version: 66.04
glider: 156
mission: 1
dive: 5
start: 8 15 108 21 58 27
data:
$ID,156
$MISSION,1
$DIVE,5
$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,-7156.7822
$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,41
$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
$GPS1,215214,4806.893,-12222.782,9,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-63.3
$GPS2,215732,4806.888,-12222.772,10,1.8,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.187
$KALMAN_X,-228.1,-54.4,10.3,339.2,-112.4
$KALMAN_Y,89.9,-98.7,-143.7,-444.1,129.9
$MHEAD_RNG_PITCHd_Wd,127.8,1902,-20.6,-10.000
$D_GRID,107
$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,-107.5,0.0,0.0,0,132,0.00,0.00,-113.40,0.000,6,0.000,0.000,22,2122,3956
$GC,134,-0.82,-107.5,3.6,-6.4,20,148,6.90,2.22,0.00,0.000,4,0.257,0.040,1742,3553,3956
$GC,384,-0.82,-107.5,25.1,-8.2,79,391,0.00,2.17,0.00,0.000,6,0.000,0.032,1743,2117,3958
$GC,454,-0.82,-107.5,31.0,-8.4,95,460,0.00,2.22,0.00,0.000,4,0.000,0.046,1732,3544,3958
$GC,710,-0.82,-107.5,61.1,-12.4,153,717,0.12,2.15,0.00,0.000,6,0.179,0.032,1763,2118,3958
$GC,853,-0.82,-107.5,77.2,-11.2,184,860,0.00,2.22,0.00,0.000,4,0.000,0.048,1753,3546,3958
$GC,899,-0.82,-107.5,82.4,-12.0,193,905,0.00,2.12,0.00,0.000,6,0.000,0.032,1753,2136,3958
$GC,1042,-0.82,-107.5,98.7,-10.6,224,1049,0.00,2.20,0.00,0.000,4,0.000,0.048,1743,3551,3958
$GC,1077,-0.82,-107.5,102.9,-11.8,231,1083,0.00,2.15,0.00,0.000,6,0.000,0.032,1743,2125,3958
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1114,-0.17,0.0,107.1,12.0,238,1200,0.73,0.00,80.05,0.625,6,0.163,0.000,1968,2122,3516
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1202,0.82,107.5,109.7,0.0,253,1287,0.93,0.00,79.35,0.603,6,0.100,0.000,2287,2122,3076
$GC,1423,0.82,107.5,81.0,15.7,298,1429,0.00,2.28,0.00,0.000,4,0.000,0.048,2287,3545,3075
$GC,1477,0.82,107.5,71.9,17.5,309,1483,0.00,2.20,0.00,0.000,6,0.000,0.034,2298,2127,3074
$GC,1619,0.82,107.5,49.2,15.0,340,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2126,3074
$GC,1755,0.82,107.5,29.0,14.1,371,1761,0.00,2.25,0.00,0.000,4,0.000,0.049,2298,3551,3074
$GC,1779,0.82,107.5,25.2,15.1,376,1786,0.00,2.17,0.00,0.000,6,0.000,0.034,2309,2128,3073
$GC,1850,0.82,107.5,14.7,14.6,392,1856,0.00,2.20,0.00,0.000,4,0.000,0.044,2320,719,3073
$GC,1870,0.82,107.5,11.7,14.2,396,1877,0.00,2.22,0.00,0.000,6,0.000,0.038,2319,2126,3073
$STATE,1935,end climb,SURFACE_DEPTH_REACHED
$STATE,1935,begin surface coast
$FINISH,2.0,1.018285
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,1997,362.67,0.549,0,0,1070,600.00
$SM_GC,0.33,0.00,0.00,362.67,0.000,0.000,0.549,25,2128,1070,-6.27,-0.11,600.00
$IRIDIUM_FIX,4751.72,-12226.29,091197,212136
$TT8_MAMPS,0.028379
$HUMID,2101
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,18.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.1,41.4
$24V_AH,24.8,1.010
$10V_AH,10.8,0.786
$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,14.900,30.800,159.400,362.675,0.000,26.019,30.370,172.764,2.500,0.000,0.000,15.802,640.302,360.557,611.012,773.777,310.949,33.330,998.092,0.000,768.512,0.000,9.939,0.000
$DEVICE_MAMPS,256.945,49.088,625.105,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.793,218.993,524.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22307,422
$CAP_FILE_SIZE,43551,0
$CFSIZE,260165632,258703360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,223850,4806.779,-12222.793,12,1.7,29,18.3