version: 66.10
glider: 156
mission: 4
dive: 18
start: 7 18 113 13 31 57
data:
$ID,156
$MISSION,4
$DIVE,18
$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,-858750.44
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,180713,132209,4742.813,-12224.432,9,2.3,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-67.5
$GPS2,180713,133100,4742.793,-12224.496,11,1.6,16,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.069
$KALMAN_X,-508.1,-63.9,547.5,662.6,278.8
$KALMAN_Y,-5256.8,-193.8,892.0,3922.0,132.7
$MHEAD_RNG_PITCHd_Wd,226.8,415,-23.3,-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,-0.72,-63.1,0.0,0.0,0,79,0.00,0.00,-59.20,0.000,6,0.000,0.000,147,1995,2443,0,0,0,0,0,0,28.83,28.83,26.25
$GC,83,-0.72,-63.1,3.4,-8.7,9,98,7.07,2.17,0.00,0.000,4,0.248,0.045,1897,3392,2444,0,0,0,0,0,0,25.64,25.91,28.83
$GC,333,-0.72,-63.1,39.9,-12.2,56,341,0.00,2.12,0.00,0.000,6,0.000,0.031,1897,1977,2446,0,0,0,0,0,0,28.83,26.16,28.83
$GC,408,-0.72,-63.1,48.7,-11.8,69,415,0.00,2.15,0.00,0.000,4,0.000,0.044,1887,3392,2446,0,0,0,0,0,0,28.83,26.17,28.83
$GC,588,-0.72,-63.1,71.3,-12.8,102,596,0.00,2.10,0.00,0.000,6,0.000,0.031,1887,1988,2447,0,0,0,0,0,0,28.83,26.29,28.83
$GC,729,-0.72,-63.1,89.6,-14.7,127,736,0.00,2.45,0.00,0.000,4,0.000,0.044,1887,562,2446,0,0,0,0,0,0,28.83,26.31,28.83
$GC,895,-0.72,-63.1,114.6,-15.8,157,903,0.15,2.40,0.00,0.000,6,0.190,0.033,1913,1978,2446,0,0,0,0,0,0,26.20,26.38,28.83
$GC,1036,-0.72,-63.1,131.1,-11.1,182,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,1975,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.72,-63.1,147.5,-11.6,207,1182,0.00,2.42,0.00,0.000,4,0.000,0.041,1914,562,2446,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1286,-0.72,-63.1,161.1,-12.7,227,1293,0.00,2.42,0.00,0.000,6,0.000,0.034,1902,1984,2446,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1424,-0.72,-63.1,176.6,-11.3,252,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,1981,2446,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1443,-0.21,0.0,178.3,-10.8,254,1503,0.52,0.08,50.05,0.581,6,0.154,0.060,2068,1899,2184,0,0,0,0,0,0,26.32,25.80,25.32
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,0.72,63.1,181.7,0.0,263,1572,0.88,2.53,54.47,0.566,4,0.092,0.045,2386,503,1924,0,0,0,0,0,0,25.84,25.41,24.88
$GC,1580,0.73,80.6,178.6,6.5,274,1602,0.00,2.42,15.77,0.529,6,0.000,0.032,2386,1859,1853,0,0,0,0,0,0,28.83,25.51,24.85
$GC,1734,0.73,80.6,161.6,11.7,301,1740,0.00,2.40,0.00,0.000,4,0.000,0.047,2397,512,1849,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1760,0.73,80.6,158.7,11.0,305,1767,0.00,2.38,0.00,0.000,6,0.000,0.032,2397,1882,1849,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1900,0.73,80.6,141.6,12.2,330,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1879,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,0.73,80.6,125.7,12.1,355,2045,0.00,2.40,0.00,0.000,4,0.000,0.046,2408,511,1847,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2065,0.73,80.6,122.5,12.3,359,2071,0.00,2.35,0.00,0.000,6,0.000,0.032,2408,1885,1847,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2202,0.73,80.6,107.2,11.1,384,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1886,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,0.73,80.6,91.8,11.3,409,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1885,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,0.73,80.6,75.3,11.5,434,2483,0.00,2.45,0.00,0.000,4,0.000,0.046,2420,504,1846,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2564,0.73,80.6,64.4,11.8,450,2573,0.10,2.38,0.00,0.000,6,0.188,0.034,2390,1883,1846,0,0,0,0,0,0,26.17,26.37,28.83
$GC,2708,0.73,80.6,50.8,10.2,475,2715,0.00,2.12,0.00,0.000,4,0.000,0.045,2390,3291,1845,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2770,0.73,80.6,44.1,9.9,486,2777,0.00,2.10,0.00,0.000,6,0.000,0.034,2398,1914,1845,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2907,0.73,81.5,32.0,7.9,511,2916,0.00,2.53,0.00,0.000,4,0.000,0.046,2411,467,1845,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2935,0.73,81.5,29.5,8.3,515,2943,0.00,2.42,0.00,0.000,6,0.000,0.032,2411,1879,1844,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3008,0.73,85.3,24.0,7.7,528,3017,0.00,2.20,3.70,0.344,4,0.000,0.044,2411,3291,1835,0,0,0,0,0,0,28.83,26.40,25.83
$GC,3176,0.73,85.8,9.7,8.0,559,3185,0.10,2.15,0.00,0.000,6,0.178,0.034,2390,1880,1835,0,0,0,0,0,0,26.29,26.46,28.83
$GC,3250,0.75,141.1,6.8,3.3,572,3307,0.00,2.55,45.42,0.480,4,0.000,0.047,2401,461,1606,0,0,0,0,0,0,28.83,26.00,25.53
$STATE,3323,end climb,SURFACE_DEPTH_REACHED
$STATE,3323,begin surface coast
$FINISH,0.6,1.024209
$STATE,3373,end surface coast,CONTROL_FINISHED_OK
$STATE,3373,begin surface
$SM_CCo,3394,120.82,0.464,0,0,959,300.24
$SM_GC,0.53,6.18,2.65,120.82,0.068,0.031,0.464,139,1982,959,-6.19,-1.22,300.24,0,0,0,0,0,0,26.14,26.13,24.85
$IRIDIUM_FIX,4726.11,-12227.78,180713,121218
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.80
$XPDR_PINGS,1
$24V_AH,24.9,1.327
$10V_AH,10.4,1.449
$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,15.000,56.550,169.425,120.825,0.000,28.367,36.311,317.854,0.250,0.000,17.825,1355.260,365.772,387.201,1728.382,212.541,33.222,928.003,0.000,1350.198,0.000,0.535,0.000
$DEVICE_MAMPS,247.860,59.670,580.635,463.590,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.386,271.740,950.736,963.191,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,50457,592
$CAP_FILE_SIZE,68835,0
$CFSIZE,260165632,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,143145,4742.714,-12224.684,11,2.8,30,18.2