version: 66.12
glider: 156
mission: 8
dive: 4
start: 3 28 116 21 29 17
data:
$ID,156
$MISSION,8
$DIVE,4
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,280316,211927,4744.2139,-12224.3096,13,1.4,51,18.2,0.4,221.9,8,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-59.7
$GPS2,280316,212830,4744.1758,-12224.3193,12,1.3,12,18.2,0.4,148.3,8,8.0
$SPEED_LIMITS,0.364,0.374
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,167.7,2189,-11.1,-9.744,-14.62,5375
$D_GRID,174
$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,-291.9,140,2169,383,514,0.0,0.0,0,86,0.00,0.00,-66.53,0.000,16386,0.000,0.000,140,2177,1868,1907,1830,0,0,0,0,0,0,26.12,28.83,26.15
$GC,91,-0.57,-291.9,140,2177,1907,1837,3.8,-7.3,7,132,7.55,2.40,-19.15,0.000,19204,0.221,1.278,2155,784,2845,2933,2757,0,0,1,0,0,0,25.63,24.70,25.89
$GC,346,-0.57,-291.9,2155,784,2933,2757,38.9,-10.4,38,357,0.00,2.28,0.00,0.000,1030,0.000,0.044,2148,2202,2845,2933,2757,0,0,0,0,0,0,26.00,25.96,26.03
$GC,535,-0.57,-291.9,2147,2202,2933,2757,59.8,-11.5,63,542,0.00,2.35,0.00,0.000,260,0.000,0.056,2137,3602,2844,2932,2757,0,0,0,0,0,0,26.38,26.08,26.41
$GC,624,-0.57,-291.9,2136,3602,2933,2757,70.1,-10.3,76,635,0.00,2.38,0.00,0.000,1030,0.000,0.040,2137,2184,2845,2933,2757,0,0,0,0,0,0,26.20,26.17,26.23
$GC,882,-0.57,-291.9,2136,2171,2933,2757,99.2,-11.3,113,892,0.00,2.40,0.00,0.000,260,0.000,0.055,2126,3598,2845,2933,2757,0,0,0,0,0,0,26.53,26.23,26.57
$GC,997,-0.57,-291.9,2126,3599,2933,2757,112.4,-11.3,129,1005,0.10,2.30,0.00,0.000,3078,0.144,0.040,2161,2188,2845,2933,2757,0,0,0,0,0,0,26.20,26.31,26.32
$GC,1253,-0.57,-291.9,2161,2183,2933,2757,137.4,-10.1,166,1264,0.00,2.45,0.00,0.000,260,0.000,0.057,2152,3592,2845,2933,2757,0,0,0,0,0,0,26.63,26.32,26.66
$GC,1313,-0.57,-291.9,2152,3592,2933,2757,142.9,-9.4,174,1323,0.00,2.28,0.00,0.000,1030,0.000,0.041,2152,2172,2845,2933,2757,0,0,0,0,0,0,26.41,26.37,26.44
$GC,1569,-0.57,-291.9,2152,2161,2933,2757,167.8,-10.1,211,1575,0.00,2.33,0.00,0.000,260,0.000,0.056,2143,3603,2845,2933,2757,0,0,0,0,0,0,26.69,26.37,26.72
$GC,1615,-0.57,-291.9,2142,3603,2933,2757,172.3,-10.0,217,1621,0.00,2.22,0.00,0.000,1030,0.000,0.041,2143,2181,2845,2933,2757,0,0,0,0,0,0,26.50,26.42,26.52
$STATE,1630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1630,begin apogee
$GC,1639,-0.30,0.0,2143,2091,2933,2757,174.2,-10.1,219,1869,0.28,0.00,221.05,0.648,10246,0.116,0.000,2243,2091,1676,1644,1708,0,0,0,0,0,0,26.32,24.69,24.20
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1874,0.57,291.9,2243,2091,1644,1704,183.4,0.0,249,2121,0.77,2.53,235.65,0.623,11012,0.077,0.054,2515,3519,513,430,597,0,0,0,0,0,0,24.89,24.67,24.18
$GC,2166,0.59,357.7,2515,3512,430,597,167.7,8.5,287,2189,0.00,2.40,13.05,0.554,9222,0.000,0.042,2520,2132,450,385,515,0,0,0,0,0,0,25.29,25.22,24.56
