version: 66.10
glider: 156
mission: 4
dive: 10
start: 7 18 113 3 33 32
data:
$ID,156
$MISSION,4
$DIVE,10
$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,60
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-858710
$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,250
$C_ROLL_CLIMB,250
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,44
$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,110
$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
$GPS1,180713,032135,4743.939,-12223.638,12,1.2,28,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-70.0
$GPS2,180713,033235,4743.902,-12223.623,24,1.8,28,18.2
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,0.166
$KALMAN_X,-115.9,17.0,345.3,1480.9,-196.3
$KALMAN_Y,-2043.5,-65.0,412.3,3118.2,-397.2
$MHEAD_RNG_PITCHd_Wd,5.3,573,-26.1,-10.000
$D_GRID,164
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-68.4,0.0,0.0,0,80,0.00,1.67,-59.50,0.000,3,0.000,0.060,156,1062,2462,0,0,0,0,0,0,28.83,28.83,26.29
$GC,84,-0.81,-68.4,3.6,-9.5,9,93,6.90,0.00,0.00,0.000,6,0.248,0.000,1876,1054,2463,0,0,0,0,0,0,25.68,28.83,28.83
$GC,158,-0.81,-68.4,21.9,-16.3,22,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1056,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,230,-0.81,-68.4,33.2,-15.7,35,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,1056,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,302,-0.81,-68.4,45.5,-16.9,48,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1056,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,442,-0.81,-68.4,67.4,-13.5,73,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1056,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,577,-0.81,-68.4,85.8,-13.9,98,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1057,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,716,-0.81,-68.4,104.8,-13.7,123,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,1058,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-0.81,-68.4,125.3,-12.5,148,863,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1058,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.81,-68.4,144.6,-15.3,173,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1057,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.81,-68.4,163.8,-13.6,198,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1058,2465,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1142,begin apogee
$GC,1151,-0.21,0.0,165.7,-13.6,200,1210,0.62,0.00,53.50,0.569,6,0.168,0.000,2068,247,2183,0,0,0,0,0,0,26.25,28.83,25.26
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1214,0.81,68.4,170.6,0.0,209,1279,0.95,0.00,58.22,0.555,6,0.092,0.000,2401,247,1904,0,0,0,0,0,0,25.77,28.83,24.82
$GC,1412,0.81,68.4,158.4,10.0,243,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,247,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,0.81,68.4,143.4,11.9,268,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,0.81,68.4,127.3,11.6,293,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,0.81,68.4,111.8,11.1,318,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,0.81,68.4,98.2,10.2,343,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,0.81,68.4,83.8,10.4,368,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,0.81,68.4,70.4,10.1,393,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,0.82,89.3,59.1,8.0,418,2397,0.00,0.00,17.00,0.501,6,0.000,0.000,2401,247,1817,0,0,0,0,0,0,28.83,28.83,25.68
$GC,2532,0.82,89.8,45.9,10.0,445,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,247,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,0.82,101.8,33.9,8.8,470,2682,0.00,0.00,10.90,0.470,6,0.000,0.000,2401,247,1768,0,0,0,0,0,0,28.83,28.83,25.71
$GC,2747,0.82,101.8,25.9,10.6,484,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,0.82,101.8,18.2,10.6,497,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,247,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,0.82,108.1,11.1,9.4,510,2900,0.00,0.00,6.20,0.416,6,0.000,0.000,2401,247,1742,0,0,0,0,0,0,28.83,28.83,25.74
$GC,2965,0.83,128.5,5.3,8.0,523,2987,0.00,0.00,17.50,0.467,6,0.000,0.000,2401,247,1658,0,0,0,0,0,0,28.83,28.83,25.64
$STATE,2993,end climb,SURFACE_DEPTH_REACHED
$STATE,2993,begin surface coast
$FINISH,0.3,1.023995
$STATE,3025,end surface coast,CONTROL_FINISHED_OK
$STATE,3025,begin surface
$SM_CCo,3043,129.85,0.465,0,0,958,300.24
$SM_GC,0.48,6.05,0.00,129.85,0.057,0.000,0.465,144,247,958,-6.19,-0.08,300.24,0,0,0,0,0,0,26.18,28.83,24.84
$IRIDIUM_FIX,4726.11,-12225.08,180713,030348
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.6,58.3
$24V_AH,24.8,0.728
$10V_AH,10.4,0.911
$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,14.525,3.050,163.325,129.850,0.000,55.167,104.248,277.775,0.500,0.000,29.263,1222.562,408.596,364.347,1657.018,184.925,33.210,850.262,0.000,1207.379,0.000,5.574,0.000
$DEVICE_MAMPS,247.860,59.670,569.160,465.120,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.959,231.029,830.839,846.569,0.000,0.000,0.000,0.000,0.000,0.000
$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,43982,533
$CAP_FILE_SIZE,59652,0
$CFSIZE,260165632,257875968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,042730,4743.663,-12223.707,11,1.6,22,18.2