version: 66.04
glider: 156
mission: 1
dive: 6
start: 8 15 108 22 45 20
data:
$ID,156
$MISSION,1
$DIVE,6
$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,-7190.8735
$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,37
$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
$GPS1,223850,4806.779,-12222.793,12,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-61.9
$GPS2,224426,4806.769,-12222.792,16,1.6,33,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,-0.172
$KALMAN_X,-436.1,-111.6,1.0,587.7,-163.6
$KALMAN_Y,216.1,-79.2,-111.5,-838.6,152.2
$MHEAD_RNG_PITCHd_Wd,121.3,1728,-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,-107.5,0.0,0.0,0,132,0.00,0.00,-113.05,0.000,6,0.000,0.000,26,2128,3955
$GC,134,-0.82,-107.5,3.4,-6.3,20,148,6.88,2.22,0.00,0.000,4,0.254,0.041,1768,713,3957
$GC,385,-0.82,-107.5,23.1,-7.2,79,391,0.00,2.20,0.00,0.000,6,0.000,0.037,1759,2130,3958
$GC,455,-0.82,-107.5,28.5,-7.8,95,461,0.00,2.20,0.00,0.000,4,0.000,0.042,1759,722,3958
$GC,708,-0.82,-107.5,55.0,-11.1,153,714,0.00,2.20,0.00,0.000,6,0.000,0.038,1749,2138,3958
$GC,853,-0.82,-107.5,71.8,-11.5,184,859,0.00,2.20,0.00,0.000,4,0.000,0.042,1749,723,3959
$GC,964,-0.82,-107.5,85.2,-12.1,208,971,0.00,2.20,0.00,0.000,6,0.000,0.037,1739,2125,3958
$GC,1108,-0.82,-107.5,102.3,-12.0,239,1114,0.00,2.17,0.00,0.000,4,0.000,0.042,1739,725,3959
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1137,-0.17,0.0,105.6,12.6,244,1223,0.80,0.00,80.28,0.623,6,0.172,0.000,1972,2143,3515
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1225,0.82,107.5,108.9,0.0,259,1311,0.93,2.35,79.45,0.602,4,0.098,0.046,2290,3538,3076
$GC,1336,0.82,107.5,97.1,15.8,279,1342,0.00,2.22,0.00,0.000,6,0.000,0.034,2300,2132,3075
$GC,1478,0.82,107.5,73.3,16.5,310,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2132,3075
$GC,1620,0.82,107.5,50.0,15.7,341,1626,0.00,2.25,0.00,0.000,4,0.000,0.049,2300,3544,3074
$GC,1650,0.82,107.5,45.1,16.7,347,1656,0.00,2.17,0.00,0.000,6,0.000,0.034,2311,2132,3074
$GC,1787,0.82,107.5,23.8,15.3,378,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2132,3073
$GC,1858,0.82,107.5,13.1,14.3,394,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2132,3073
$GC,1928,0.82,107.5,4.2,10.9,410,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2132,3073
$STATE,1938,end climb,SURFACE_DEPTH_REACHED
$STATE,1938,begin surface coast
$FINISH,1.9,1.018139
$STATE,1985,end surface coast,CONTROL_FINISHED_OK
$STATE,1985,begin surface
$SM_CCo,1998,365.17,0.546,1,0,1070,600.00
$SM_GC,0.20,0.00,0.00,365.17,0.000,0.000,0.546,34,2130,1070,-6.24,-0.03,600.00
$IRIDIUM_FIX,4748.51,-12217.40,091197,222222
$TT8_MAMPS,0.028379
$HUMID,2091
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.3,52.0
$24V_AH,24.8,1.107
$10V_AH,10.8,0.832
$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,14.800,26.625,159.725,365.175,0.000,23.341,29.934,176.432,1.500,0.000,0.000,33.463,640.191,361.211,617.866,791.862,311.945,33.329,1000.599,0.000,771.257,0.000,5.554,0.000
$DEVICE_MAMPS,253.877,49.088,622.804,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.464,220.900,529.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22280,423
$CAP_FILE_SIZE,41984,0
$CFSIZE,260165632,258674688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150808,232601,4806.724,-12222.696,33,1.7,37,18.3