version: 66.10
glider: 156
mission: 4
dive: 19
start: 7 18 113 14 44 16
data:
$ID,156
$MISSION,4
$DIVE,19
$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,-858751.69
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,180713,143145,4742.714,-12224.684,11,2.8,30,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-68.6
$GPS2,180713,144321,4742.664,-12224.772,10,2.8,29,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.182
$KALMAN_X,-397.5,7.2,678.5,4.5,40.4
$KALMAN_Y,-5541.9,-48.1,1096.8,3615.0,-323.9
$MHEAD_RNG_PITCHd_Wd,338.5,2290,-20.9,-8.000
$D_GRID,180
$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,-61.08,0.000,2,0.000,0.000,139,1981,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.66,-78.2,3.1,-7.8,9,100,7.25,2.17,-0.10,0.000,4,0.251,0.055,1923,3390,2499,0,0,0,0,0,0,25.66,25.94,25.75
$GC,185,-0.66,-78.2,22.6,-12.0,27,193,0.00,2.15,0.00,0.000,6,0.000,0.030,1924,1971,2501,0,0,0,0,0,0,28.83,26.06,28.83
$GC,258,-0.66,-78.2,30.7,-11.1,40,266,0.00,2.45,0.00,0.000,4,0.000,0.043,1924,578,2500,0,0,0,0,0,0,28.83,26.09,28.83
$GC,345,-0.66,-78.2,41.7,-13.3,56,353,0.00,2.42,0.00,0.000,6,0.000,0.034,1912,1970,2500,0,0,0,0,0,0,28.83,26.17,28.83
$GC,485,-0.66,-78.2,59.6,-11.7,81,491,0.00,2.42,0.00,0.000,4,0.000,0.044,1912,571,2501,0,0,0,0,0,0,28.83,26.22,28.83
$GC,525,-0.66,-78.2,65.1,-13.3,88,534,0.08,2.45,0.00,0.000,6,0.172,0.034,1926,1978,2501,0,0,0,0,0,0,26.10,26.25,28.83
$GC,667,-0.66,-78.2,81.4,-11.9,113,673,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1976,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,804,-0.66,-78.2,97.0,-11.3,138,812,0.00,2.47,0.00,0.000,4,0.000,0.042,1926,569,2501,0,0,0,0,0,0,28.83,26.38,28.83
$GC,862,-0.66,-78.2,103.2,-10.8,148,870,0.00,2.45,0.00,0.000,6,0.000,0.034,1916,1985,2501,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1002,-0.66,-78.2,118.5,-11.3,173,1009,0.00,2.10,0.00,0.000,4,0.000,0.046,1905,3393,2501,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1062,-0.66,-78.2,125.5,-12.1,183,1069,0.00,2.08,0.00,0.000,6,0.000,0.031,1905,1971,2501,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1200,-0.66,-78.2,142.4,-11.7,208,1209,0.12,2.42,0.00,0.000,4,0.184,0.042,1946,574,2501,0,0,0,0,0,0,26.30,26.42,28.83
$GC,1278,-0.66,-78.2,150.6,-10.7,221,1284,0.00,2.38,0.00,0.000,6,0.000,0.034,1936,1980,2501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1413,-0.66,-78.2,164.3,-9.0,246,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,1978,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-0.66,-78.2,176.9,-9.8,271,1560,0.00,2.42,0.00,0.000,4,0.000,0.042,1936,564,2501,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1580,begin apogee
$GC,1590,-0.21,0.0,180.5,-10.3,276,1655,0.45,0.00,60.17,0.584,6,0.149,0.000,2069,1887,2182,0,0,0,0,0,0,26.34,28.83,25.22
$STATE,1656,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1659,0.66,78.2,184.8,0.0,286,1736,0.80,2.28,66.30,0.566,4,0.092,0.044,2351,3291,1863,0,0,0,0,0,0,25.71,25.28,24.75
