version: 66.04
glider: 156
mission: 1
dive: 16
start: 8 16 108 8 51 34
data:
$ID,156
$MISSION,1
$DIVE,16
$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,480
$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,-7401.5132
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2047
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,40
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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
$GPS1,084351,4806.734,-12223.162,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-71.4
$GPS2,085039,4806.703,-12223.133,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,0.215
$KALMAN_X,-1143.8,-72.4,34.2,798.2,-13.8
$KALMAN_Y,-649.2,-106.1,-169.4,-7.1,-99.6
$MHEAD_RNG_PITCHd_Wd,324.3,2631,-20.6,-10.000
$D_GRID,101
$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,-0.76,-107.5,0.0,0.0,0,114,0.00,0.00,-93.55,0.000,6,0.000,0.000,38,2311,3954
$GC,117,-0.76,-107.5,2.9,-6.1,17,130,7.18,2.28,0.00,0.000,4,0.261,0.042,1805,888,3955
$GC,307,-0.51,-107.5,14.8,-5.7,61,315,0.25,2.25,0.00,0.000,6,0.166,0.039,1883,2288,3957
$GC,378,-0.51,-107.5,18.0,-4.1,77,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2289,3957
$GC,447,-0.51,-107.5,21.2,-5.0,93,453,0.00,2.22,0.00,0.000,4,0.000,0.043,1883,884,3958
$GC,485,-0.51,-107.5,23.4,-6.1,101,492,0.00,2.22,0.00,0.000,6,0.000,0.040,1873,2302,3958
$GC,556,-0.51,-107.5,27.5,-6.3,117,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2302,3957
$GC,626,-0.51,-107.5,32.1,-6.5,133,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,695,-0.51,-107.5,36.5,-6.4,149,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,764,-0.51,-107.5,40.9,-6.4,165,769,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,906,-0.51,-107.5,50.1,-6.6,196,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,1049,-0.56,-107.5,59.5,-6.3,227,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,1191,-0.60,-107.5,68.3,-6.0,258,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2302,3958
$GC,1335,-0.65,-107.5,77.8,-6.7,289,1341,0.12,0.00,0.00,0.000,6,0.069,0.000,1811,2302,3958
$GC,1479,-0.53,-107.5,90.9,-8.7,320,1486,0.20,0.00,0.00,0.000,6,0.156,0.000,1875,2302,3958
$GC,1624,-0.60,-107.5,100.3,-6.4,351,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2302,3958
$STATE,1634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1639,-0.15,0.0,101.0,6.1,353,1724,0.35,0.00,80.43,0.643,6,0.133,0.000,1991,2188,3515
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1724,begin climb
$GC,1726,0.76,107.5,102.8,0.0,368,1811,0.85,0.00,80.07,0.617,6,0.094,0.000,2287,2186,3077
$GC,1949,0.63,107.5,74.4,15.2,413,1955,0.15,2.33,0.00,0.000,4,0.167,0.050,2248,3609,3075
$GC,1975,0.53,107.5,70.4,15.4,418,1982,0.15,2.20,0.00,0.000,6,0.167,0.035,2218,2214,3074
$GC,2119,0.61,109.7,55.2,9.9,449,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2214,3074
$GC,2258,0.69,109.7,41.2,10.1,480,2265,0.15,0.00,0.00,0.000,6,0.066,0.000,2285,2214,3074
$GC,2392,0.59,109.7,23.4,14.1,511,2399,0.17,2.22,0.00,0.000,4,0.166,0.051,2232,3606,3073
$GC,2422,0.56,109.7,19.4,13.0,517,2429,0.00,2.17,0.00,0.000,6,0.000,0.036,2242,2197,3073
$GC,2492,0.60,109.7,11.9,10.1,533,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2196,3073
$GC,2561,0.71,121.3,5.3,9.3,549,2575,0.10,0.00,10.93,0.565,6,0.077,0.000,2290,2196,3020
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,1.1,1.017059
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2646,264.27,0.565,0,0,1559,480.05
$SM_GC,0.10,0.00,0.00,264.27,0.000,0.000,0.565,29,2308,1559,-6.31,0.23,480.05
$IRIDIUM_FIX,4751.72,-12223.57,101197,070758
$TT8_MAMPS,0.028379
$HUMID,2016
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.0,35.6
$24V_AH,24.6,2.056
$10V_AH,10.7,1.437
$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,15.875,18.175,171.425,264.275,0.000,27.792,24.868,254.096,1.250,0.000,0.000,14.114,869.771,497.321,529.054,1019.456,414.661,33.333,1019.705,0.000,1018.604,0.000,5.816,0.000
$DEVICE_MAMPS,260.780,65.962,642.746,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.375,294.182,696.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28501,564
$CAP_FILE_SIZE,59832,0
$CFSIZE,260165632,258281472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,094111,4806.900,-12223.294,12,2.7,31,18.3