version: 66.12
glider: 156
mission: 8
dive: 6
start: 3 28 116 23 57 26
data:
$ID,156
$MISSION,8
$DIVE,6
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,44
$R_STBD_OVSHOOT,76
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,280316,234333,4743.2031,-12224.3271,12,1.7,39,18.2,0.7,150.4,8,5.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.5
$GPS2,280316,235700,4743.0737,-12224.3721,16,1.3,16,18.2,0.1,178.5,8,9.8
$SPEED_LIMITS,0.097,0.203
$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,338.4,2646,-23.2,-9.744,-25.61,1379
$D_GRID,176
$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,13,begin dive
$GC,17,-1.03,-87.6,160,2174,519,833,0.0,0.0,0,76,0.00,0.00,-56.88,0.000,16386,0.000,0.000,160,2172,1904,1941,1867,0,0,0,0,0,0,25.95,28.83,25.98
$GC,81,-1.03,-87.6,160,2173,1941,1872,3.9,-8.4,6,103,6.93,2.60,-2.90,0.000,18692,0.220,1.268,1993,3545,2030,2079,1982,0,0,0,0,0,0,25.49,24.63,25.75
$GC,124,-1.03,-87.6,1993,3545,2081,1984,16.0,-26.1,10,134,0.00,2.33,0.00,0.000,1030,0.000,0.041,1993,2215,2032,2081,1983,0,0,0,0,0,0,25.63,25.59,25.65
$GC,321,-1.03,-87.6,1992,2213,2081,1983,54.9,-19.9,35,328,0.00,2.22,0.00,0.000,516,0.000,0.054,1993,774,2032,2081,1983,0,0,0,0,0,0,26.17,25.89,26.19
$GC,433,-1.03,-87.6,1992,774,2081,1983,76.5,-17.7,51,440,0.00,2.08,0.00,0.000,1030,0.000,0.042,1984,2144,2032,2082,1983,0,0,0,0,0,0,26.08,25.99,26.10
$GC,688,-1.03,-87.6,1983,2138,2081,1983,123.4,-17.3,88,698,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2138,2031,2081,1982,0,0,0,0,0,0,26.42,26.46,26.45
$GC,945,-1.03,-87.6,1983,2136,2081,1983,169.3,-18.8,125,952,0.00,2.47,0.00,0.000,260,0.000,0.056,1971,3598,2032,2081,1983,0,0,0,0,0,0,26.53,26.22,26.55
$STATE,961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,961,begin apogee
$GC,972,-0.30,0.0,1971,2100,2081,1983,173.1,-19.2,127,1050,0.88,0.00,73.20,0.656,10246,0.170,0.000,2241,2081,1677,1684,1670,0,0,0,0,0,0,26.04,25.12,24.60
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1055,1.03,87.6,2241,2081,1683,1669,181.5,0.0,137,1132,1.25,0.00,71.90,0.632,10758,0.103,0.000,2654,2080,1327,1278,1377,0,0,0,0,0,0,25.15,24.71,24.23
$GC,1379,1.04,124.6,2653,2080,1277,1373,164.1,7.0,183,1416,0.00,0.00,30.62,0.616,8710,0.000,0.000,2654,2079,1180,1103,1257,0,0,0,0,0,0,26.04,25.13,24.78
$GC,1661,1.04,124.6,2653,2078,1101,1257,136.4,9.9,224,1672,0.00,2.53,0.00,0.000,260,0.000,0.054,2654,3517,1179,1101,1257,0,0,0,0,0,0,26.15,25.89,26.17
$GC,1745,1.04,124.6,2653,3517,1101,1257,127.7,11.7,235,1751,0.00,2.38,0.00,0.000,1030,0.000,0.044,2665,2111,1179,1101,1257,0,0,0,0,0,0,26.06,25.97,26.07
$GC,1995,1.04,124.6,2664,2108,1101,1257,100.9,11.8,272,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2108,1179,1101,1257,0,0,0,0,0,0,26.40,26.44,26.43
$GC,2251,1.04,124.6,2665,2106,1101,1257,72.6,10.1,309,2258,0.00,2.42,0.00,0.000,260,0.000,0.053,2666,3523,1179,1101,1257,0,0,0,0,0,0,26.51,26.22,26.54
$GC,2338,1.04,124.6,2665,3523,1101,1257,63.5,10.1,321,2345,0.00,2.38,0.00,0.000,1030,0.000,0.043,2676,2108,1179,1101,1257,0,0,0,0,0,0,26.35,26.27,26.37
$GC,2605,1.05,131.4,2675,2107,1101,1258,43.4,9.2,358,2617,0.00,2.25,6.68,0.479,8708,0.000,0.057,2687,699,1153,1074,1232,0,0,0,0,0,0,26.60,26.20,25.66
$GC,2654,1.05,131.4,2686,700,1074,1232,38.5,10.7,363,2664,0.00,2.20,0.00,0.000,1030,0.000,0.044,2687,2150,1152,1073,1232,0,0,0,0,0,0,26.31,26.27,26.34
$GC,2858,1.05,138.9,2686,2124,1073,1231,17.8,9.2,388,2868,0.00,0.00,7.45,0.480,8198,0.000,0.000,2686,2119,1122,1039,1206,0,0,0,0,0,0,26.60,26.15,25.66
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,-0.1,1.011649
$STATE,3067,end surface coast,CONTROL_FINISHED_OK
$STATE,3067,begin surface
$SM_CCo,3088,88.32,0.541,0,0,681,250.20
$SM_GC,0.49,6.68,0.08,88.32,0.050,0.113,0.541,148,2163,681,-6.76,-1.53,250.20,0,0,0,0,0,0,26.32,26.39,24.79
$IRIDIUM_FIX,4722.92,-12222.38,280316,234821
$TT8_MAMPS,0.026964,0.257656
$HUMID,32.47
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.7,75.4
$24V_AH,24.23,0.717
$10V_AH,10.39,0.412
$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,15.725,28.600,189.850,88.325,0.000,79.150,198.861,259.274,0.500,0.000,17.141,965.936,376.300,281.842,2173.175,197.565,0.000,729.988,0.000,930.721,0.000,8.347,0.000
$DEVICE_MAMPS,220.320,1268.370,655.605,540.855,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.682,1385.924,652.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,30484,414
$CAP_FILE_SIZE,52052,0
$CFSIZE,260165632,258863104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,005134,4743.190,-12224.624,12,1.3,28,18.2,0.5,172.9,8,5.1