version: 66.10
glider: 156
mission: 4
dive: 16
start: 7 18 113 11 6 19
data:
$ID,156
$MISSION,4
$DIVE,16
$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,-858747.94
$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,25
$R_STBD_OVSHOOT,60
$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
$GPS1,180713,105643,4742.932,-12224.525,16,1.5,16,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-69.3
$GPS2,180713,110525,4742.954,-12224.470,15,1.5,15,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,-0.148
$KALMAN_X,-587.3,-205.1,-225.2,1686.2,600.7
$KALMAN_Y,-4663.2,-462.8,-391.1,5175.3,804.1
$MHEAD_RNG_PITCHd_Wd,197.5,624,-20.9,-8.000
$D_GRID,178
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.66,-78.2,0.0,0.0,0,83,0.00,0.00,-61.00,0.000,2,0.000,0.000,136,2006,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.66,-78.2,3.3,-8.8,9,103,7.22,2.10,-0.52,0.000,4,0.248,0.055,1922,3361,2503,0,0,0,0,0,0,25.65,25.91,26.08
$GC,336,-0.66,-78.2,43.0,-12.6,56,344,0.00,2.10,0.00,0.000,6,0.000,0.034,1922,1976,2504,0,0,0,0,0,0,28.83,26.16,28.83
$GC,476,-0.66,-78.2,61.1,-11.8,81,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,1975,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,612,-0.66,-78.2,77.3,-11.3,106,620,0.00,2.15,0.00,0.000,4,0.000,0.047,1912,3362,2505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,656,-0.66,-78.2,82.1,-12.0,113,663,0.00,2.05,0.00,0.000,6,0.000,0.033,1913,1972,2505,0,0,0,0,0,0,28.83,26.32,28.83
$GC,793,-0.66,-78.2,98.1,-11.0,138,801,0.00,2.45,0.00,0.000,4,0.000,0.046,1912,576,2505,0,0,0,0,0,0,28.83,26.33,28.83
$GC,862,-0.66,-78.2,107.4,-13.9,150,870,0.08,2.38,0.00,0.000,6,0.170,0.034,1927,1940,2505,0,0,0,0,0,0,26.22,26.37,28.83
$GC,1005,-0.66,-78.2,122.1,-10.0,175,1012,0.00,2.38,0.00,0.000,4,0.000,0.043,1927,559,2505,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1021,-0.66,-78.2,124.2,-10.3,177,1028,0.00,2.42,0.00,0.000,6,0.000,0.034,1916,1989,2505,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1161,-0.66,-78.2,139.2,-11.6,202,1169,0.00,2.50,0.00,0.000,4,0.000,0.046,1916,571,2505,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1238,-0.66,-78.2,148.7,-13.0,215,1245,0.12,2.40,0.00,0.000,6,0.186,0.034,1937,1984,2505,0,0,0,0,0,0,26.29,26.44,28.83
$GC,1377,-0.66,-78.2,163.3,-9.6,240,1384,0.00,2.47,0.00,0.000,4,0.000,0.044,1937,570,2505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1453,-0.66,-78.2,172.2,-11.1,253,1460,0.00,2.42,0.00,0.000,6,0.000,0.034,1927,1990,2505,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1502,begin apogee
$GC,1509,-0.21,0.0,178.5,-12.0,262,1574,0.45,0.00,60.95,0.581,6,0.142,0.000,2071,1848,2183,0,0,0,0,0,0,26.34,28.83,25.21
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1578,0.66,78.2,182.3,0.0,272,1656,0.80,2.38,66.05,0.563,4,0.091,0.044,2350,3292,1863,0,0,0,0,0,0,25.72,25.27,24.75
