version: 66.10
glider: 156
mission: 3
dive: 2
start: 5 3 112 18 2 44
data:
$ID,156
$MISSION,3
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51688
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,45
$ESCAPE_HEADING,225
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5627
$TGT_DEFAULT_LON,-748
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$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,-764672.31
$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,2210
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,2095
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-17.527039
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$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,0.0043884995
$SEABIRD_T_H,0.00063936203
$SEABIRD_T_I,2.617801e-05
$SEABIRD_T_J,2.9531161e-06
$SEABIRD_C_G,-10.166588
$SEABIRD_C_H,1.1473273
$SEABIRD_C_I,-0.001781496
$SEABIRD_C_J,0.00022258813
$GPS1,030512,175732,4742.454,-12224.853,13,1.7,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.8
$GPS2,030512,180150,4742.387,-12224.890,15,1.7,33,18.2
$SPEED_LIMITS,0.100,0.216
$TGT_NAME,HEADING
$TGT_LATLONG,4750.023,-12213.514
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.071,0.204
$KALMAN_X,-53.9,-53.9,-53.9,26.3,-183.2
$KALMAN_Y,-166.1,-166.1,-166.1,53.7,-564.2
$MHEAD_RNG_PITCHd_Wd,26.8,20000,-21.7,-10.000
$D_GRID,143
$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,-0.78,-97.7,0.0,0.0,0,103,0.00,0.00,-83.75,0.000,2,0.000,0.000,150,1894,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.78,-97.7,3.2,-6.4,12,123,7.15,2.55,-3.20,0.000,4,0.249,0.064,1960,505,2496,0,0,0,0,0,0,25.77,26.11,26.44
$GC,339,-0.78,-97.7,44.8,-15.0,56,347,0.00,2.45,0.00,0.000,6,0.000,0.039,1951,1891,2498,0,0,0,0,0,0,28.83,26.25,28.83
$GC,479,-0.78,-97.7,67.2,-15.9,81,486,0.00,2.15,0.00,0.000,4,0.000,0.048,1941,3320,2499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,516,-0.78,-97.7,73.6,-17.9,87,522,0.00,2.10,0.00,0.000,6,0.000,0.047,1941,1919,2499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,652,-0.78,-97.7,96.2,-16.7,112,659,0.00,2.60,0.00,0.000,4,0.000,0.057,1941,486,2499,0,0,0,0,0,0,28.83,26.30,28.83
$GC,674,-0.78,-97.7,99.9,-17.9,115,681,0.12,2.50,0.00,0.000,6,0.203,0.039,1957,1905,2499,0,0,0,0,0,0,26.06,26.32,28.83
$GC,814,-0.78,-97.7,124.0,-16.5,140,822,0.00,2.60,0.00,0.000,4,0.000,0.056,1958,481,2499,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,982,end dive,NO_VERTICAL_VELOCITY
$STATE,982,begin apogee
$GC,991,-0.21,0.0,127.8,0.0,171,1079,0.57,0.00,78.90,0.654,4,0.142,0.000,2135,1899,2095,0,0,0,0,0,0,26.15,28.83,24.65
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,0.78,97.7,127.8,0.0,185,1173,1.05,2.22,79.65,0.628,4,0.122,0.047,2456,3325,1695,0,0,0,0,0,0,25.30,25.40,24.37
$GC,1390,0.78,97.7,93.8,14.7,239,1397,0.00,2.20,0.00,0.000,6,0.000,0.050,2466,1898,1689,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1528,0.78,97.7,76.5,11.9,264,1537,0.00,2.20,0.00,0.000,4,0.000,0.047,2467,3320,1687,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1779,0.78,97.7,43.7,13.8,310,1787,0.00,2.17,0.00,0.000,6,0.000,0.047,2476,1903,1686,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1917,0.78,97.7,28.4,10.2,335,1925,0.00,2.60,0.00,0.000,4,0.000,0.057,2489,485,1686,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2161,0.79,107.6,3.8,9.3,381,2178,0.00,2.50,11.00,0.085,2,0.000,0.039,2488,1894,1667,0,0,0,0,1,0,28.83,26.32,26.22
$STATE,2179,end climb,SURFACE_DEPTH_REACHED
$STATE,2179,begin surface coast
$FINISH,0.3,1.020971
$STATE,2212,end surface coast,CONTROL_FINISHED_OK
$STATE,2212,begin surface
$SM_CCo,2228,154.30,0.545,1,0,871,300.24
$SM_GC,0.88,6.35,0.00,154.30,0.068,0.000,0.545,141,1894,871,-6.39,-0.17,300.24,0,0,0,0,1,0,26.32,28.83,24.49
$IRIDIUM_FIX,4722.92,-12226.07,030512,171748
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.88
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.20
$XPDR_PINGS,6
$24V_AH,24.4,0.259
$10V_AH,10.5,0.207
$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,15.250,33.375,169.550,154.300,0.000,0.000,0.000,0.000,2.250,0.000,34.807,872.089,206.546,387.971,935.361,81.354,30.066,760.669,0.000,918.591,0.000,7.002,0.000
$DEVICE_MAMPS,248.625,64.260,654.075,544.680,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.083,186.821,655.213,672.032,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,30349,389
$CAP_FILE_SIZE,54743,0
$CFSIZE,260165632,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030512,184354,4742.256,-12224.986,25,0.8,42,18.2