version: 66.10
glider: 156
mission: 4
dive: 15
start: 7 18 113 9 55 54
data:
$ID,156
$MISSION,4
$DIVE,15
$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,80
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-858746.69
$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,24
$R_STBD_OVSHOOT,58
$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,4
$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,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
$GPS1,180713,094556,4743.024,-12224.555,34,3.3,53,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-69.1
$GPS2,180713,095457,4743.062,-12224.477,17,3.7,36,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,-0.150
$KALMAN_X,-768.5,-207.0,-506.5,2138.0,351.7
$KALMAN_Y,-4616.3,-487.2,-886.8,5838.7,488.7
$MHEAD_RNG_PITCHd_Wd,196.4,781,-20.9,-8.000
$D_GRID,177
$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,16,-0.66,-78.2,0.0,0.0,0,80,0.00,0.00,-61.30,0.000,6,0.000,0.000,147,2008,2502,0,0,0,0,0,0,28.83,28.83,26.29
$GC,84,-0.66,-78.2,3.5,-8.4,9,99,7.15,2.10,0.00,0.000,4,0.248,0.042,1923,3362,2504,0,0,0,0,0,0,25.67,25.94,28.83
$GC,329,-0.66,-78.2,41.7,-13.7,55,336,0.00,2.08,0.00,0.000,6,0.000,0.034,1923,1969,2506,0,0,0,0,0,0,28.83,26.17,28.83
$GC,465,-0.66,-78.2,58.6,-13.1,80,473,0.00,2.45,0.00,0.000,4,0.000,0.046,1923,574,2506,0,0,0,0,0,0,28.83,26.22,28.83
$GC,513,-0.66,-78.2,65.5,-16.1,88,521,0.00,2.40,0.00,0.000,6,0.000,0.034,1912,1954,2506,0,0,0,0,0,0,28.83,26.23,28.83
$GC,652,-0.66,-78.2,84.6,-12.1,113,658,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,1951,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-0.66,-78.2,99.9,-12.5,138,796,0.00,2.45,0.00,0.000,4,0.000,0.047,1912,567,2506,0,0,0,0,0,0,28.83,26.34,28.83
$GC,857,-0.66,-78.2,109.4,-14.5,150,865,0.08,2.45,0.00,0.000,6,0.174,0.035,1925,1977,2505,0,0,0,0,0,0,26.20,26.37,28.83
$GC,1000,-0.66,-78.2,126.7,-11.4,175,1007,0.00,2.42,0.00,0.000,4,0.000,0.044,1925,569,2506,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1058,-0.66,-78.2,134.3,-12.7,185,1065,0.00,2.40,0.00,0.000,6,0.000,0.035,1915,1983,2506,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1198,-0.66,-78.2,151.3,-12.3,210,1206,0.00,2.47,0.00,0.000,4,0.000,0.043,1915,564,2506,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1317,-0.66,-78.2,167.2,-13.5,231,1325,0.12,2.42,0.00,0.000,6,0.184,0.035,1935,1986,2505,0,0,0,0,0,0,26.32,26.46,28.83
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1413,-0.21,0.0,177.3,-10.2,247,1477,0.43,0.00,61.25,0.581,6,0.142,0.000,2073,1847,2183,0,0,0,0,0,0,26.33,28.83,25.21
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1481,0.66,78.2,180.7,0.0,257,1559,0.80,2.53,65.93,0.562,4,0.095,0.049,2362,496,1863,0,0,0,0,0,0,25.70,25.28,24.75
$GC,1573,0.66,78.2,175.9,8.0,271,1580,0.00,2.45,0.00,0.000,6,0.000,0.033,2362,1885,1860,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1714,0.66,78.2,161.6,10.6,296,1721,0.00,2.22,0.00,0.000,4,0.000,0.045,2362,3294,1858,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1729,0.66,78.2,159.6,11.1,298,1737,0.00,2.17,0.00,0.000,6,0.000,0.037,2372,1911,1858,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1873,0.66,78.2,144.5,10.4,323,1879,0.00,2.55,0.00,0.000,4,0.000,0.049,2384,454,1857,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1974,0.66,78.2,132.8,11.7,341,1981,0.00,2.45,0.00,0.000,6,0.000,0.034,2384,1887,1856,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2113,0.66,78.2,117.7,11.3,366,2121,0.00,2.17,0.00,0.000,4,0.000,0.046,2384,3285,1856,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2188,0.66,78.2,108.7,11.7,379,2196,0.15,2.15,0.00,0.000,6,0.194,0.035,2359,1860,1856,0,0,0,0,0,0,26.06,26.23,28.83
$GC,2329,0.66,103.0,97.1,6.3,404,2356,0.00,2.40,20.02,0.520,4,0.000,0.047,2369,476,1762,0,0,0,0,0,0,28.83,26.06,25.53
$GC,2408,0.66,103.0,89.9,10.4,417,2414,0.00,2.40,0.00,0.000,6,0.000,0.033,2368,1881,1760,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2545,0.66,103.0,75.1,10.9,442,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1878,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,0.66,103.0,60.7,9.5,467,2690,0.00,2.17,0.00,0.000,4,0.000,0.045,2368,3302,1758,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2778,0.66,103.0,52.8,8.6,484,2786,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1883,1757,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2919,0.66,103.0,40.5,9.8,509,2926,0.00,2.42,0.00,0.000,4,0.000,0.047,2389,469,1757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2981,0.66,103.0,34.3,10.2,520,2990,0.08,2.42,0.00,0.000,6,0.176,0.034,2366,1881,1757,0,0,0,0,0,0,26.22,26.41,28.83
$GC,3055,0.66,103.0,27.9,8.2,533,3063,0.00,2.47,0.00,0.000,4,0.000,0.049,2377,477,1757,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3133,0.66,107.8,21.7,7.7,547,3148,0.00,2.42,4.47,0.377,6,0.000,0.033,2373,1885,1744,0,0,0,0,0,0,28.83,26.42,25.80
$GC,3214,0.68,143.3,16.5,5.6,561,3249,0.00,0.00,29.17,0.482,6,0.000,0.000,2373,1883,1598,0,0,0,0,0,0,28.83,28.83,25.60
$GC,3314,0.68,143.3,9.1,8.1,578,3322,0.00,2.17,0.00,0.000,4,0.000,0.045,2373,3285,1595,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3387,0.68,169.3,4.7,6.2,591,3416,0.00,2.17,20.70,0.466,6,0.000,0.037,2382,1884,1492,0,0,0,0,0,0,28.83,26.22,25.53
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,-0.5,1.012514
$STATE,3470,end surface coast,CONTROL_FINISHED_OK
$STATE,3472,begin surface
$SM_CCo,3491,99.90,0.463,0,0,959,300.24
$SM_GC,0.30,5.95,0.17,99.90,0.050,0.062,0.463,136,2006,959,-6.19,-1.13,300.24,0,0,0,0,0,0,26.11,26.13,24.93
$IRIDIUM_FIX,4729.30,-12222.38,180713,080827
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.00
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,24.7,1.133
$10V_AH,10.4,1.256
$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,14.750,65.975,201.550,99.900,0.000,30.045,32.248,310.396,0.000,0.000,38.432,1377.245,376.641,397.335,1766.201,218.297,33.238,963.234,0.000,1377.285,0.000,0.536,0.000
$DEVICE_MAMPS,247.860,61.965,580.635,462.825,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.910,269.675,958.197,972.781,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323604
$DATA_FILE_SIZE,50622,605
$CAP_FILE_SIZE,72392,0
$CFSIZE,260165632,257609728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,105643,4742.932,-12224.525,16,1.5,16,18.2