version: 66.10
glider: 156
mission: 4
dive: 14
start: 7 18 113 8 44 15
data:
$ID,156
$MISSION,4
$DIVE,14
$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,80
$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,-858745.44
$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,28
$R_STBD_OVSHOOT,52
$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
$GPS1,180713,083203,4743.163,-12224.524,10,99.0,29,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-69.7
$GPS2,180713,084321,4743.218,-12224.488,13,99.0,32,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,-0.138
$KALMAN_X,-1071.7,-140.0,-557.9,2410.9,-88.3
$KALMAN_Y,-4986.3,-352.0,-942.2,6414.0,-334.6
$MHEAD_RNG_PITCHd_Wd,187.5,1034,-25.0,-8.000
$D_GRID,177
$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,-0.77,-54.9,0.0,0.0,0,80,0.00,0.00,-57.72,0.000,6,0.000,0.000,145,2014,2408,0,0,0,0,0,0,28.83,28.83,26.28
$GC,83,-0.77,-54.9,3.7,-9.9,9,92,6.95,0.00,0.00,0.000,6,0.245,0.000,1888,2009,2409,0,0,0,0,0,0,25.66,28.83,28.83
$GC,157,-0.77,-54.9,18.2,-13.9,22,165,0.00,2.58,0.00,0.000,4,0.000,0.047,1889,567,2411,0,0,0,0,0,0,28.83,26.01,28.83
$GC,219,-0.77,-54.9,27.7,-15.6,33,228,0.00,2.42,0.00,0.000,6,0.000,0.034,1878,1955,2411,0,0,0,0,0,0,28.83,26.08,28.83
$GC,292,-0.77,-54.9,38.1,-13.4,46,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1953,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,367,-0.77,-54.9,47.9,-13.2,59,374,0.00,2.22,0.00,0.000,4,0.000,0.047,1868,3403,2411,0,0,0,0,0,0,28.83,26.16,28.83
$GC,418,-0.77,-54.9,54.8,-12.8,68,426,0.00,2.17,0.00,0.000,6,0.000,0.034,1868,1971,2411,0,0,0,0,0,0,28.83,26.22,28.83
$GC,557,-0.77,-54.9,71.9,-12.3,93,564,0.00,2.40,0.00,0.000,4,0.000,0.045,1868,572,2411,0,0,0,0,0,0,28.83,26.26,28.83
$GC,629,-0.77,-54.9,81.7,-13.8,106,638,0.10,2.45,0.00,0.000,6,0.177,0.034,1888,1983,2411,0,0,0,0,0,0,26.13,26.30,28.83
$GC,771,-0.77,-54.9,98.5,-11.2,131,778,0.00,2.42,0.00,0.000,4,0.000,0.044,1888,571,2411,0,0,0,0,0,0,28.83,26.34,28.83
$GC,840,-0.77,-54.9,107.0,-12.5,143,847,0.00,2.40,0.00,0.000,6,0.000,0.034,1878,1983,2411,0,0,0,0,0,0,28.83,26.36,28.83
$GC,978,-0.77,-54.9,124.2,-13.4,168,985,0.00,2.47,0.00,0.000,4,0.000,0.045,1878,567,2411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1033,-0.77,-54.9,132.0,-15.3,177,1040,0.12,2.40,0.00,0.000,6,0.197,0.035,1896,1981,2411,0,0,0,0,0,0,26.24,26.41,28.83
$GC,1172,-0.77,-54.9,149.8,-12.0,202,1180,0.00,2.47,0.00,0.000,4,0.000,0.044,1902,572,2411,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1283,-0.77,-54.9,164.4,-13.2,222,1291,0.00,2.42,0.00,0.000,6,0.000,0.034,1891,1976,2411,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1400,-0.21,0.0,177.6,-11.6,242,1451,0.55,0.00,44.30,0.578,6,0.149,0.000,2066,1855,2182,0,0,0,0,0,0,26.32,28.83,25.38
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1455,0.77,54.9,180.9,0.0,250,1514,0.93,2.50,46.90,0.562,4,0.096,0.048,2400,495,1958,0,0,0,0,0,0,25.87,25.51,24.97
$GC,1530,0.78,65.4,177.3,7.0,261,1545,0.00,2.42,10.18,0.508,6,0.000,0.033,2399,1886,1916,0,0,0,0,0,0,28.83,25.63,24.99
