version: 66.10
glider: 156
mission: 4
dive: 17
start: 7 18 113 12 19 34
data:
$ID,156
$MISSION,4
$DIVE,17
$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,-858749.19
$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,27
$R_STBD_OVSHOOT,61
$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
$GPS1,180713,120954,4742.907,-12224.460,40,1.6,40,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-67.9
$GPS2,180713,121837,4742.929,-12224.410,11,2.0,11,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,-0.133
$KALMAN_X,-527.5,-137.4,197.5,1212.5,512.4
$KALMAN_Y,-4900.9,-327.1,329.1,4513.3,556.5
$MHEAD_RNG_PITCHd_Wd,204.8,644,-20.9,-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,16,-0.66,-78.2,0.0,0.0,0,80,0.00,0.00,-61.33,0.000,6,0.000,0.000,146,2001,2504,0,0,0,0,0,0,28.83,28.83,26.25
$GC,84,-0.66,-78.2,3.4,-8.4,9,99,7.15,2.10,0.00,0.000,4,0.247,0.038,1921,3373,2506,0,0,0,0,0,0,25.65,25.91,28.83
$GC,333,-0.66,-78.2,44.0,-12.8,56,341,0.00,2.10,0.00,0.000,6,0.000,0.031,1921,1977,2507,0,0,0,0,0,0,28.83,26.16,28.83
$GC,474,-0.66,-78.2,61.7,-11.4,81,480,0.00,2.45,0.00,0.000,4,0.000,0.045,1920,562,2507,0,0,0,0,0,0,28.83,26.21,28.83
$GC,532,-0.66,-78.2,69.0,-12.9,91,538,0.00,2.40,0.00,0.000,6,0.000,0.034,1910,1955,2507,0,0,0,0,0,0,28.83,26.25,28.83
$GC,669,-0.66,-78.2,87.1,-14.1,116,677,0.00,2.45,0.00,0.000,4,0.000,0.046,1909,574,2507,0,0,0,0,0,0,28.83,26.29,28.83
$GC,716,-0.66,-78.2,93.6,-13.2,124,725,0.10,2.45,0.00,0.000,6,0.169,0.034,1930,1971,2507,0,0,0,0,0,0,26.16,26.32,28.83
$GC,860,-0.66,-78.2,109.5,-8.9,149,867,0.00,2.45,0.00,0.000,4,0.000,0.045,1931,561,2507,0,0,0,0,0,0,28.83,26.34,28.83
$GC,923,-0.66,-78.2,116.3,-10.0,160,931,0.00,2.47,0.00,0.000,6,0.000,0.034,1920,1985,2507,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1063,-0.66,-78.2,129.7,-9.7,185,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1982,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-0.66,-78.2,145.8,-12.1,210,1207,0.00,2.50,0.00,0.000,4,0.000,0.045,1920,571,2507,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1328,-0.66,-78.2,163.5,-14.5,233,1335,0.00,2.40,0.00,0.000,6,0.000,0.034,1909,1985,2507,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1441,begin apogee
$GC,1449,-0.21,0.0,177.4,-11.5,254,1520,0.50,0.03,61.45,0.580,6,0.148,0.090,2067,1881,2182,0,0,0,0,0,0,26.33,25.58,25.21
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1525,0.66,78.2,181.4,0.0,265,1595,0.82,0.00,66.25,0.562,6,0.091,0.000,2357,1880,1864,0,0,0,0,0,0,25.73,28.83,24.75
$GC,1725,0.66,78.2,164.6,11.3,300,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1879,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,0.66,78.2,149.5,9.8,325,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1880,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,0.66,78.2,134.6,11.7,350,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1879,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2138,0.66,78.2,120.4,8.8,375,2144,0.00,2.45,0.00,0.000,4,0.000,0.049,2368,496,1856,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2157,0.66,78.2,118.3,9.4,378,2165,0.00,2.40,0.00,0.000,6,0.000,0.033,2368,1874,1856,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2300,0.66,78.