$GC,2434,0.61,442.0,2519,2132,385,512,144.8,8.1,326,2445,0.00,2.42,0.00,0.000,260,0.000,0.054,2520,3512,448,385,512,0,0,0,0,0,0,26.08,25.79,26.12
$GC,2490,0.63,501.7,2519,3512,385,512,140.5,8.6,333,2497,0.00,2.35,0.00,0.000,1030,0.000,0.042,2528,2112,448,385,512,0,0,0,0,0,0,25.97,25.89,25.99
$GC,2743,0.65,575.7,2528,2110,385,512,119.0,8.3,370,2753,0.00,2.28,0.00,0.000,516,0.000,0.060,2537,704,448,385,512,0,0,0,0,0,0,26.36,26.07,26.39
$GC,2762,0.68,662.5,2537,704,385,512,117.5,8.1,372,2772,0.00,2.28,0.00,0.000,1030,0.000,0.044,2537,2111,448,385,512,0,0,0,0,0,0,26.12,26.10,26.17
$GC,3020,0.70,720.1,2537,2109,385,512,94.9,8.6,409,3027,0.00,2.33,0.00,0.000,260,0.000,0.054,2538,3515,448,385,512,0,0,0,0,0,0,26.48,26.20,26.52
$GC,3094,0.70,720.1,2536,3514,386,512,87.9,10.1,419,3101,0.00,2.35,0.00,0.000,1030,0.000,0.043,2545,2105,448,385,512,0,0,0,0,0,0,26.32,26.24,26.35
$GC,3346,0.70,738.6,2545,2101,386,512,62.9,9.4,456,3357,0.00,2.45,0.00,0.000,260,0.000,0.054,2545,3524,449,386,512,0,0,0,0,0,0,26.59,26.29,26.62
$GC,3375,0.70,738.6,2545,3524,386,512,60.4,10.0,459,3381,0.00,2.35,0.00,0.000,1030,0.000,0.043,2554,2101,449,386,512,0,0,0,0,0,0,26.40,26.32,26.43
$GC,3651,0.73,813.8,2553,2100,386,512,36.6,8.3,496,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2099,449,386,512,0,0,0,0,0,0,26.65,26.68,26.68
$GC,3850,0.76,942.7,2553,2101,387,512,21.4,7.3,521,3860,0.05,0.00,0.00,0.000,2054,0.143,0.000,2593,2100,449,386,513,0,0,0,0,0,0,26.49,26.53,26.53
$GC,4053,0.78,985.1,2593,2100,387,513,2.4,8.9,546,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2098,449,386,512,0,0,0,0,0,0,26.72,26.75,26.74
$STATE,4072,end climb,SURFACE_DEPTH_REACHED
$STATE,4072,begin surface coast
$FINISH,-0.1,1.010070
$STATE,4105,end surface coast,CONTROL_FINISHED_OK
$STATE,4105,begin surface
$SM_CCo,4185,0.00,0.000,0,0,449,308.47
$SM_GC,0.83,6.38,0.17,0.00,0.049,0.070,0.000,156,2203,449,-6.75,-0.88,308.47,0,0,0,0,0,0,26.44,26.48,26.51
$IRIDIUM_FIX,4726.11,-12222.38,280316,200529
$TT8_MAMPS,0.026964,0.259154
$HUMID,33.89
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,125.4,60.6
$24V_AH,24.18,0.573
$10V_AH,10.35,0.292
$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,15.125,47.375,469.750,0.000,0.000,29.858,50.165,315.889,2.250,0.000,13.794,1198.231,369.665,390.037,2556.961,237.002,0.000,1085.984,0.000,1237.977,0.000,17.939,0.000
$DEVICE_MAMPS,221.085,1277.550,647.955,0.000,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.237,1835.083,863.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,40242,552
$CAP_FILE_SIZE,64996,0
$CFSIZE,260165632,258924544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280316,224027,4743.679,-12224.411,12,1.6,45,18.2,0.7,149.8,8,5.2