version: 66.10
glider: 156
mission: 4
dive: 5
start: 7 17 113 21 29 15
data:
$ID,156
$MISSION,4
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,75
$T_MISSION,80
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51659
$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,5
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4830
$TGT_DEFAULT_LON,-945
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-858703.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2147
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,2183
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,150
$AH0_10V,100
$MINV_24V,18.799999
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.349596
$PRESSURE_SLOPE,0.00011457827
$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,90
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0044387965
$SEABIRD_T_H,0.00063806708
$SEABIRD_T_I,2.5317064e-05
$SEABIRD_T_J,2.7623407e-06
$SEABIRD_C_G,-10.165077
$SEABIRD_C_H,1.1464247
$SEABIRD_C_I,-0.0014949233
$SEABIRD_C_J,0.00019957028
$GPS1,170713,211952,4743.837,-12224.714,12,99.0,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-69.4
$GPS2,170713,212815,4743.913,-12224.586,10,99.0,29,18.2
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.088
$KALMAN_X,-241.4,-195.3,-110.9,1069.1,-55.7
$KALMAN_Y,-684.6,-425.0,-158.4,2701.6,-191.9
$MHEAD_RNG_PITCHd_Wd,291.1,267,-26.9,-8.000
$D_GRID,174
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.83,-45.2,0.0,0.0,0,73,0.00,0.00,-54.30,0.000,2,0.000,0.000,140,2006,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.83,-45.2,3.0,-8.0,8,94,7.05,2.53,-1.45,0.000,4,0.253,0.057,1885,567,2370,0,0,0,0,0,0,25.72,26.02,26.27
$GC,329,-0.83,-45.2,44.3,-13.8,55,335,0.00,2.38,0.00,0.000,6,0.000,0.035,1875,1963,2371,0,0,0,0,0,0,28.83,26.25,28.83
$GC,466,-0.83,-45.2,62.2,-12.4,80,473,0.00,2.47,0.00,0.000,4,0.000,0.048,1875,566,2372,0,0,0,0,0,0,28.83,26.29,28.83
$GC,716,-0.83,-45.2,99.9,-17.2,126,724,0.00,2.42,0.00,0.000,6,0.000,0.036,1864,1975,2372,0,0,0,0,0,0,28.83,26.40,28.83
$GC,858,-0.83,-45.2,119.2,-13.4,151,868,0.00,2.42,0.00,0.000,4,0.000,0.047,1865,567,2372,0,0,0,0,0,0,28.83,26.41,28.83
$GC,997,-0.83,-45.2,139.9,-14.8,175,1003,0.00,2.38,0.00,0.000,6,0.000,0.035,1854,1980,2372,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1132,-0.83,-45.2,158.6,-14.8,200,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1977,2372,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1254,-0.21,0.0,174.4,-11.9,221,1299,0.70,0.05,37.17,0.578,6,0.167,0.063,2069,1884,2182,0,0,0,0,0,0,26.29,25.93,25.44
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1303,0.83,45.2,178.1,0.0,228,1350,0.98,2.28,39.03,0.563,4,0.099,0.045,2401,3282,1997,0,0,0,0,0,0,25.97,25.65,25.10
$GC,1441,0.83,45.2,169.1,9.1,251,1448,0.00,2.10,0.00,0.000,6,0.000,0.039,2410,1912,1993,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1579,0.83,45.2,156.2,10.3,276,1587,0.00,2.55,0.00,0.000,4,0.000,0.047,2423,465,1991,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1690,0.83,45.2,144.4,9.4,296,1698,0.00,2.45,0.00,0.000,6,0.000,0.035,2423,1876,1990,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1833,0.83,45.2,131.8,9.1,321,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1875,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,0.83,45.2,120.0,8.4,346,1975,0.00,2.20,0.00,0.000,4,0.000,0.047,2423,3295,1989,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2220,0.83,46.4,99.3,7.9,392,2227,0.00,2.20,0.00,0.000,6,0.000,0.039,2432,1877,1988,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2362,0.84,74.2,93.9,4.7,417,2394,0.00,2.25,23.62,0.531,4,0.000,0.045,2432,3289,1879,0,0,0,0,0,0,28.83,26.15,25.61
$GC,2407,0.84,87.6,91.1,6.4,424,2428,0.00,2.20,12.05,0.495,6,0.000,0.040,2442,1879,1826,0,0,0,0,0,0,28.83,26.18,25.51
$GC,2562,0.84,87.6,74.1,12.3,451,2568,0.00,2.17,0.00,0.000,4,0.000,0.044,2442,3290,1824,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2578,0.84,87.6,72.2,11.8,453,2585,0.12,2.15,0.00,0.000,6,0.220,0.039,2425,1875,1823,0,0,0,0,0,0,26.01,26.21,28.83
$GC,2717,0.84,87.6,57.3,9.3,478,2725,0.00,2.45,0.00,0.000,4,0.000,0.050,2436,476,1822,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2949,0.84,87.6,33.1,9.5,521,2957,0.00,2.40,0.00,0.000,6,0.000,0.033,2432,1882,1822,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3022,0.84,87.6,26.7,9.0,534,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1881,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,0.84,87.6,19.5,9.7,547,3101,0.00,2.47,0.00,0.000,4,0.000,0.050,2442,478,1821,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3171,0.84,90.4,13.3,7.7,561,3179,0.00,2.40,0.00,0.000,6,0.000,0.034,2442,1877,1821,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3244,0.84,94.4,7.9,7.5,574,3260,0.00,2.50,6.50,0.429,4,0.000,0.050,2453,472,1798,0,0,0,0,0,0,28.83,26.38,25.82
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3302,begin surface coast
$FINISH,1.2,1.023649
$STATE,3341,end surface coast,CONTROL_FINISHED_OK
$STATE,3341,begin surface
$SM_CCo,3362,156.40,0.471,0,0,959,300.24
$SM_GC,0.57,6.53,2.60,156.40,0.094,0.031,0.471,148,1985,959,-6.18,-1.05,300.24,0,0,0,0,0,0,26.42,26.44,24.87
$IRIDIUM_FIX,4726.11,-12222.38,170713,202038
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,52.6
$24V_AH,24.9,0.401
$10V_AH,10.4,0.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.375,52.225,118.375,156.400,0.000,30.914,33.691,279.336,1.250,0.000,31.740,1361.358,391.387,377.172,1694.438,205.102,33.239,888.549,0.000,1332.608,0.000,10.221,0.000
$DEVICE_MAMPS,253.215,64.260,578.340,471.240,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.176,259.199,922.568,936.589,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323668
$DATA_FILE_SIZE,43883,591
$CAP_FILE_SIZE,66174,0
$CFSIZE,260165632,258109440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,222906,4743.989,-12224.811,30,0.9,30,18.2