version: 66.10
glider: 156
mission: 4
dive: 12
start: 7 18 113 6 8 48
data:
$ID,156
$MISSION,4
$DIVE,12
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-858742.94
$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,3780
$C_ROLL_CLIMB,3780
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$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
$GPS1,180713,055713,4743.248,-12223.972,17,1.2,17,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-68.3
$GPS2,180713,060730,4743.219,-12223.991,14,1.2,31,18.2
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,0.354
$KALMAN_X,-875.0,0.7,-75.5,2221.4,-431.3
$KALMAN_Y,-4439.6,-38.2,-70.1,4713.7,-1002.9
$MHEAD_RNG_PITCHd_Wd,4.4,1918,-10.1,-10.000
$D_GRID,166
$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,-0.38,-244.4,0.0,0.0,0,100,0.00,0.00,-81.35,0.000,2,0.000,0.000,134,3771,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.38,-244.4,4.2,-10.0,12,127,7.43,0.00,-9.15,0.000,6,0.244,0.000,2013,3771,3180,0,0,0,0,0,0,25.76,28.83,26.34
$GC,192,-0.38,-244.4,21.2,-6.4,27,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3770,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,264,-0.38,-244.4,26.3,-7.8,40,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,337,-0.38,-244.4,31.8,-7.4,53,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,409,-0.38,-244.4,38.1,-9.1,66,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,483,-0.38,-244.4,43.8,-8.1,79,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,620,-0.38,-244.4,54.1,-6.9,104,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-0.38,-244.4,63.0,-6.2,129,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.38,-244.4,73.1,-7.7,154,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.38,-244.4,84.4,-8.9,179,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.38,-244.4,95.2,-7.5,204,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3770,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.38,-244.4,106.7,-8.5,229,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1445,-0.38,-244.4,117.5,-8.2,254,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.38,-244.4,129.0,-7.7,279,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1722,-0.38,-244.4,140.2,-7.4,304,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,-0.38,-244.4,153.2,-10.0,329,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,3771,3183,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1991,begin apogee
$GC,1998,-0.21,0.0,166.4,-9.9,353,2190,0.17,0.00,184.40,0.574,6,0.098,0.000,2081,3770,2183,0,0,0,0,0,0,26.53,28.83,24.57
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2194,0.38,244.4,181.5,0.0,383,2392,0.52,0.00,190.02,0.554,6,0.086,0.000,2265,3770,1185,0,0,0,0,0,0,25.13,28.83,24.47
$GC,2522,0.42,396.3,160.8,7.2,438,2648,0.00,0.00,118.57,0.539,6,0.000,0.000,2265,3770,565,0,0,0,0,0,0,28.83,28.83,24.55
$GC,2777,0.42,396.3,138.0,12.4,482,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,0.42,396.3,122.3,10.9,507,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,0.43,411.2,107.7,9.7,532,3074,0.00,0.00,13.68,0.499,6,0.000,0.000,2265,3770,506,0,0,0,0,0,0,28.83,28.83,25.40
$GC,3209,0.43,411.2,90.5,11.2,559,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,0.43,411.2,74.7,11.2,584,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,0.43,411.2,58.5,11.3,609,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,0.43,411.2,42.3,12.3,634,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,3770,499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,0.43,411.2,27.6,12.8,659,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,3770,498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,0.43,411.2,18.7,11.9,672,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,0.43,411.2,10.2,10.7,685,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,3770,498,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FINISH,-0.1,1.023356
$STATE,3991,end surface coast,CONTROL_FINISHED_OK
$STATE,3992,begin surface
$SM_CCo,4069,0.00,0.000,0,0,498,413.32
$SM_GC,0.51,5.53,0.00,0.00,0.047,0.000,0.000,141,3770,498,-6.17,-0.28,413.32,0,0,0,0,0,0,26.42,28.83,28.83
$IRIDIUM_FIX,4726.11,-12225.08,180713,040450
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.06
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,24.5,0.939
$10V_AH,10.4,1.059
$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,13.650,0.000,506.675,0.000,0.000,30.194,44.407,370.521,0.250,0.000,32.728,1470.928,490.182,498.880,2032.813,203.194,33.230,1193.643,0.000,1570.174,0.000,0.535,0.000
$DEVICE_MAMPS,244.035,0.000,573.750,0.000,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.766,298.357,1067.434,1091.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323576
$DATA_FILE_SIZE,60662,702
$CAP_FILE_SIZE,69191,1
$CFSIZE,260165632,257757184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,071718,4743.031,-12224.182,12,1.9,12,18.2