version: 66.10
glider: 156
mission: 3
dive: 26
start: 5 4 112 10 20 34
data:
$ID,156
$MISSION,3
$DIVE,26
$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,-764960.5
$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,26
$R_STBD_OVSHOOT,39
$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
$GPS1,040512,101331,4741.507,-12225.467,8,1.1,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-62.4
$GPS2,040512,101922,4741.572,-12225.442,10,4.1,29,18.2
$SPEED_LIMITS,0.549,0.559
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.254,0.499
$KALMAN_X,-4780.8,-895.4,-167.9,5016.7,-8.8
$KALMAN_Y,-6473.4,-1365.7,-457.6,6329.2,-9.7
$MHEAD_RNG_PITCHd_Wd,8.8,5435,-17.1,-20.000
$D_GRID,66
$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,-91.00,0.000,2,0.000,0.000,144,1995,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.56,-146.6,3.7,-7.0,13,130,7.43,1.60,-1.58,0.000,4,0.243,0.064,2019,3038,2695,0,0,0,0,0,0,25.60,25.84,26.07
$GC,138,-0.56,-146.6,12.1,-25.0,16,147,0.00,1.62,0.00,0.000,6,0.000,0.035,2021,1964,2696,0,0,0,0,0,0,28.83,25.86,28.83
$GC,212,-0.56,-146.6,24.6,-15.4,29,220,0.00,1.92,0.00,0.000,4,0.000,0.047,2021,936,2696,0,0,0,0,0,0,28.83,25.89,28.83
$GC,460,-0.56,-146.6,62.7,-14.4,75,467,0.00,1.88,0.00,0.000,6,0.000,0.041,2012,1967,2697,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,491,-0.21,0.0,66.6,-15.0,79,617,0.43,0.00,116.60,0.613,6,0.156,0.000,2144,1875,2093,0,0,0,0,0,0,25.95,28.83,24.38
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,621,0.56,146.6,76.0,0.0,99,748,0.77,1.77,116.15,0.591,4,0.122,0.045,2388,2938,1496,0,0,0,0,0,0,24.93,24.72,24.22
$GC,779,0.68,548.0,69.0,8.8,124,990,0.08,1.70,201.90,0.570,6,0.075,0.043,2436,1894,450,0,0,0,0,0,0,25.06,25.08,24.18
$GC,1115,0.71,655.6,18.5,17.0,181,1123,0.00,2.05,0.00,0.000,4,0.000,0.050,2446,822,443,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1162,0.82,995.5,11.7,10.5,189,1171,0.08,1.98,0.00,0.000,6,0.062,0.038,2501,1883,442,0,0,0,0,0,0,25.47,25.51,28.83
$STATE,1223,end climb,SURFACE_DEPTH_REACHED
$STATE,1223,begin surface coast
$FINISH,0.2,1.018717
$STATE,1240,end surface coast,CONTROL_FINISHED_OK
$STATE,1241,begin surface
$SM_CCo,1318,0.00,0.000,0,0,441,405.72
$SM_GC,0.76,6.40,0.17,0.00,0.054,0.066,0.000,150,2000,441,-6.39,-0.62,405.72,0,0,0,0,0,0,25.65,25.69,28.83
$IRIDIUM_FIX,4726.11,-12223.37,040512,090918
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.58
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,24.2,2.221
$10V_AH,10.4,1.271
$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,15.175,14.825,434.650,0.000,0.000,28.746,29.006,170.780,0.250,0.000,31.049,379.176,95.513,385.788,742.506,94.165,33.211,707.284,0.000,506.819,0.000,0.993,0.000
$DEVICE_MAMPS,243.270,79.560,612.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,135.547,101.464,377.396,386.129,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,17128,203
$CAP_FILE_SIZE,29648,1
$CFSIZE,260165632,255229952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,104320,4741.650,-12225.420,11,1.8,11,18.2