version: 66.10
glider: 156
mission: 3
dive: 31
start: 5 4 112 13 9 21
data:
$ID,156
$MISSION,3
$DIVE,31
$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,-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,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,300
$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,-764966.75
$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,822
$C_ROLL_CLIMB,822
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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
$GPS1,040512,130122,4743.014,-12224.359,10,2.4,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.0
$GPS2,040512,130822,4743.112,-12224.266,13,7.6,32,18.2
$SPEED_LIMITS,0.095,0.153
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.132
$KALMAN_X,-4621.8,-722.4,-92.2,6070.0,155.6
$KALMAN_Y,-6173.6,-1152.0,-287.5,8491.6,404.2
$MHEAD_RNG_PITCHd_Wd,12.6,2230,-39.6,-13.514
$D_GRID,175
$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,-1.21,-48.9,0.0,0.0,0,95,0.00,0.00,-76.88,0.000,2,0.000,0.000,149,1983,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.21,-48.9,3.8,-6.5,11,115,6.65,0.00,-0.70,0.000,6,0.247,0.000,1822,1981,2296,0,0,0,0,0,0,25.62,28.83,26.05
$GC,180,-1.21,-48.9,20.9,-17.3,25,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1981,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,252,-1.21,-48.9,33.0,-14.3,38,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1981,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,325,-1.21,-48.9,42.4,-12.1,51,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1981,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,461,-1.21,-48.9,63.2,-17.0,76,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1980,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-1.21,-48.9,86.0,-16.5,101,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1980,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-1.21,-48.9,111.1,-16.9,126,754,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1980,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-1.21,-48.9,135.0,-15.9,151,896,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1980,2297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,987,-0.21,0.0,150.2,-16.8,167,1039,1.08,0.00,42.22,0.679,6,0.203,0.000,2137,818,2095,0,0,0,0,0,0,26.05,28.83,24.99
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1040,begin climb
$GC,1042,1.21,48.9,155.2,0.0,175,1094,1.42,0.00,42.78,0.658,6,0.126,0.000,2596,818,1895,0,0,0,0,0,0,25.51,28.83,24.55
$GC,1226,1.21,48.9,128.8,17.9,207,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,818,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,1.21,48.9,105.8,16.7,232,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,818,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1500,1.21,48.9,83.1,15.5,257,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,818,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,1.21,48.9,62.8,14.6,282,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,818,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1774,1.21,48.9,42.2,15.2,307,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,818,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,1.21,48.9,22.4,14.0,332,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,818,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,1.23,84.8,15.8,6.9,345,2013,0.00,0.00,28.58,0.584,6,0.000,0.000,2597,818,1748,0,0,0,0,0,0,28.83,28.83,25.24
$GC,2079,1.24,117.6,7.4,7.4,362,2108,0.00,0.00,27.10,0.570,6,0.000,0.000,2596,818,1615,0,0,0,0,0,0,28.83,28.83,25.01
$STATE,2130,end climb,SURFACE_DEPTH_REACHED
$STATE,2131,begin surface coast
$FINISH,0.0,1.015978
$STATE,2163,end surface coast,CONTROL_FINISHED_OK
$STATE,2163,begin surface
$SM_CCo,2180,146.43,0.539,1,0,871,300.24
$SM_GC,0.82,6.72,0.00,146.43,0.060,0.000,0.539,155,818,871,-6.39,-0.11,300.24,0,0,0,0,1,0,25.69,28.83,24.32
$IRIDIUM_FIX,4726.11,-12223.37,040512,121232
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.03
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,140.3,43.6
$24V_AH,24.3,2.634
$10V_AH,10.4,1.494
$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,15.875,2.150,140.675,146.425,0.000,30.596,29.375,227.465,5.500,0.000,33.795,870.954,206.760,364.993,1193.616,129.389,33.205,738.713,0.000,884.295,0.000,31.798,0.000
$DEVICE_MAMPS,247.095,45.135,678.555,539.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.880,175.927,626.983,642.820,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,30455,376
$CAP_FILE_SIZE,45294,0
$CFSIZE,260165632,255070208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040512,134928,4743.300,-12224.067,15,2.1,34,18.2