2,103.9,10.1,403,2307,0.00,2.42,0.00,0.000,4,0.000,0.047,2379,499,1855,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2317,0.66,78.2,102.0,9.4,405,2324,0.00,2.38,0.00,0.000,6,0.000,0.033,2379,1894,1855,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2456,0.66,78.2,88.8,9.3,430,2464,0.00,2.15,0.00,0.000,4,0.000,0.045,2379,3289,1855,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2511,0.66,78.2,82.6,11.6,439,2518,0.00,2.08,0.00,0.000,6,0.000,0.034,2389,1913,1855,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2650,0.66,82.9,69.1,7.7,464,2659,0.00,2.58,3.95,0.369,4,0.000,0.047,2402,466,1843,0,0,0,0,0,0,28.83,26.33,25.74
$GC,2699,0.66,82.9,64.8,9.2,472,2707,0.12,2.45,0.00,0.000,6,0.170,0.034,2364,1882,1843,0,0,0,0,0,0,26.19,26.36,28.83
$GC,2843,0.66,102.4,54.4,6.7,497,2870,0.00,2.20,17.15,0.499,4,0.000,0.046,2363,3292,1764,0,0,0,0,0,0,28.83,26.19,25.68
$GC,2897,0.66,102.4,49.6,8.9,505,2903,0.00,2.12,0.00,0.000,6,0.000,0.034,2372,1875,1763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3036,0.66,103.0,38.0,8.0,530,3044,0.00,2.45,0.00,0.000,4,0.000,0.047,2384,479,1762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3074,0.67,107.9,34.9,7.7,536,3089,0.00,2.42,5.68,0.415,6,0.000,0.033,2384,1880,1743,0,0,0,0,0,0,28.83,26.34,25.72
$GC,3154,0.67,107.9,28.6,8.1,550,3162,0.00,2.17,0.00,0.000,4,0.000,0.044,2384,3290,1741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3186,0.67,107.9,25.6,9.3,555,3195,0.08,2.15,0.00,0.000,6,0.177,0.034,2370,1893,1741,0,0,0,0,0,0,26.16,26.32,28.83
$GC,3260,0.67,107.9,19.4,8.2,568,3268,0.00,2.53,0.00,0.000,4,0.000,0.047,2381,454,1740,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3277,0.67,107.9,17.8,8.7,570,3284,0.00,2.47,0.00,0.000,6,0.000,0.033,2380,1881,1740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3350,0.67,111.7,12.1,7.7,583,3359,0.00,2.20,4.45,0.372,4,0.000,0.044,2380,3293,1727,0,0,0,0,0,0,28.83,26.31,25.76
$GC,3368,0.67,111.7,10.5,8.1,585,3376,0.00,2.17,0.00,0.000,6,0.000,0.034,2389,1871,1727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3441,0.68,143.1,5.2,5.8,598,3477,0.00,2.47,26.12,0.474,4,0.000,0.047,2401,479,1598,0,0,0,0,0,0,28.83,26.10,25.60
$STATE,3484,end climb,SURFACE_DEPTH_REACHED
$STATE,3484,begin surface coast
$FINISH,-0.2,1.023981
$STATE,3544,end surface coast,CONTROL_FINISHED_OK
$STATE,3544,begin surface
$SM_CCo,3564,119.20,0.464,0,0,959,300.24
$SM_GC,0.44,5.95,2.65,119.20,0.049,0.033,0.464,147,1990,959,-6.16,-0.79,300.24,0,0,0,0,0,0,26.20,26.17,24.88
$IRIDIUM_FIX,4729.30,-12215.26,180713,101000
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,24.7,1.263
$10V_AH,10.4,1.386
$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,14.725,70.925,185.050,119.200,0.000,40.346,28.569,311.271,0.000,0.000,12.370,1414.554,389.877,417.884,1758.934,228.473,33.238,994.700,0.000,1391.349,0.000,0.536,0.000
$DEVICE_MAMPS,247.095,89.505,579.870,464.355,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.228,272.263,963.416,980.978,0.000,0.000,0.000,0.000,0.000,0.000
$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,50580,615
$CAP_FILE_SIZE,75596,0
$CFSIZE,260165632,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,132209,4742.813,-12224.432,9,2.3,28,18.2