version: 66.04
glider: 156
mission: 1
dive: 4
start: 8 15 108 21 12 21
data:
$ID,156
$MISSION,1
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7140.3535
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,210235,4807.005,-12222.776,13,2.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-62.6
$GPS2,211127,4807.003,-12222.760,14,1.1,14,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.195
$KALMAN_X,-39.4,-11.4,8.7,126.6,-6.1
$KALMAN_Y,-92.5,-108.5,-126.0,-60.9,-51.3
$MHEAD_RNG_PITCHd_Wd,131.5,2081,-20.6,-10.000
$D_GRID,105
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.82,-107.5,0.0,0.0,0,127,0.00,0.00,-110.00,0.000,2,0.000,0.000,34,2122,3927
$GC,130,-0.82,-107.5,3.6,-5.9,19,144,6.82,2.20,-0.60,0.000,4,0.256,0.053,1743,3547,3954
$GC,381,-0.82,-107.5,24.9,-8.1,78,387,0.00,2.12,0.00,0.000,6,0.000,0.031,1744,2133,3957
$GC,451,-0.82,-107.5,30.5,-8.2,94,457,0.00,2.20,0.00,0.000,4,0.000,0.045,1734,3549,3957
$GC,706,-0.82,-107.5,59.2,-12.1,152,713,0.12,2.12,0.00,0.000,6,0.181,0.032,1765,2128,3957
$GC,852,-0.82,-107.5,75.4,-10.9,183,858,0.00,2.20,0.00,0.000,4,0.000,0.046,1756,3543,3957
$GC,928,-0.82,-107.5,84.2,-12.2,199,934,0.00,2.12,0.00,0.000,6,0.000,0.031,1756,2128,3957
$GC,1075,-0.82,-107.5,100.9,-10.6,230,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,2128,3957
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1112,begin apogee
$GC,1116,-0.17,0.0,105.0,10.8,238,1201,0.68,0.00,79.55,0.622,6,0.161,0.000,1968,2125,3516
$STATE,1202,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1204,0.82,107.5,107.2,0.0,253,1288,0.93,0.00,79.00,0.599,6,0.098,0.000,2289,2125,3076
$GC,1424,0.82,107.5,78.4,15.6,298,1430,0.00,2.25,0.00,0.000,4,0.000,0.046,2289,3543,3075
$GC,1463,0.82,107.5,71.8,17.1,306,1469,0.00,2.17,0.00,0.000,6,0.000,0.033,2299,2133,3075
$GC,1607,0.82,107.5,49.1,15.7,337,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2132,3074
$GC,1742,0.82,107.5,29.2,14.5,368,1749,0.00,2.22,0.00,0.000,4,0.000,0.048,2299,3551,3074
$GC,1783,0.82,107.5,22.7,16.0,377,1790,0.00,2.17,0.00,0.000,6,0.000,0.034,2310,2124,3073
$GC,1853,0.82,107.5,12.4,13.9,393,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2124,3073
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,2.8,1.019298
$STATE,1967,end surface coast,CONTROL_FINISHED_OK
$STATE,1969,begin surface
$SM_CCo,1982,361.85,0.547,0,0,1069,600.00
$SM_GC,0.48,0.00,0.00,361.85,0.000,0.000,0.547,22,2121,1069,-6.28,-0.28,600.00
$IRIDIUM_FIX,4751.72,-12223.57,091197,212148
$TT8_MAMPS,0.028379
$HUMID,2069
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,18.40
$XPDR_PINGS,5
$24V_AH,24.9,0.914
$10V_AH,10.8,0.741
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.825,21.800,158.550,361.850,0.000,51.705,105.143,208.549,3.250,0.000,0.000,16.848,639.252,418.510,601.067,773.737,461.634,32.333,980.817,0.000,764.467,0.000,18.531,0.000
$DEVICE_MAMPS,256.178,52.923,622.037,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.533,218.258,522.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,420
$CAP_FILE_SIZE,43892,0
$CFSIZE,260165632,258732032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,215214,4806.893,-12222.782,9,1.6,14,18.3