,0.050,2434,461,1807,0,0,0,0,0,0,28.83,26.28,25.75
$GC,3500,0.88,153.2,5.8,0.8,616,3557,0.00,2.42,47.80,0.476,6,0.000,0.032,2434,1879,1558,0,0,0,0,0,0,28.83,26.44,25.44
$STATE,3593,end climb,SURFACE_DEPTH_REACHED
$STATE,3593,begin surface coast
$FINISH,-0.6,1.002080
$STATE,3653,end surface coast,CONTROL_FINISHED_OK
$STATE,3653,begin surface
$SM_CCo,3672,110.85,0.461,0,0,958,300.24
$SM_GC,0.26,6.10,0.17,110.85,0.052,0.065,0.461,145,2011,958,-6.16,-0.76,300.24,0,0,0,0,0,0,26.09,26.10,24.87
$IRIDIUM_FIX,4726.11,-12225.08,180713,050535
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.70
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.9,1.003
$10V_AH,10.4,1.127
$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,14.900,59.250,168.175,110.850,0.000,30.532,34.525,360.734,0.000,0.000,16.318,1466.600,387.202,383.303,1881.329,240.387,33.220,958.144,0.000,1478.164,0.000,0.535,0.000
$DEVICE_MAMPS,240.210,65.025,574.515,460.530,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.583,302.779,1060.253,1080.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,53959,642
$CAP_FILE_SIZE,73096,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,083203,4743.163,-12224.524,10,99.0,29,18.2