version: 66.04
glider: 156
mission: 1
dive: 18
start: 8 16 108 10 47 48
data:
$ID,156
$MISSION,1
$DIVE,18
$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,-7450.771
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,104008,4807.042,-12223.418,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-70.8
$GPS2,104653,4807.012,-12223.381,16,3.1,35,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,0.209
$KALMAN_X,-1178.6,-35.9,22.1,502.4,4.8
$KALMAN_Y,-848.0,-181.7,-164.5,834.1,-19.6
$MHEAD_RNG_PITCHd_Wd,319.4,1984,-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,-95.15,0.000,6,0.000,0.000,36,2317,3956
$GC,117,-0.76,-107.5,2.4,-4.9,17,130,7.20,2.20,0.00,0.000,4,0.260,0.043,1787,3711,3957
$GC,207,-0.47,-107.5,10.1,-6.1,37,215,0.38,2.17,0.00,0.000,6,0.169,0.032,1895,2290,3958
$GC,279,-0.52,-107.5,12.9,-3.6,53,285,0.00,2.20,0.00,0.000,4,0.000,0.043,1895,898,3959
$GC,324,-0.52,-107.5,14.8,-4.9,63,331,0.00,2.25,0.00,0.000,6,0.000,0.039,1885,2300,3959
$GC,394,-0.52,-107.5,17.9,-4.9,79,401,0.00,2.28,0.00,0.000,4,0.000,0.051,1874,3709,3960
$GC,436,-0.52,-107.5,20.0,-5.2,88,442,0.00,2.17,0.00,0.000,6,0.000,0.032,1874,2310,3959
$GC,507,-0.52,-107.5,23.8,-5.7,104,514,0.00,2.25,0.00,0.000,4,0.000,0.042,1874,898,3960
$GC,552,-0.52,-107.5,26.5,-6.3,114,558,0.00,2.20,0.00,0.000,6,0.000,0.039,1864,2301,3960
$GC,624,-0.49,-107.5,31.0,-6.7,130,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2301,3960
$GC,695,-0.49,-107.5,35.5,-6.2,146,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2301,3960
$GC,767,-0.49,-107.5,40.2,-6.4,162,773,0.00,2.22,0.00,0.000,4,0.000,0.051,1853,3712,3960
$GC,820,-0.44,-107.5,44.1,-7.5,173,827,0.17,2.15,0.00,0.000,6,0.146,0.031,1905,2296,3960
$GC,964,-0.57,-107.5,51.7,-5.1,204,971,0.12,0.00,0.00,0.000,6,0.067,0.000,1841,2294,3960
$GC,1109,-0.52,-107.5,63.0,-8.6,235,1116,0.15,2.20,0.00,0.000,4,0.153,0.043,1884,891,3960
$GC,1159,-0.58,-107.5,66.6,-6.8,245,1165,0.00,2.20,0.00,0.000,6,0.000,0.040,1874,2300,3960
$GC,1301,-0.63,-107.5,75.8,-6.3,276,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2300,3960
$GC,1448,-0.68,-107.5,85.0,-6.1,307,1454,0.15,0.00,0.00,0.000,6,0.061,0.000,1800,2301,3960
$GC,1591,-0.54,-107.5,97.7,-9.3,338,1598,0.22,0.00,0.00,0.000,6,0.156,0.000,1871,2301,3960
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1639,-0.15,0.0,101.0,6.5,347,1724,0.38,0.00,80.57,0.640,6,0.134,0.000,1995,2183,3515
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1726,0.76,107.5,102.4,0.0,362,1812,0.85,0.00,80.57,0.614,6,0.091,0.000,2290,2182,3077
$GC,1948,0.62,107.5,73.4,15.6,407,1954,0.17,2.33,0.00,0.000,4,0.165,0.049,2239,3609,3071
$GC,1978,0.53,107.5,68.8,15.4,413,1984,0.00,2.20,0.00,0.000,6,0.000,0.034,2249,2214,3071
$GC,2120,0.53,107.5,51.0,12.2,444,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2214,3071
$GC,2259,0.53,107.5,34.1,11.7,475,2266,0.12,2.25,0.00,0.000,4,0.167,0.051,2215,3614,3070
$GC,2289,0.56,107.5,30.8,11.3,481,2295,0.00,2.20,0.00,0.000,6,0.000,0.035,2226,2194,3070
$GC,2360,0.64,111.2,23.5,9.8,497,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2194,3070
$GC,2430,0.73,118.2,16.8,9.6,513,2443,0.17,0.00,8.12,0.540,6,0.063,0.000,2309,2194,3033
$GC,2507,0.60,118.2,6.4,14.8,530,2513,0.22,0.00,0.00,0.000,6,0.160,0.000,2240,2194,3033
$STATE,2527,end climb,SURFACE_DEPTH_REACHED
$STATE,2527,begin surface coast
$FINISH,1.4,1.020000
$STATE,2560,end surface coast,CONTROL_FINISHED_OK
$STATE,2561,begin surface
$SM_CCo,2574,266.50,0.562,0,0,1558,480.05
$SM_GC,0.15,0.00,0.00,266.50,0.000,0.000,0.562,33,2314,1558,-6.30,0.40,480.05
$IRIDIUM_FIX,4751.72,-12223.57,101197,090907
$TT8_MAMPS,0.028379
$HUMID,1972
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.2,37.0
$24V_AH,24.6,2.236
$10V_AH,10.7,1.550
$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,16.375,35.775,169.275,266.500,0.000,25.952,48.833,212.553,1.500,0.000,0.000,36.393,848.311,471.933,540.646,1004.813,395.588,33.333,1028.215,0.000,984.871,0.000,6.829,0.000
$DEVICE_MAMPS,260.013,62.127,640.445,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.135,283.280,673.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25436,542
$CAP_FILE_SIZE,61667,0
$CFSIZE,260165632,258203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,113624,4807.177,-12223.579,20,4.8,39,18.3