version: 66.10
glider: 156
mission: 3
dive: 4
start: 5 3 112 20 14 13
data:
$ID,156
$MISSION,3
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$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,28
$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,50
$COURSE_BIAS,0
$GLIDE_SLOPE,55
$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,40
$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,280
$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,-764817.62
$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,230
$C_ROLL_CLIMB,230
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,24
$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,0.00030000001
$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,-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,80
$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
$GPS1,030512,200701,4741.620,-12226.095,12,1.3,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.0
$GPS2,030512,201320,4741.572,-12226.215,14,1.3,14,18.2
$SPEED_LIMITS,0.133,0.138
$TGT_NAME,HEADING
$TGT_LATLONG,4749.845,-12215.875
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.065,0.121
$KALMAN_X,-669.0,-762.4,-552.0,216.2,-154.2
$KALMAN_Y,-893.8,-1053.0,-837.5,830.8,-258.0
$MHEAD_RNG_PITCHd_Wd,21.8,20000,-53.1,-19.048
$D_GRID,169
$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,-1.62,-48.9,0.0,0.0,0,80,0.00,0.00,-58.83,0.000,6,0.000,0.000,154,208,2296,0,0,0,0,0,0,28.83,28.83,26.43
$GC,83,-1.62,-48.9,3.6,-6.8,9,92,6.10,0.00,0.00,0.000,6,0.250,0.000,1683,203,2297,0,0,0,0,0,0,25.72,28.83,28.83
$GC,157,-1.62,-48.9,22.6,-27.4,22,165,0.00,2.55,0.00,0.000,4,0.000,0.036,1672,1650,2298,0,0,0,0,0,0,28.83,26.12,28.83
$GC,303,-1.62,-48.9,59.2,-23.0,49,310,0.00,2.55,0.00,0.000,6,0.000,0.051,1679,230,2298,0,0,0,0,0,0,28.83,26.17,28.83
$GC,443,-1.62,-48.9,91.6,-24.3,74,451,0.00,2.47,0.00,0.000,4,0.000,0.036,1668,1651,2299,0,0,0,0,0,0,28.83,26.25,28.83
$GC,459,-1.62,-48.9,95.7,-23.4,76,468,0.00,2.58,0.00,0.000,6,0.000,0.050,1677,233,2299,0,0,0,0,0,0,28.83,26.24,28.83
$GC,603,-1.62,-48.9,129.1,-24.3,101,612,0.00,2.47,0.00,0.000,4,0.000,0.036,1667,1663,2299,0,0,0,0,0,0,28.83,26.28,28.83
$GC,621,-1.62,-48.9,133.4,-23.5,103,629,0.00,2.58,0.00,0.000,6,0.000,0.050,1672,227,2299,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,737,begin apogee
$GC,743,-0.21,0.0,160.3,-21.9,124,790,1.67,0.00,42.12,0.679,4,0.220,0.000,2130,227,2095,0,0,0,0,0,0,25.93,28.83,24.89
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,791,begin climb
$GC,794,1.62,48.9,168.1,0.0,131,845,1.83,0.00,42.62,0.663,6,0.132,0.000,2722,228,1895,0,0,0,0,0,0,25.48,28.83,24.46
$GC,976,1.62,48.9,139.3,19.2,163,983,0.00,2.53,0.00,0.000,4,0.000,0.037,2716,1651,1891,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1228,1.63,55.1,94.2,17.4,209,1243,0.00,2.58,5.35,0.482,6,0.000,0.054,2728,237,1872,0,0,0,0,0,0,28.83,26.01,25.24
$GC,1377,1.63,59.6,66.5,17.9,235,1391,0.00,2.50,5.80,0.491,4,0.000,0.036,2718,1662,1850,0,0,0,0,0,0,28.83,26.00,25.33
$GC,1631,1.63,84.5,23.4,12.6,282,1661,0.00,2.58,21.38,0.581,6,0.000,0.053,2729,254,1749,0,0,0,0,0,0,28.83,26.15,25.20
$GC,1727,1.64,88.6,8.7,18.0,298,1743,0.00,2.53,4.53,0.421,4,0.000,0.036,2724,1670,1733,0,0,0,0,0,0,28.83,25.91,25.23
$STATE,1785,end climb,SURFACE_DEPTH_REACHED
$STATE,1785,begin surface coast
$FINISH,2.0,1.020961
$STATE,1835,end surface coast,CONTROL_FINISHED_OK
$STATE,1835,begin surface
$SM_CCo,1856,154.82,0.542,1,0,953,280.13
$SM_GC,0.95,8.25,2.65,154.82,0.149,0.051,0.542,154,229,953,-6.38,0.93,280.13,0,0,0,0,1,0,25.94,26.01,24.34
$IRIDIUM_FIX,4722.92,-12227.78,030512,202039
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.61
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,15.50
$XPDR_PINGS,4
$24V_AH,24.3,0.435
$10V_AH,10.5,0.318
$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,17.850,30.550,121.800,154.825,0.000,0.000,0.000,0.000,5.500,0.000,14.821,743.434,175.719,342.421,750.426,77.707,32.211,654.754,0.000,744.214,0.000,30.123,0.000
$DEVICE_MAMPS,250.155,53.550,679.320,541.620,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.662,145.996,520.000,530.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323160
$DATA_FILE_SIZE,27201,317
$CAP_FILE_SIZE,63488,0
$CFSIZE,260165632,255856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030512,204843,4741.481,-12226.327,9,1.1,14,18.2