version: 66.04
glider: 156
mission: 1
dive: 9
start: 8 16 108 1 35 4
data:
$ID,156
$MISSION,1
$DIVE,9
$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,550
$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,-7234.4429
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$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,38
$R_STBD_OVSHOOT,33
$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,1
$XPDR_VALID,1
$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
$GPS1,012808,4806.412,-12222.498,36,1.1,36,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-66.1
$GPS2,013409,4806.411,-12222.504,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.140,-0.177
$KALMAN_X,-785.3,-200.5,-70.8,1449.7,-52.3
$KALMAN_Y,451.5,-17.8,51.3,-1957.5,77.2
$MHEAD_RNG_PITCHd_Wd,123.5,984,-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,-0.78,-107.5,0.0,0.0,0,121,0.00,0.00,-102.93,0.000,6,0.000,0.000,34,2127,3956
$GC,123,-0.78,-107.5,3.1,-5.3,18,136,7.10,2.22,0.00,0.000,4,0.260,0.041,1792,719,3957
$GC,375,-0.49,-107.5,21.5,-7.3,77,382,0.35,2.22,0.00,0.000,6,0.175,0.038,1881,2140,3959
$GC,447,-0.51,-107.5,25.8,-5.1,93,454,0.00,2.25,0.00,0.000,4,0.000,0.044,1882,714,3959
$GC,691,-0.54,-107.5,41.2,-6.6,151,698,0.00,2.22,0.00,0.000,6,0.000,0.038,1872,2138,3960
$GC,835,-0.57,-107.5,50.2,-6.2,182,842,0.00,2.22,0.00,0.000,4,0.000,0.044,1872,719,3959
$GC,892,-0.57,-107.5,54.1,-7.0,194,898,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2125,3960
$GC,1037,-0.57,-107.5,63.8,-6.7,225,1043,0.00,2.22,0.00,0.000,4,0.000,0.050,1851,3542,3960
$GC,1058,-0.57,-107.5,65.3,-6.7,229,1064,0.00,2.15,0.00,0.000,6,0.000,0.033,1851,2127,3959
$GC,1201,-0.57,-107.5,75.7,-7.1,260,1208,0.00,2.25,0.00,0.000,4,0.000,0.051,1840,3535,3960
$GC,1223,-0.53,-107.5,77.4,-7.6,264,1229,0.00,2.17,0.00,0.000,6,0.000,0.034,1841,2124,3960
$GC,1367,-0.50,-107.5,88.8,-7.6,295,1374,0.15,2.25,0.00,0.000,4,0.147,0.051,1873,3548,3960
$GC,1398,-0.53,-107.5,90.9,-6.8,301,1404,0.00,2.15,0.00,0.000,6,0.000,0.034,1873,2132,3959
$GC,1541,-0.59,-107.5,99.4,-5.5,332,1547,0.00,2.20,0.00,0.000,4,0.000,0.051,1863,3537,3959
$GC,1585,-0.63,-107.5,102.3,-6.8,341,1591,0.00,2.12,0.00,0.000,6,0.000,0.034,1863,2133,3960
$STATE,1627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1627,begin apogee
$GC,1631,-0.16,0.0,105.2,6.6,350,1716,0.38,0.00,80.45,0.645,6,0.137,0.000,1986,2131,3516
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1719,0.78,107.5,106.9,0.0,365,1804,0.88,0.00,79.97,0.617,6,0.097,0.000,2289,2131,3076
$GC,1940,0.65,107.5,78.6,15.7,410,1947,0.15,2.28,0.00,0.000,4,0.168,0.048,2250,3541,3075
$GC,1995,0.56,107.5,70.6,14.5,421,2002,0.15,2.20,0.00,0.000,6,0.168,0.034,2220,2137,3074
$GC,2139,0.63,107.5,54.5,10.5,452,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2137,3074
$GC,2283,0.72,114.6,40.0,9.6,483,2295,0.15,0.00,6.65,0.521,6,0.067,0.000,2286,2137,3047
$GC,2360,0.61,114.6,29.3,15.3,500,2366,0.17,0.00,0.00,0.000,6,0.169,0.000,2234,2137,3047
$GC,2431,0.67,114.6,21.1,10.8,516,2437,0.00,2.25,0.00,0.000,4,0.000,0.051,2234,3550,3046
$GC,2469,0.67,114.6,16.9,11.8,524,2475,0.00,2.20,0.00,0.000,6,0.000,0.035,2244,2124,3046
$GC,2539,0.71,114.6,9.6,10.4,540,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2124,3046
$STATE,2599,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,1.5,1.018631
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2667,321.95,0.563,0,0,1272,550.21
$SM_GC,0.17,0.00,0.00,321.95,0.000,0.000,0.563,38,2120,1272,-6.26,-0.31,550.21
$IRIDIUM_FIX,4751.72,-12219.12,101197,000001
$TT8_MAMPS,0.028379
$HUMID,2090
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,18.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.3,42.9
$24V_AH,24.7,1.400
$10V_AH,10.8,1.006
$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,15.425,39.825,167.075,321.950,0.000,24.426,25.881,214.800,2.500,0.000,0.000,13.181,875.015,508.678,588.303,1021.102,371.913,33.334,1081.102,0.000,1022.540,0.000,7.375,0.000
$DEVICE_MAMPS,260.013,51.389,645.047,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.809,291.680,689.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28531,567
$CAP_FILE_SIZE,60284,0
$CFSIZE,260165632,258547712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,022559,4806.201,-12222.322,11,99.0,30,18.3