version: 66.10
glider: 156
mission: 3
dive: 32
start: 5 4 112 14 6 41
data:
$ID,156
$MISSION,3
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$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,42
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,180
$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,-765009.62
$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,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,040512,140136,4743.463,-12223.896,9,1.1,25,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-70.5
$GPS2,040512,140544,4743.520,-12223.842,11,1.1,11,18.2
$SPEED_LIMITS,0.094,0.154
$TGT_NAME,HEADING
$TGT_LATLONG,4732.721,-12223.842
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,-0.537
$KALMAN_X,-4429.6,-630.0,-56.8,6277.4,274.0
$KALMAN_Y,-6038.6,-992.8,-126.4,8794.5,433.3
$MHEAD_RNG_PITCHd_Wd,161.8,20000,-39.5,-13.492
$D_GRID,167
$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,-48.9,0.0,0.0,0,75,0.00,0.00,-56.08,0.000,2,0.000,0.000,154,818,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.21,-48.9,3.6,-7.4,8,94,6.55,0.00,-2.40,0.000,6,0.244,0.000,1820,816,2293,0,0,0,0,0,0,25.68,28.83,26.22
$GC,159,-1.21,-48.9,20.4,-19.9,22,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,232,-1.21,-48.9,35.8,-18.4,35,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,305,-1.21,-48.9,48.3,-15.7,48,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,447,-1.21,-48.9,70.3,-17.1,73,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-1.21,-48.9,93.2,-17.0,98,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-1.21,-48.9,116.6,-17.7,123,739,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,872,-1.21,-48.9,140.4,-15.5,148,879,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1011,-1.21,-48.9,161.6,-15.9,173,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,816,2295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1050,begin apogee
$GC,1056,-0.21,0.0,167.3,-13.8,180,1103,1.12,0.00,41.88,0.685,6,0.199,0.000,2142,816,2095,0,0,0,0,0,0,26.08,28.83,24.99
$STATE,1104,end apogee,CONTROL_FINISHED_OK
$STATE,1104,begin climb
$GC,1107,1.21,48.9,170.9,0.0,187,1159,1.40,0.00,42.72,0.666,6,0.122,0.000,2598,816,1896,0,0,0,0,0,0,25.53,28.83,24.53
$GC,1290,1.21,48.9,144.8,17.6,219,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,816,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,1.21,48.9,120.9,17.1,244,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,816,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,1.21,48.9,98.2,15.7,269,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,816,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,1.21,50.6,78.7,13.2,294,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,816,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,1.21,50.6,58.9,14.2,319,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,816,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,1.22,68.5,41.8,10.2,344,1997,0.00,0.00,16.33,0.583,6,0.000,0.000,2598,816,1815,0,0,0,0,0,0,28.83,28.83,25.33
$GC,2125,1.22,77.1,24.7,11.9,371,2140,0.00,0.00,8.23,0.520,6,0.000,0.000,2597,816,1779,0,0,0,0,0,0,28.83,28.83,25.34
$GC,2205,1.22,77.1,13.6,13.8,385,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,816,1778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,1.23,109.2,6.0,7.6,398,2308,0.00,0.00,27.00,0.575,6,0.000,0.000,2597,816,1648,0,0,0,0,0,0,28.83,28.83,25.11
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,-0.0,1.020073
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2383,154.52,0.541,1,0,871,300.24
$SM_GC,0.98,6.70,0.00,154.52,0.060,0.000,0.541,149,816,871,-6.40,-0.17,300.24,0,0,0,0,1,0,25.78,28.83,24.29
$IRIDIUM_FIX,4726.11,-12225.08,040512,131338
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.80
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,15.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,135.3,43.4
$24V_AH,24.3,2.708
$10V_AH,10.4,1.559
$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,15.775,0.000,136.150,154.525,0.000,0.000,0.000,0.000,5.750,0.000,12.355,955.986,241.965,358.649,954.839,96.037,33.203,746.317,0.000,955.136,0.000,28.420,0.000
$DEVICE_MAMPS,244.035,0.000,684.675,540.855,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.042,187.936,660.199,676.794,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,33660,413
$CAP_FILE_SIZE,58712,0
$CFSIZE,260165632,255021056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040512,145004,4743.848,-12223.957,9,2.4,28,18.2