version: 66.10
glider: 156
mission: 3
dive: 21
start: 5 4 112 7 51 44
data:
$ID,156
$MISSION,3
$DIVE,21
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,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,-764954.25
$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,30
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,20
$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,1
$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
$GPS1,040512,074514,4741.343,-12225.578,10,1.7,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-63.4
$GPS2,040512,075032,4741.315,-12225.609,12,1.7,12,18.2
$SPEED_LIMITS,0.549,0.559
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,0.530
$KALMAN_X,-4521.8,-950.3,-107.4,4544.2,13.7
$KALMAN_Y,-5862.6,-1250.9,-182.3,4859.3,-77.0
$MHEAD_RNG_PITCHd_Wd,0.5,5955,-17.1,-20.000
$D_GRID,63
$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,-0.56,-146.6,0.0,0.0,0,109,0.00,0.00,-90.82,0.000,2,0.000,0.000,143,1983,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.56,-146.6,3.4,-7.4,13,130,7.45,1.70,-3.83,0.000,4,0.245,0.064,2017,3062,2697,0,0,0,0,0,0,25.58,25.83,26.10
$GC,364,-0.56,-146.6,48.4,-12.3,60,373,0.00,1.65,0.00,0.000,6,0.000,0.040,2017,1985,2699,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,487,-0.21,0.0,63.5,-12.5,81,613,0.40,0.00,116.80,0.607,6,0.152,0.000,2142,1852,2093,0,0,0,0,0,0,25.96,28.83,24.38
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,617,0.56,146.6,69.4,0.0,101,737,0.80,0.00,115.32,0.582,6,0.127,0.000,2391,1851,1496,0,0,0,0,0,0,24.91,28.83,24.22
$GC,866,0.68,550.4,49.1,8.8,144,1078,0.12,2.00,201.52,0.562,4,0.101,0.050,2453,837,449,0,0,0,0,0,0,25.45,24.68,24.22
$GC,1087,0.72,682.0,18.6,16.3,176,1095,0.00,2.00,0.00,0.000,6,0.000,0.037,2453,1887,446,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1161,0.75,777.1,7.1,17.4,189,1168,0.00,2.03,0.00,0.000,4,0.000,0.050,2462,842,444,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1184,0.79,908.2,3.4,16.4,192,1192,0.00,1.95,0.00,0.000,6,0.000,0.038,2462,1878,443,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,1198,end climb,SURFACE_DEPTH_REACHED
$STATE,1198,begin surface coast
$FINISH,-0.1,1.001319
$STATE,1215,end surface coast,CONTROL_FINISHED_OK
$STATE,1215,begin surface
$SM_CCo,1293,0.00,0.000,0,0,442,405.47
$SM_GC,0.77,6.32,0.17,0.00,0.050,0.066,0.000,148,1997,442,-6.40,-0.74,405.47,0,0,0,0,0,0,25.47,25.49,28.83
$IRIDIUM_FIX,4722.92,-12227.78,040512,070728
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.94
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,24.2,1.803
$10V_AH,10.4,1.089
$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,15.100,11.675,433.650,0.000,0.000,31.425,28.943,148.353,0.250,0.000,13.678,369.135,110.748,371.004,696.046,92.206,33.214,694.237,0.000,494.123,0.000,0.993,0.000
$DEVICE_MAMPS,244.800,70.380,607.410,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,130.982,95.073,364.566,374.258,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,17105,197
$CAP_FILE_SIZE,27880,1
$CFSIZE,260165632,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,081422,4741.270,-12225.556,8,2.1,27,18.2