$GC,1665,0.66,79.9,177.8,7.9,285,1672,0.00,2.17,0.00,0.000,6,0.000,0.036,2359,1913,1861,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1805,0.66,79.9,163.8,10.6,310,1812,0.00,2.60,0.00,0.000,4,0.000,0.049,2372,471,1859,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1860,0.66,79.9,157.4,11.4,319,1866,0.00,2.45,0.00,0.000,6,0.000,0.032,2371,1891,1858,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1999,0.66,79.9,142.8,10.7,344,2007,0.00,2.55,0.00,0.000,4,0.000,0.047,2383,472,1857,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2022,0.66,79.9,140.1,10.1,347,2028,0.00,2.45,0.00,0.000,6,0.000,0.032,2383,1889,1857,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2159,0.66,79.9,124.5,11.4,372,2167,0.00,2.55,0.00,0.000,4,0.000,0.048,2395,465,1857,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2205,0.66,79.9,119.4,12.2,379,2212,0.12,2.42,0.00,0.000,6,0.197,0.034,2365,1882,1856,0,0,0,0,0,0,26.01,26.20,28.83
$GC,2344,0.66,79.9,105.7,8.8,404,2352,0.00,2.53,0.00,0.000,4,0.000,0.048,2376,472,1856,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2370,0.66,79.9,103.2,8.4,408,2378,0.00,2.45,0.00,0.000,6,0.000,0.032,2372,1884,1855,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2510,0.66,79.9,91.5,9.2,433,2517,0.00,2.12,0.00,0.000,4,0.000,0.045,2373,3293,1855,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2572,0.66,79.9,85.4,10.1,444,2580,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1872,1855,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2715,0.66,79.9,72.8,9.3,469,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1871,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2850,0.66,79.9,59.4,10.3,494,2858,0.00,2.20,0.00,0.000,4,0.000,0.044,2381,3284,1855,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3014,0.66,79.9,43.1,8.2,523,3021,0.12,2.10,0.00,0.000,6,0.197,0.035,2363,1881,1855,0,0,0,0,0,0,26.27,26.46,28.83
$GC,3152,0.66,82.7,32.3,7.8,548,3160,0.00,0.00,3.62,0.340,6,0.000,0.000,2362,1881,1845,0,0,0,0,0,0,28.83,28.83,25.84
$GC,3225,0.66,102.2,26.8,6.7,561,3247,0.00,0.00,17.33,0.486,6,0.000,0.000,2362,1881,1765,0,0,0,0,0,0,28.83,28.83,25.75
$GC,3312,0.66,102.2,19.5,9.1,576,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1881,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3384,0.67,127.2,14.1,6.3,589,3413,0.00,2.53,20.58,0.477,4,0.000,0.048,2373,465,1664,0,0,0,0,0,0,28.83,26.11,25.63
$GC,3438,0.67,127.2,8.7,10.4,597,3446,0.00,2.47,0.00,0.000,6,0.000,0.034,2372,1881,1662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3511,0.68,167.9,3.6,5.2,610,3526,0.00,0.00,13.65,0.457,2,0.000,0.000,2372,1878,1598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3527,end climb,SURFACE_DEPTH_REACHED
$STATE,3527,begin surface coast
$FINISH,-0.5,1.023921
$STATE,3595,end surface coast,CONTROL_FINISHED_OK
$STATE,3595,begin surface
$SM_CCo,3613,119.12,0.464,0,0,958,300.24
$SM_GC,0.46,5.85,0.15,119.12,0.046,0.073,0.464,145,2006,958,-6.16,-1.13,300.24,0,0,0,0,0,0,26.19,26.19,24.88
$IRIDIUM_FIX,4726.11,-12222.38,180713,090913
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,24.7,1.198
$10V_AH,10.4,1.321
$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,14.775,66.325,182.175,119.125,0.000,33.590,29.035,313.072,0.250,0.000,16.811,1440.515,390.277,407.289,1788.895,228.620,33.234,983.764,0.000,1416.525,0.000,0.536,0.000
$DEVICE_MAMPS,247.860,72.675,581.400,463.590,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.004,280.553,986.152,1002.107,0.000,0.000,0.000,0.000,0.000,0.000
$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,50493,625
$CAP_FILE_SIZE,74992,0
$CFSIZE,260165632,257556480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,120954,4742.907,-12224.460,40,1.6,40,18.2