version: 66.10
glider: 156
mission: 3
dive: 17
start: 5 4 112 5 44 44
data:
$ID,156
$MISSION,3
$DIVE,17
$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,270
$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,-764949.25
$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,2218
$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,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,040512,053726,4741.549,-12225.981,13,1.9,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-68.3
$GPS2,040512,054346,4741.546,-12226.046,14,2.1,33,18.2
$SPEED_LIMITS,0.140,0.407
$TGT_NAME,HEADING
$TGT_LATLONG,4749.182,-12214.674
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.302,0.273
$KALMAN_X,-4144.5,-1108.0,-32.5,3710.3,-55.3
$KALMAN_Y,-4642.0,-1328.4,72.3,3887.3,-12.3
$MHEAD_RNG_PITCHd_Wd,29.7,20000,-24.0,-20.000
$D_GRID,161
$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,-0.80,-244.3,0.0,0.0,0,82,0.00,0.00,-63.20,0.000,2,0.000,0.000,144,1974,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.80,-244.3,3.1,-5.9,9,116,7.38,1.10,-15.70,0.000,4,0.256,0.071,1947,2702,3092,0,0,0,0,0,0,25.56,25.84,26.13
$GC,306,-0.80,-244.3,52.7,-20.0,49,312,0.00,1.10,0.00,0.000,6,0.000,0.041,1947,1976,3094,0,0,0,0,0,0,28.83,26.01,28.83
$GC,448,-0.80,-244.3,80.4,-21.2,74,456,0.00,1.23,0.00,0.000,4,0.000,0.041,1948,1290,3094,0,0,0,0,0,0,28.83,26.08,28.83
$GC,566,-0.80,-244.3,104.9,-18.6,95,573,0.00,1.25,0.00,0.000,6,0.000,0.041,1943,1989,3094,0,0,0,0,0,0,28.83,26.15,28.83
$GC,702,-0.80,-244.3,134.4,-22.7,120,709,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1987,3094,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,774,begin apogee
$GC,781,-0.21,0.0,150.4,-19.7,133,978,0.65,0.00,189.05,0.666,6,0.161,0.000,2143,1863,2094,0,0,0,0,0,0,26.05,28.83,24.15
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,981,0.80,244.3,158.5,0.0,164,1186,1.02,1.30,192.05,0.633,4,0.109,0.044,2476,1200,1097,0,0,0,0,0,0,24.75,24.63,24.10
$GC,1195,0.81,262.2,132.8,19.0,197,1215,0.00,1.30,15.35,0.565,6,0.000,0.039,2476,1873,1025,0,0,0,0,0,0,28.83,24.88,24.27
$GC,1346,0.81,262.2,101.6,20.1,224,1354,0.00,1.30,0.00,0.000,4,0.000,0.045,2482,1198,1023,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1362,0.81,262.2,98.1,20.8,226,1370,0.00,1.30,0.00,0.000,6,0.000,0.041,2482,1885,1022,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1502,0.81,262.2,69.3,20.5,251,1509,0.00,1.30,0.00,0.000,4,0.000,0.045,2487,1200,1022,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1517,0.81,262.2,66.0,20.9,253,1524,0.00,1.27,0.00,0.000,6,0.000,0.040,2487,1882,1021,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1654,0.81,262.2,35.8,20.7,278,1662,0.00,1.30,0.00,0.000,4,0.000,0.045,2493,1194,1021,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1671,0.81,262.2,32.4,20.5,280,1679,0.00,1.27,0.00,0.000,6,0.000,0.039,2493,1879,1021,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1744,0.81,269.9,17.8,19.6,293,1759,0.00,0.00,7.28,0.481,6,0.000,0.000,2493,1877,994,0,0,0,0,0,0,28.83,28.83,25.32
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,-0.3,1.021192
$STATE,1839,end surface coast,CONTROL_FINISHED_OK
$STATE,1839,begin surface
$SM_CCo,1916,0.00,0.000,0,0,990,271.05
$SM_GC,0.85,6.32,0.17,0.00,0.054,0.072,0.000,146,2006,990,-6.40,-0.76,271.05,0,0,0,0,0,0,25.94,25.98,28.83
$IRIDIUM_FIX,4722.92,-12226.07,040512,040438
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.45
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,15.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.4,8.2
$24V_AH,24.1,1.449
$10V_AH,10.4,0.951
$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,15.375,15.375,403.725,0.000,0.000,29.036,29.667,190.455,1.750,0.000,35.262,624.327,206.897,375.616,983.633,116.814,33.217,763.412,0.000,717.920,0.000,5.426,0.000
$DEVICE_MAMPS,255.510,71.910,665.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.570,136.551,489.362,498.904,0.000,0.000,0.000,0.000,0.000,0.000
$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,23749,310
$CAP_FILE_SIZE,40162,0
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,061800,4741.582,-12225.702,38,1.1,43,18.2