$GC,1781,0.66,78.2,177.2,10.4,305,1788,0.00,2.17,0.00,0.000,6,0.000,0.033,2361,1889,1860,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1919,0.66,78.2,162.5,10.6,330,1927,0.00,2.55,0.00,0.000,4,0.000,0.047,2372,462,1858,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1996,0.66,78.2,153.5,12.5,343,2003,0.00,2.45,0.00,0.000,6,0.000,0.033,2372,1887,1857,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2132,0.66,78.2,137.5,11.4,368,2140,0.00,2.17,0.00,0.000,4,0.000,0.043,2372,3286,1857,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2169,0.66,78.2,133.0,12.0,374,2177,0.00,2.17,0.00,0.000,6,0.000,0.033,2382,1878,1856,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2312,0.66,78.2,115.3,12.9,399,2319,0.00,2.45,0.00,0.000,4,0.000,0.045,2395,454,1856,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2349,0.66,78.2,109.8,14.6,405,2357,0.15,2.45,0.00,0.000,6,0.189,0.032,2358,1885,1856,0,0,0,0,0,0,26.05,26.23,28.83
$GC,2490,0.66,78.2,94.4,10.8,430,2498,0.00,2.17,0.00,0.000,4,0.000,0.044,2359,3289,1855,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2580,0.66,78.2,84.1,11.3,446,2588,0.00,2.17,0.00,0.000,6,0.000,0.034,2367,1876,1855,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2723,0.66,78.2,71.0,9.1,471,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1875,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,0.66,94.0,60.0,6.9,496,2879,0.00,0.00,12.75,0.493,6,0.000,0.000,2367,1875,1799,0,0,0,0,0,0,28.83,28.83,25.72
$GC,3013,0.66,94.0,47.5,8.5,523,3020,0.00,2.42,0.00,0.000,4,0.000,0.046,2379,461,1798,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3107,0.66,94.0,37.1,10.2,540,3115,0.00,2.45,0.00,0.000,6,0.000,0.032,2379,1884,1797,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3180,0.66,94.0,29.8,9.9,553,3188,0.00,2.50,0.00,0.000,4,0.000,0.044,2390,465,1797,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3304,0.66,94.0,18.7,8.8,576,3312,0.08,2.42,0.00,0.000,6,0.177,0.032,2367,1879,1797,0,0,0,0,0,0,26.25,26.43,28.83
$GC,3377,0.66,98.5,12.9,7.7,589,3393,0.00,2.53,4.95,0.392,4,0.000,0.046,2377,461,1781,0,0,0,0,0,0,28.83,26.37,25.82
$GC,3407,0.67,108.8,10.7,7.3,593,3424,0.00,2.45,9.77,0.451,6,0.000,0.032,2378,1881,1739,0,0,0,0,0,0,28.83,26.40,25.76
$GC,3489,0.68,148.9,5.8,5.2,607,3532,0.00,2.20,32.55,0.474,4,0.000,0.044,2378,3286,1573,0,0,0,0,0,0,28.83,25.98,25.52
$STATE,3564,end climb,SURFACE_DEPTH_REACHED
$STATE,3564,begin surface coast
$FINISH,-0.5,1.006483
$STATE,3629,end surface coast,CONTROL_FINISHED_OK
$STATE,3629,begin surface
$SM_CCo,3649,114.95,0.464,0,0,959,300.24
$SM_GC,0.36,5.95,2.03,114.95,0.050,0.033,0.464,142,1972,959,-6.18,0.93,300.24,0,0,0,0,0,0,26.15,26.14,24.88
$IRIDIUM_FIX,4726.11,-12227.78,180713,141457
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.17
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,24.8,1.396
$10V_AH,10.4,1.516
$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,14.875,74.750,186.500,114.950,0.000,58.157,104.151,308.906,0.000,0.000,31.336,1450.734,456.087,418.662,1909.570,227.606,33.224,1006.503,0.000,1425.515,0.000,0.535,0.000
$DEVICE_MAMPS,250.920,55.080,583.695,463.590,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.451,282.822,996.674,1013.394,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323568
$DATA_FILE_SIZE,50428,631
$CAP_FILE_SIZE,76974,0
$CFSIZE,260165632,257409024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,154829,4742.902,-12224.949,40,1.9,46,18.2