version: 66.10
glider: 156
mission: 3
dive: 5
start: 5 3 112 21 12 34
data:
$ID,156
$MISSION,3
$DIVE,5
$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,35
$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,-764845.88
$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,1980
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,51
$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
$GPS1,030512,210443,4741.316,-12226.522,12,1.8,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-71.7
$GPS2,030512,211137,4741.236,-12226.626,11,1.8,16,18.2
$SPEED_LIMITS,0.100,0.153
$TGT_NAME,HEADING
$TGT_LATLONG,4749.508,-12216.287
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.094
$KALMAN_X,-993.9,-1015.6,-526.1,241.5,-215.0
$KALMAN_Y,-1237.3,-1425.2,-852.9,935.5,-152.2
$MHEAD_RNG_PITCHd_Wd,21.8,20000,-41.4,-14.286
$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,17,-1.27,-48.9,0.0,0.0,0,82,0.00,0.03,-58.53,0.000,6,0.000,1.314,151,1973,2296,0,0,0,0,0,0,28.83,24.88,26.36
$GC,86,-1.27,-48.9,3.6,-6.9,9,101,6.57,2.50,0.00,0.000,4,0.250,0.043,1805,566,2297,0,0,0,0,0,0,25.63,25.99,28.83
$GC,110,-1.27,-48.9,11.3,-23.8,12,118,0.00,2.47,0.00,0.000,6,0.000,0.039,1793,1960,2297,0,0,0,0,0,0,28.83,26.01,28.83
$GC,183,-1.27,-48.9,27.8,-21.8,25,191,0.00,2.53,0.00,0.000,4,0.000,0.051,1794,567,2298,0,0,0,0,0,0,28.83,26.01,28.83
$GC,254,-1.27,-48.9,44.0,-21.0,38,262,0.00,2.50,0.00,0.000,6,0.000,0.038,1783,1963,2298,0,0,0,0,0,0,28.83,26.10,28.83
$GC,394,-1.27,-48.9,71.5,-19.7,63,400,0.00,2.47,0.00,0.000,4,0.000,0.050,1784,569,2298,0,0,0,0,0,0,28.83,26.15,28.83
$GC,649,-1.27,-48.9,121.8,-20.8,109,656,0.00,2.47,0.00,0.000,6,0.000,0.039,1773,1979,2298,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,793,begin apogee
$GC,800,-0.21,0.0,150.7,-18.7,133,852,1.30,0.00,41.35,0.669,4,0.214,0.000,2133,1860,2096,0,0,0,0,0,0,25.96,28.83,24.90
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,855,1.27,48.9,157.2,0.0,141,907,1.58,2.28,43.10,0.656,4,0.134,0.050,2616,3298,1894,0,0,0,0,0,0,25.49,25.62,24.46
$GC,977,1.27,48.9,143.9,16.5,161,984,0.00,2.17,0.00,0.000,6,0.000,0.046,2625,1895,1889,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1113,1.27,48.9,122.9,15.6,186,1121,0.00,2.20,0.00,0.000,4,0.000,0.048,2625,3297,1888,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1364,1.27,48.9,84.3,15.1,232,1372,0.00,2.17,0.00,0.000,6,0.000,0.047,2635,1885,1886,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1506,1.27,49.8,63.9,14.1,257,1513,0.00,2.53,0.00,0.000,4,0.000,0.054,2648,467,1886,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1755,1.28,75.8,29.1,9.2,303,1785,0.00,2.50,21.77,0.588,6,0.000,0.040,2648,1876,1785,0,0,0,0,0,0,28.83,26.23,25.26
$GC,1851,1.28,81.4,18.7,13.2,319,1867,0.00,2.60,5.57,0.464,4,0.000,0.052,2659,461,1763,0,0,0,0,0,0,28.83,25.91,25.27
$STATE,1992,end climb,SURFACE_DEPTH_REACHED
$STATE,1992,begin surface coast
$FINISH,1.5,1.021017
$STATE,2024,end surface coast,CONTROL_FINISHED_OK
$STATE,2024,begin surface
$SM_CCo,2045,161.38,0.542,1,0,953,280.13
$SM_GC,0.64,7.65,2.72,161.38,0.129,0.038,0.542,159,1990,953,-6.36,-0.74,280.13,0,0,0,0,1,0,26.01,26.09,24.33
$IRIDIUM_FIX,4729.30,-12531.52,030512,212141
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.06
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,14.70
$XPDR_PINGS,4
$24V_AH,24.3,0.519
$10V_AH,10.5,0.378
$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,17.100,34.325,111.800,161.375,0.000,0.000,0.000,0.000,5.750,0.000,17.558,825.464,207.497,345.586,833.683,77.676,33.208,677.600,0.000,820.273,0.000,35.569,0.000
$DEVICE_MAMPS,250.155,1313.505,669.375,541.620,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.968,162.908,573.493,584.779,0.000,0.000,0.000,0.000,0.000,0.000
$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,27069,351
$CAP_FILE_SIZE,59772,0
$CFSIZE,260165632,255823872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030512,215036,4741.098,-12226.682,14,1.7,30,18.2