$GC,1676,0.78,65.4,162.4,11.2,287,1683,0.00,2.17,0.00,0.000,4,0.000,0.045,2400,3295,1911,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1706,0.78,65.4,159.1,11.2,292,1714,0.00,2.17,0.00,0.000,6,0.000,0.036,2410,1908,1911,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1849,0.78,65.4,144.3,10.8,317,1855,0.00,2.53,0.00,0.000,4,0.000,0.048,2423,458,1910,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1917,0.78,65.4,136.3,11.2,329,1924,0.00,2.42,0.00,0.000,6,0.000,0.033,2422,1884,1909,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2057,0.78,65.4,122.3,10.6,354,2065,0.00,2.53,0.00,0.000,4,0.000,0.047,2434,464,1909,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2083,0.78,65.4,119.1,11.1,358,2092,0.10,2.45,0.00,0.000,6,0.195,0.033,2404,1880,1909,0,0,0,0,0,0,26.03,26.23,28.83
$GC,2227,0.78,65.4,104.4,9.7,383,2234,0.00,2.47,0.00,0.000,4,0.000,0.047,2415,459,1908,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2243,0.78,65.4,102.3,10.6,385,2249,0.00,2.42,0.00,0.000,6,0.000,0.033,2412,1887,1908,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2383,0.78,65.4,89.1,8.4,410,2391,0.00,2.53,0.00,0.000,4,0.000,0.047,2424,464,1908,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2426,0.78,65.4,84.9,10.1,417,2433,0.00,2.40,0.00,0.000,6,0.000,0.033,2413,1880,1908,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2563,0.78,65.4,70.5,10.2,442,2571,0.00,2.17,0.00,0.000,4,0.000,0.045,2413,3291,1907,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2597,0.78,65.4,67.3,10.1,447,2604,0.00,2.12,0.00,0.000,6,0.000,0.034,2423,1861,1907,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2736,0.78,65.4,54.7,9.0,472,2744,0.00,2.22,0.00,0.000,4,0.000,0.045,2423,3284,1907,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2986,0.78,73.0,32.7,7.3,518,3002,0.12,2.12,6.20,0.432,6,0.188,0.034,2396,1894,1885,0,0,0,0,0,0,26.28,26.50,25.84
$GC,3068,0.79,106.9,28.1,4.7,532,3104,0.00,2.15,28.62,0.490,4,0.000,0.043,2393,3290,1745,0,0,0,0,0,0,28.83,26.10,25.63
$GC,3164,0.79,106.9,20.5,9.0,548,3172,0.00,2.17,0.00,0.000,6,0.000,0.035,2403,1883,1743,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3237,0.79,106.9,12.8,11.8,561,3245,0.00,2.50,0.00,0.000,4,0.000,0.048,2415,468,1742,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3290,0.79,106.9,6.4,11.8,570,3297,0.00,2.45,0.00,0.000,6,0.000,0.033,2415,1882,1742,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,3344,end climb,SURFACE_DEPTH_REACHED
$STATE,3344,begin surface coast
$FINISH,-0.4,1.024357
$STATE,3440,end surface coast,CONTROL_FINISHED_OK
$STATE,3440,begin surface
$SM_CCo,3459,146.40,0.467,0,0,959,300.24
$SM_GC,0.26,6.10,0.15,146.40,0.063,0.073,0.467,147,2007,959,-6.17,-1.10,300.24,0,0,0,0,0,0,26.34,26.37,24.84
$IRIDIUM_FIX,4751.72,-12056.72,180713,080833
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,24.8,1.067
$10V_AH,10.4,1.191
$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,14.975,76.125,136.200,146.400,0.000,70.749,60.053,317.398,0.000,0.000,33.984,1389.729,435.021,408.898,1820.307,228.769,33.221,961.259,0.000,1356.875,0.000,0.537,0.000
$DEVICE_MAMPS,244.800,72.675,578.340,466.650,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.963,269.141,947.964,963.243,0.000,0.000,0.000,0.000,0.000,0.000
$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,50412,598
$CAP_FILE_SIZE,75317,0
$CFSIZE,260165632,257654784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,094556,4743.024,-12224.555,34,3.3,53,18.2