version: 66.12
glider: 156
mission: 8
dive: 3
start: 3 28 116 20 9 43
data:
$ID,156
$MISSION,8
$DIVE,3
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,190
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,65
$T_MISSION,75
$T_ABORT,720
$T_TURN,600
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,51662
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,50
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5625
$TGT_DEFAULT_LON,-746
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$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,100840
$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,2343
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1677
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.008266
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$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,0.0043887724
$SEABIRD_T_H,0.00063998345
$SEABIRD_T_I,2.6561105e-05
$SEABIRD_T_J,3.0300534e-06
$SEABIRD_C_G,-10.162687
$SEABIRD_C_H,1.1452851
$SEABIRD_C_I,-0.0011496327
$SEABIRD_C_J,0.00017710653
$GPS1,280316,200446,4743.5488,-12224.2002,75,1.0,75,18.2,0.3,334.4,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.8
$GPS2,280316,200900,4743.5396,-12224.1982,13,1.1,13,18.2,0.2,32.7,8,8.2
$SPEED_LIMITS,0.364,0.374
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,329.9,1818,-11.1,-9.744,-14.62,5375
$D_GRID,173
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,14,begin dive
$GC,17,-0.57,-291.9,168,2166,421,582,0.0,0.0,0,86,0.00,0.00,-66.40,0.000,16386,0.000,0.000,167,2162,1924,1948,1900,0,0,0,0,0,0,26.32,28.83,26.35
$GC,91,-0.57,-291.9,168,2160,1948,1904,4.1,-7.5,7,123,7.35,2.55,-18.55,0.000,19204,0.220,1.281,2141,3582,2843,2933,2753,0,0,0,0,0,0,25.75,24.89,26.03
$GC,190,-0.57,-291.9,2140,3582,2933,2756,21.3,-11.5,18,201,0.00,2.25,0.00,0.000,1030,0.000,0.039,2141,2211,2844,2933,2756,0,0,0,0,0,0,26.09,26.05,26.12
$GC,391,-0.57,-291.9,2140,2196,2933,2756,45.6,-10.6,43,401,0.00,2.33,0.00,0.000,260,0.000,0.056,2131,3577,2844,2933,2755,0,0,0,0,0,0,26.45,26.15,26.48
$GC,423,-0.57,-291.9,2130,3577,2933,2755,49.5,-12.0,46,433,0.00,2.28,0.00,0.000,1030,0.000,0.039,2131,2184,2844,2933,2756,0,0,0,0,0,0,26.24,26.20,26.29
$GC,598,-0.57,-291.9,2130,2172,2933,2756,71.3,-12.1,71,605,0.00,2.33,0.00,0.000,260,0.000,0.056,2120,3582,2844,2933,2756,0,0,0,0,0,0,26.53,26.22,26.56
$GC,670,-0.57,-291.9,2120,3582,2933,2756,80.1,-11.9,81,678,0.12,2.22,0.00,0.000,3078,0.136,0.039,2163,2188,2844,2933,2756,0,0,0,0,0,0,26.17,26.29,26.29
$GC,924,-0.57,-291.9,2163,2172,2933,2756,103.9,-9.5,118,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2173,2844,2933,2756,0,0,0,0,0,0,26.63,26.66,26.65
$GC,1183,-0.57,-291.9,2163,2172,2933,2756,127.8,-9.7,155,1190,0.00,2.30,0.00,0.000,260,0.000,0.057,2155,3576,2844,2933,2756,0,0,0,0,0,0,26.67,26.36,26.71
$GC,1286,-0.57,-291.9,2154,3576,2933,2756,137.5,-9.5,170,1297,0.00,2.25,0.00,0.000,1030,0.000,0.040,2155,2184,2844,2933,2756,0,0,0,0,0,0,26.46,26.42,26.48
$GC,1544,-0.57,-291.9,2154,2177,2933,2756,160.9,-9.3,207,1551,0.00,2.30,0.00,0.000,260,0.000,0.056,2146,3580,2844,2933,2756,0,0,0,0,0,0,26.73,26.41,26.76
$GC,1617,-0.57,-291.9,2145,3580,2933,2756,167.7,-9.2,217,1624,0.00,2.20,0.00,0.000,1030,0.000,0.040,2146,2191,2844,2933,2756,0,0,0,0,0,0,26.53,26.46,26.55
