version: 66.04
glider: 156
mission: 1
dive: 21
start: 8 16 108 13 34 57
data:
$ID,156
$MISSION,1
$DIVE,21
$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,-7510.9575
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,132737,4807.462,-12223.831,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-69.5
$GPS2,133402,4807.445,-12223.833,10,1.7,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,0.223
$KALMAN_X,-1297.3,-5.2,-16.9,70.7,-19.7
$KALMAN_Y,-1278.3,-283.4,-63.2,2068.3,-28.5
$MHEAD_RNG_PITCHd_Wd,333.4,1049,-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,-107.5,0.0,0.0,0,120,0.00,0.00,-99.95,0.000,6,0.000,0.000,36,2319,3955
$GC,123,-0.76,-107.5,1.9,-3.4,18,136,7.10,2.20,0.00,0.000,4,0.256,0.044,1784,3706,3957
$GC,373,-0.44,-107.5,22.7,-8.3,77,381,0.43,2.17,0.00,0.000,6,0.166,0.033,1909,2287,3959
$GC,444,-0.54,-107.5,26.5,-5.3,93,451,0.12,0.00,0.00,0.000,6,0.070,0.000,1847,2286,3958
$GC,515,-0.46,-107.5,30.9,-7.0,109,521,0.17,0.00,0.00,0.000,6,0.157,0.000,1901,2285,3959
$GC,585,-0.55,-107.5,34.8,-5.3,125,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,2285,3959
$GC,655,-0.65,-107.5,38.3,-5.6,141,661,0.17,0.00,0.00,0.000,6,0.059,0.000,1813,2285,3959
$GC,729,-0.50,-107.5,44.0,-8.6,157,735,0.22,0.00,0.00,0.000,6,0.153,0.000,1884,2285,3959
$GC,871,-0.56,-107.5,53.1,-6.3,188,877,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2285,3960
$GC,1015,-0.64,-107.5,61.8,-6.0,219,1021,0.15,0.00,0.00,0.000,6,0.064,0.000,1813,2285,3960
$GC,1157,-0.51,-107.5,74.2,-9.2,250,1163,0.20,0.00,0.00,0.000,6,0.152,0.000,1877,2286,3960
$GC,1302,-0.58,-107.5,83.8,-6.2,281,1308,0.00,2.25,0.00,0.000,4,0.000,0.053,1867,3700,3959
$GC,1378,-0.63,-107.5,89.0,-6.9,297,1384,0.00,2.12,0.00,0.000,6,0.000,0.034,1867,2301,3960
$GC,1521,-0.68,-107.5,98.2,-6.1,328,1527,0.12,0.00,0.00,0.000,6,0.067,0.000,1804,2301,3960
$STATE,1558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1558,begin apogee
$GC,1563,-0.15,0.0,101.2,8.2,336,1649,0.60,0.00,80.60,0.642,6,0.152,0.000,1994,2175,3516
$STATE,1650,end apogee,CONTROL_FINISHED_OK
$STATE,1650,begin climb
$GC,1652,0.76,107.5,102.7,0.0,351,1743,0.85,2.42,80.80,0.616,4,0.091,0.049,2291,3597,3076
$GC,1749,0.60,107.5,93.0,14.0,368,1756,0.22,2.22,0.00,0.000,6,0.175,0.034,2243,2214,3072
$GC,1892,0.60,107.5,75.1,12.0,399,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2214,3071
$GC,2033,0.60,107.5,58.3,12.3,430,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2214,3070
$GC,2175,0.60,107.5,42.1,11.6,461,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2214,3070
$GC,2307,0.60,107.5,27.3,11.1,492,2313,0.00,2.25,0.00,0.000,4,0.000,0.052,2242,3594,3069
$GC,2324,0.60,107.5,25.3,11.5,495,2330,0.00,2.17,0.00,0.000,6,0.000,0.036,2252,2189,3070
$GC,2395,0.60,107.5,17.4,11.6,511,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2188,3069
$GC,2465,0.60,107.5,9.9,10.3,527,2472,0.00,2.28,0.00,0.000,4,0.000,0.051,2252,3611,3069
$GC,2498,0.56,107.5,6.0,11.9,534,2505,0.15,2.17,0.00,0.000,6,0.165,0.035,2222,2196,3069
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2518,begin surface coast
$FINISH,1.5,1.020949
$STATE,2556,end surface coast,CONTROL_FINISHED_OK
$STATE,2556,begin surface
$SM_CCo,2570,272.85,0.567,0,0,1559,480.05
$SM_GC,0.03,0.00,0.00,272.85,0.000,0.000,0.567,36,2295,1559,-6.29,-0.14,480.05
$IRIDIUM_FIX,4751.72,-12221.84,101197,121201
$TT8_MAMPS,0.028379
$HUMID,1965
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,26.4
$24V_AH,24.6,2.497
$10V_AH,10.7,1.715
$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,16.475,22.525,161.400,272.850,0.000,31.249,33.804,219.586,2.250,0.000,0.000,15.817,842.038,480.163,537.079,991.070,393.563,33.335,1016.520,0.000,988.951,0.000,10.181,0.000
$DEVICE_MAMPS,256.178,65.195,641.979,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.938,283.878,668.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28511,547
$CAP_FILE_SIZE,57900,0
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,142308,4807.660,-12223.886,8,1.4,13,18.3