version: 66.12
glider: 156
mission: 8
dive: 8
start: 3 29 116 2 1 56
data:
$ID,156
$MISSION,8
$DIVE,8
$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,0
$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,20
$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,3500
$C_ROLL_CLIMB,3500
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$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
$GPS1,290316,015327,4742.8184,-12224.9062,12,1.1,45,18.2,0.3,225.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-66.2
$GPS2,290316,020122,4742.7383,-12224.9600,10,1.4,32,18.2,0.4,212.0,9,4.7
$SPEED_LIMITS,0.268,0.349
$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,351.8,3313,-12.2,-9.744,-15.61,4567
$D_GRID,190
$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,-0.62,-291.9,128,3493,498,853,0.0,0.0,0,76,0.00,0.00,-56.85,0.000,16386,0.000,0.000,128,3491,1908,1944,1873,0,0,0,0,0,0,25.97,28.83,26.00
$GC,81,-0.62,-291.9,128,3491,1944,1877,3.9,-8.3,6,111,7.88,0.00,-17.55,0.000,18438,0.236,0.000,2140,3490,2843,2927,2760,0,0,0,0,0,0,25.51,24.87,25.76
$GC,304,-0.62,-291.9,2139,3490,2927,2762,39.8,-13.8,33,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3489,2844,2927,2762,0,0,0,0,0,0,26.22,26.25,26.25
$GC,485,-0.62,-291.9,2139,3489,2927,2762,64.8,-12.4,58,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3489,2844,2927,2762,0,0,0,0,0,0,26.35,26.39,26.38
$GC,740,-0.62,-291.9,2139,3489,2926,2762,93.0,-10.5,95,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3489,2844,2927,2762,0,0,0,0,0,0,26.48,26.51,26.50
$GC,992,-0.62,-291.9,2139,3488,2927,2762,117.6,-10.0,132,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3488,2844,2927,2762,0,0,0,0,0,0,26.55,26.59,26.58
$GC,1253,-0.62,-291.9,2139,3488,2927,2762,140.8,-9.0,169,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3488,2844,2927,2762,0,0,0,0,0,0,26.62,26.65,26.64
$GC,1503,-0.62,-291.9,2139,3488,2927,2763,167.4,-10.3,206,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,3488,2844,2927,2762,0,0,0,0,0,0,26.66,26.70,26.69
$STATE,1664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1665,begin apogee
$GC,1673,-0.30,0.0,2140,3488,2927,2762,184.0,-9.7,230,1904,0.25,0.00,222.43,0.648,10246,0.120,0.000,2232,3487,1676,1631,1722,0,0,0,0,0,0,26.30,24.63,24.15
$STATE,1905,end apogee,CONTROL_FINISHED_OK
$STATE,1905,begin climb
$GC,1908,0.62,291.9,2233,3487,1630,1721,193.5,0.0,260,2163,0.90,0.00,240.27,0.615,10246,0.099,0.000,2529,3487,514,432,596,0,0,0,0,1,0,24.78,24.60,24.13
$GC,2411,0.62,306.0,2528,3487,432,594,158.1,9.4,329,2427,0.00,0.00,11.45,0.552,8198,0.000,0.000,2529,3487,457,392,523,0,0,0,0,0,0,25.97,25.48,25.00
$GC,2674,0.63,313.2,2528,3487,392,521,132.0,9.6,367,2681,0.00,0.00,2.85,0.298,8198,0.000,0.000,2529,3487,451,388,514,0,0,0,0,0,0,26.19,25.82,25.29
$GC,2925,0.63,342.6,2528,3487,388,513,108.6,9.1,404,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,3487,450,388,513,0,0,0,0,0,0,26.36,26.39,26.39
$GC,3183,0.65,387.6,2528,3487,388,513,86.4,8.7,441,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,3486,451,389,513,0,0,0,0,0,0,26.48,26.51,26.51
$GC,3434,0.65,387.6,2528,3486,388,514,62.2,10.2,478,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,3487,451,389,513,0,0,0,0,0,0,26.55,26.59,26.59
$GC,3708,0.66,422.1,2528,3487,389,513,38.1,9.0,515,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,3487,451,389,513,0,0,0,0,0,0,26.62,26.65,26.65
$GC,3909,0.69,516.0,2528,3486,389,514,21.9,7.6,540,3920,0.05,0.00,0.05,0.135,10246,0.151,0.000,2564,3486,451,389,513,0,0,0,0,0,0,26.45,26.39,26.30
$GC,4113,0.73,647.7,2563,3487,389,513,4.6,6.8,565,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,3487,451,389,513,0,0,0,0,0,0,26.69,26.72,26.72
$STATE,4140,end climb,SURFACE_DEPTH_REACHED
$STATE,4140,begin surface coast
$FINISH,-0.2,1.012629
$STATE,4172,end surface coast,CONTROL_FINISHED_OK
$STATE,4172,begin surface
$SM_CCo,4252,0.00,0.000,0,0,451,307.97
$SM_GC,0.78,6.32,0.00,0.00,0.052,0.000,0.000,159,3487,451,-6.75,-0.37,307.97,0,0,0,0,0,0,26.43,26.73,26.48
$IRIDIUM_FIX,4726.11,-12226.80,290316,005341
$TT8_MAMPS,0.027713,0.260652
$HUMID,32.47
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,68.4
$24V_AH,24.13,0.884
$10V_AH,10.37,0.546
$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,15.400,5.050,477.050,0.000,0.000,26.836,34.164,258.905,1.500,0.000,33.396,1206.556,404.959,358.128,2547.041,216.751,0.000,1034.317,0.000,1271.774,0.000,11.915,0.000
$DEVICE_MAMPS,236.385,44.370,647.955,0.000,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.005,1862.109,876.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,43714,572
$CAP_FILE_SIZE,54651,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290316,031357,4742.464,-12225.419,13,1.8,39,18.2,0.3,213.4,8,5.2