$STATE,1673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1673,begin apogee
$GC,1681,-0.30,0.0,2146,2085,2933,2756,173.5,-10.0,225,1912,0.25,0.00,220.20,0.650,10246,0.116,0.000,2238,2083,1676,1643,1710,0,0,0,0,0,0,26.34,24.72,24.22
$STATE,1913,end apogee,CONTROL_FINISHED_OK
$STATE,1913,begin climb
$GC,1916,0.57,291.9,2238,2083,1643,1707,182.5,0.0,255,2178,0.77,2.50,239.18,0.612,11012,0.080,0.053,2509,3506,514,429,600,0,0,0,0,2,0,24.93,24.62,24.23
$GC,2251,0.59,355.8,2509,3506,429,599,165.2,8.5,299,2274,0.00,2.30,13.25,0.557,9222,0.000,0.043,2515,2140,450,384,516,0,0,0,0,0,0,25.49,25.41,24.71
$GC,2519,0.62,463.2,2514,2140,383,514,143.3,7.7,338,2530,0.00,2.35,0.00,0.000,260,0.000,0.054,2515,3504,448,383,514,0,0,0,0,0,0,26.15,25.86,26.17
$GC,2552,0.64,512.9,2514,3504,383,514,140.5,8.8,342,2562,0.00,2.38,0.00,0.000,1030,0.000,0.043,2519,2102,449,384,514,0,0,0,0,0,0,25.96,25.92,25.98
$GC,2808,0.67,623.8,2518,2102,384,514,120.1,7.6,379,2816,0.08,2.35,0.00,0.000,2308,0.121,0.054,2569,3504,448,383,514,0,0,0,0,0,0,26.13,26.09,26.16
$GC,2895,0.67,623.8,2569,3503,384,514,111.6,12.0,391,2902,0.00,2.30,0.00,0.000,1030,0.000,0.044,2578,2107,449,384,514,0,0,0,0,0,0,26.25,26.16,26.27
$GC,3148,0.67,623.8,2577,2103,384,514,83.5,11.3,428,3158,0.00,2.30,0.00,0.000,516,0.000,0.060,2589,707,449,384,514,0,0,0,0,0,0,26.53,26.24,26.57
$GC,3193,0.67,623.8,2588,706,384,514,78.3,11.0,434,3204,0.00,2.22,0.00,0.000,1030,0.000,0.044,2589,2093,448,383,514,0,0,0,0,0,0,26.31,26.27,26.34
$GC,3451,0.67,623.8,2588,2091,384,514,49.5,11.0,471,3461,0.00,2.40,0.00,0.000,260,0.000,0.055,2589,3523,449,384,514,0,0,0,0,0,0,26.62,26.32,26.65
$GC,3520,0.67,623.8,2588,3523,384,514,41.0,13.0,479,3532,0.12,2.38,0.03,0.196,13318,0.135,0.045,2558,2107,449,384,514,0,0,0,0,0,0,26.24,26.35,26.20
$GC,3724,0.70,720.7,2557,2106,384,514,22.9,7.9,504,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2106,449,384,514,0,0,0,0,0,0,26.67,26.70,26.70
$GC,3928,0.75,900.1,2557,2105,384,514,6.7,6.3,529,3939,0.00,2.40,0.00,0.000,260,0.000,0.054,2557,3518,449,384,514,0,0,0,0,0,0,26.70,26.37,26.73
$STATE,3987,end climb,SURFACE_DEPTH_REACHED
$STATE,3987,begin surface coast
$FINISH,0.2,1.020845
$STATE,4012,end surface coast,CONTROL_FINISHED_OK
$STATE,4012,begin surface
$SM_CCo,4094,0.00,0.000,0,0,448,308.47
$SM_GC,0.91,6.22,2.22,0.00,0.041,0.042,0.000,140,2185,448,-6.79,0.62,308.47,0,0,0,0,0,0,26.44,26.44,26.51
$IRIDIUM_FIX,4726.11,-12224.09,280316,200011
$TT8_MAMPS,0.026964,0.261401
$HUMID,33.77
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,110.6,74.2
$24V_AH,24.22,0.466
$10V_AH,10.35,0.215
$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,14.925,51.225,472.650,0.000,0.000,0.000,0.000,0.000,1.250,0.000,14.362,1169.287,371.297,393.198,2101.698,148.450,0.000,1085.644,0.000,1201.050,0.000,10.376,0.000
$DEVICE_MAMPS,220.320,1281.375,650.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.076,1770.055,833.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312212
$DATA_FILE_SIZE,40433,539
$CAP_FILE_SIZE,75858,0
$CFSIZE,260165632,258957312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280316,211927,4744.214,-12224.310,13,1.4,51,18.2,0.4,221.9,8,5.1