version: 66.10
glider: 156
mission: 3
dive: 16
start: 5 4 112 5 3 24
data:
$ID,156
$MISSION,3
$DIVE,16
$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,25
$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,250
$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,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,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,-764948
$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,2227
$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,39
$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,3
$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
$GPS1,040512,045556,4741.512,-12226.059,11,1.8,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-65.1
$GPS2,040512,050228,4741.494,-12226.125,12,2.4,31,18.2
$SPEED_LIMITS,0.140,0.407
$TGT_NAME,HEADING
$TGT_LATLONG,4749.130,-12214.753
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.296,0.280
$KALMAN_X,-3791.5,-1159.4,-47.3,3323.9,8.8
$KALMAN_Y,-4291.5,-1425.4,82.8,3524.6,31.7
$MHEAD_RNG_PITCHd_Wd,28.4,20000,-24.0,-20.000
$D_GRID,164
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.80,-244.3,0.0,0.0,0,97,0.00,0.00,-76.55,0.000,2,0.000,0.000,152,2003,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.80,-244.3,3.4,-6.5,11,125,7.43,1.10,-10.82,0.000,4,0.256,0.080,1957,2688,3093,0,0,0,0,0,0,25.51,25.82,26.11
$GC,288,-0.80,-244.3,48.3,-20.1,45,294,0.00,1.10,0.00,0.000,6,0.000,0.040,1957,1962,3096,0,0,0,0,0,0,28.83,25.98,28.83
$GC,426,-0.80,-244.3,75.4,-19.3,70,434,0.00,1.20,0.00,0.000,4,0.000,0.041,1957,1294,3096,0,0,0,0,0,0,28.83,26.06,28.83
$GC,526,-0.80,-244.3,94.4,-19.8,87,533,0.00,1.23,0.00,0.000,6,0.000,0.042,1953,1965,3096,0,0,0,0,0,0,28.83,26.11,28.83
$GC,665,-0.80,-244.3,120.1,-17.8,112,673,0.00,1.10,0.00,0.000,4,0.000,0.047,1948,2687,3096,0,0,0,0,0,0,28.83,26.17,28.83
$GC,730,-0.80,-244.3,131.9,-16.5,123,737,0.00,1.08,0.00,0.000,6,0.000,0.041,1948,1978,3096,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,821,begin apogee
$GC,828,-0.21,0.0,150.4,-19.6,140,1026,0.65,0.00,189.62,0.666,4,0.161,0.000,2148,1863,2094,0,0,0,0,0,0,26.05,28.83,24.14
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1030,0.80,244.3,161.5,0.0,171,1234,0.98,1.20,192.55,0.636,4,0.096,0.046,2484,2581,1098,0,0,0,0,0,0,24.78,24.84,24.10
$GC,1399,0.80,244.3,102.8,22.6,233,1406,0.00,1.10,0.00,0.000,6,0.000,0.046,2489,1893,1093,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1537,0.80,244.3,73.2,20.1,258,1545,0.00,1.08,0.00,0.000,4,0.000,0.044,2489,2578,1092,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1771,0.80,244.3,23.8,21.0,301,1779,0.00,1.10,0.00,0.000,6,0.000,0.045,2495,1877,1092,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1845,0.81,291.5,10.5,17.4,314,1888,0.00,1.30,37.20,0.562,4,0.000,0.044,2501,1182,906,0,0,0,0,0,0,28.83,25.50,25.01
$STATE,1895,end climb,SURFACE_DEPTH_REACHED
$STATE,1895,begin surface coast
$FINISH,-0.2,1.020453
$STATE,1913,end surface coast,CONTROL_FINISHED_OK
$STATE,1913,begin surface
$SM_CCo,1992,0.00,0.000,0,0,902,292.64
$SM_GC,0.68,6.47,1.52,0.00,0.058,0.043,0.000,144,1976,902,-6.44,-0.93,292.64,0,0,0,0,0,0,25.63,25.61,28.83
$IRIDIUM_FIX,4726.11,-12227.78,040512,040410
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.41
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,15.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,85.9,7.2
$24V_AH,24.1,1.362
$10V_AH,10.4,0.904
$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,15.525,14.250,419.375,0.000,0.000,29.568,33.587,200.139,2.000,0.000,33.006,645.924,225.073,378.167,1026.631,117.540,33.219,774.577,0.000,748.115,0.000,9.723,0.000
$DEVICE_MAMPS,256.275,80.325,666.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.427,141.072,509.695,520.105,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323068
$DATA_FILE_SIZE,27064,324
$CAP_FILE_SIZE,38856,0
$CFSIZE,260165632,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,053726,4741.549,-12225.981,13,1.9,13,18.2