version: 66.04
glider: 156
mission: 1
dive: 23
start: 8 16 108 15 29 14
data:
$ID,156
$MISSION,1
$DIVE,23
$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,400
$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,-7561.5864
$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,0.30000001
$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,34
$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,0
$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
$GPS1,151923,4807.858,-12223.969,14,2.8,33,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-70.4
$GPS2,152820,4807.867,-12223.956,14,1.6,31,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,0.170
$KALMAN_X,-1314.6,6.2,-38.9,-54.8,-5.6
$KALMAN_Y,-1426.1,-304.1,-15.5,2968.7,-7.4
$MHEAD_RNG_PITCHd_Wd,330.9,252,-27.2,-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,15,-0.90,-63.1,0.0,0.0,0,114,0.00,0.00,-92.62,0.000,6,0.000,0.000,30,2301,3774
$GC,117,-0.96,-107.5,1.8,-2.7,17,131,6.75,0.00,-5.00,0.000,6,0.249,0.000,1729,2301,3956
$GC,195,-0.75,-107.5,9.6,-7.9,34,202,0.25,2.25,0.00,0.000,4,0.190,0.041,1800,889,3958
$GC,247,-0.69,-107.5,12.9,-6.3,45,254,0.12,2.22,0.00,0.000,6,0.183,0.038,1821,2301,3958
$GC,317,-0.71,-107.5,17.2,-6.6,61,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3958
$GC,388,-0.74,-107.5,21.6,-6.6,77,394,0.00,2.22,0.00,0.000,4,0.000,0.051,1810,3706,3959
$GC,442,-0.71,-107.5,25.9,-7.8,89,448,0.00,2.15,0.00,0.000,6,0.000,0.031,1810,2295,3959
$GC,512,-0.73,-107.5,31.6,-7.7,105,519,0.00,2.20,0.00,0.000,4,0.000,0.042,1810,893,3959
$GC,607,-0.73,-107.5,39.9,-9.1,127,613,0.00,2.20,0.00,0.000,6,0.000,0.039,1800,2301,3960
$GC,683,-0.73,-107.5,46.7,-9.1,143,689,0.00,2.22,0.00,0.000,4,0.000,0.048,1789,3709,3960
$GC,762,-0.68,-107.5,54.6,-10.4,160,769,0.15,2.15,0.00,0.000,6,0.163,0.032,1831,2295,3960
$GC,909,-0.78,-107.5,66.6,-7.9,191,914,0.12,0.00,0.00,0.000,6,0.072,0.000,1773,2294,3959
$GC,1052,-0.74,-107.5,81.4,-10.5,222,1058,0.12,0.00,0.00,0.000,6,0.172,0.000,1805,2293,3959
$GC,1194,-0.79,-107.5,94.9,-9.3,253,1200,0.00,2.20,0.00,0.000,4,0.000,0.043,1806,888,3960
$GC,1252,-0.86,-107.5,100.7,-9.7,265,1258,0.00,2.20,0.00,0.000,6,0.000,0.039,1796,2300,3960
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1304,-0.15,0.0,105.1,9.0,275,1389,0.62,0.00,80.88,0.639,6,0.147,0.000,1995,2180,3516
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1390,begin climb
$GC,1391,0.96,107.5,107.0,0.0,290,1482,1.02,2.42,80.12,0.611,4,0.090,0.048,2352,3604,3076
$GC,1498,0.81,107.5,93.0,20.0,309,1504,0.22,2.25,0.00,0.000,6,0.192,0.034,2306,2208,3075
$GC,1639,0.81,107.5,67.3,17.3,340,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2207,3075
$GC,1781,0.82,107.5,44.1,16.8,371,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2207,3074
$GC,1913,0.84,107.5,23.1,15.3,402,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2207,3074
$GC,1982,0.88,107.5,12.5,15.7,418,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2207,3073
$STATE,2042,end climb,SURFACE_DEPTH_REACHED
$STATE,2042,begin surface coast
$FINISH,1.8,1.019668
$STATE,2072,end surface coast,CONTROL_FINISHED_OK
$STATE,2072,begin surface
$SM_CCo,2087,214.88,0.559,1,0,1885,400.08
$SM_GC,0.30,0.00,0.00,214.88,0.000,0.000,0.559,31,2308,1885,-6.30,0.23,400.08
$IRIDIUM_FIX,4751.72,-12216.40,101197,151538
$TT8_MAMPS,0.028379
$HUMID,1975
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,18.10
$XPDR_PINGS,3
$24V_AH,24.6,2.668
$10V_AH,10.7,1.818
$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,15.750,26.975,161.000,214.875,0.000,51.979,106.099,205.153,0.750,0.000,0.000,31.083,683.849,431.642,472.353,812.569,457.635,33.324,875.725,0.000,798.641,0.000,0.836,0.000
$DEVICE_MAMPS,249.275,62.127,638.911,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.570,229.213,542.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22196,439
$CAP_FILE_SIZE,50625,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160808,160847,4808.030,-12224.039,12,99.0,31,18.3