version: 66.10
glider: 156
mission: 3
dive: 9
start: 5 4 112 0 23 4
data:
$ID,156
$MISSION,3
$DIVE,9
$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,37
$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,-7
$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,55
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51688
$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,225
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5627
$TGT_DEFAULT_LON,-748
$TGT_AUTO_DEFAULT,0
$SM_CC,260
$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,-764939.25
$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,20
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,41
$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,2
$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
$GPS1,040512,001507,4740.605,-12226.981,32,1.0,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.5
$GPS2,040512,002144,4740.575,-12227.049,15,1.1,15,18.2
$SPEED_LIMITS,0.095,0.233
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,0.182
$KALMAN_X,-1968.6,-1423.2,-237.6,800.1,-18.2
$KALMAN_Y,-2701.0,-2087.6,-311.8,1285.0,31.0
$MHEAD_RNG_PITCHd_Wd,20.3,8038,-27.8,-13.514
$D_GRID,105
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.87,-97.7,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,6,0.000,0.000,156,2006,2495,0,0,0,0,0,0,28.83,28.83,26.13
$GC,84,-0.87,-97.7,3.5,-7.1,9,99,7.20,0.00,0.00,0.000,6,0.254,0.000,1920,2003,2497,0,0,0,0,0,0,25.48,28.83,28.83
$GC,164,-0.87,-97.7,24.0,-19.7,23,171,0.00,1.35,0.00,0.000,4,0.000,0.046,1920,1284,2498,0,0,0,0,0,0,28.83,25.86,28.83
$GC,414,-0.87,-97.7,75.9,-18.8,69,420,0.00,1.25,0.00,0.000,6,0.000,0.041,1916,1970,2499,0,0,0,0,0,0,28.83,26.07,28.83
$GC,555,-0.87,-97.7,102.9,-19.4,94,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1967,2499,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,574,-0.21,0.0,106.0,-19.7,96,657,0.73,0.00,78.38,0.635,4,0.181,0.000,2129,1864,2095,0,0,0,0,0,0,25.91,28.83,24.51
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,661,0.87,97.7,114.2,0.0,109,750,1.10,1.17,81.20,0.614,4,0.132,0.047,2482,2584,1695,0,0,0,0,0,0,25.04,25.17,24.22
$GC,994,0.87,97.7,78.8,13.9,168,1002,0.00,1.10,0.00,0.000,6,0.000,0.049,2487,1887,1688,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1135,0.87,97.7,60.5,13.7,193,1142,0.00,1.10,0.00,0.000,4,0.000,0.047,2487,2592,1688,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1383,0.88,111.2,26.2,12.3,239,1399,0.00,1.12,11.23,0.535,6,0.000,0.047,2493,1870,1641,0,0,0,0,0,0,28.83,26.10,25.33
$GC,1464,0.88,113.1,15.9,13.3,253,1472,0.00,1.12,0.00,0.000,4,0.000,0.045,2493,2593,1640,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1543,0.89,144.1,7.0,10.6,267,1579,0.00,1.10,26.80,0.563,6,0.000,0.047,2498,1890,1507,0,0,0,0,0,0,28.83,26.06,25.12
$STATE,1585,end climb,SURFACE_DEPTH_REACHED
$STATE,1585,begin surface coast
$FINISH,-0.3,1.020677
$STATE,1618,end surface coast,CONTROL_FINISHED_OK
$STATE,1618,begin surface
$SM_CCo,1636,96.35,0.517,1,0,1034,260.01
$SM_GC,0.96,6.47,0.17,96.35,0.063,0.073,0.517,150,2007,1034,-6.38,-0.71,260.01,0,0,0,0,1,0,25.77,25.82,24.46
$IRIDIUM_FIX,4722.92,-12223.37,030512,232348
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.02
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,8.6
$24V_AH,24.2,0.786
$10V_AH,10.4,0.574
$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,15.500,9.650,197.600,96.350,0.000,30.573,32.439,221.257,0.750,0.000,16.044,641.230,144.175,315.047,950.028,120.893,33.214,619.902,0.000,670.536,0.000,5.439,0.000
$DEVICE_MAMPS,253.980,76.500,634.950,517.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.230,134.337,479.280,491.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345912
$DATA_FILE_SIZE,23888,279
$CAP_FILE_SIZE,36288,0
$CFSIZE,260165632,255713280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040512,005255,4740.670,-12226.993,9,1.1,14,18.2