version: 66.12
glider: 156
mission: 8
dive: 9
start: 3 29 116 3 23 24
data:
$ID,156
$MISSION,8
$DIVE,9
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,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
$GPS1,290316,031357,4742.4639,-12225.4189,13,1.8,39,18.2,0.3,213.4,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-66.2
$GPS2,290316,032257,4742.4004,-12225.4912,12,1.2,45,18.2,0.6,182.2,8,4.8
$SPEED_LIMITS,0.116,0.203
$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,359.4,4080,-23.2,-9.744,-25.61,1379
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.03,-87.6,163,2182,388,514,0.0,0.0,0,87,0.00,0.00,-66.82,0.000,16386,0.000,0.000,164,2182,1861,1904,1818,0,0,0,0,0,0,26.12,28.83,26.15
$GC,92,-1.03,-87.6,163,2182,1904,1823,3.5,-7.1,7,112,6.93,0.00,-3.92,0.000,18438,0.225,0.000,2004,2162,2030,2084,1976,0,0,0,0,0,0,25.65,25.46,25.91
$GC,305,-1.03,-87.6,2003,2162,2085,1978,48.3,-19.3,33,315,0.00,2.45,0.00,0.000,260,0.000,0.054,1994,3595,2031,2085,1978,0,0,0,0,0,0,26.22,25.94,26.25
$GC,328,-1.03,-87.6,1993,3595,2085,1978,53.7,-19.4,35,334,0.00,2.33,0.00,0.000,1030,0.000,0.041,1994,2179,2031,2085,1978,0,0,0,0,0,0,26.06,25.98,26.08
$GC,580,-1.03,-87.6,1993,2175,2085,1978,102.5,-17.5,72,591,0.00,2.25,0.00,0.000,516,0.000,0.055,1994,789,2031,2085,1978,0,0,0,0,0,0,26.41,26.14,26.44
$GC,845,-1.03,-87.6,1993,789,2084,1977,150.4,-18.5,110,856,0.00,2.22,0.00,0.000,1030,0.000,0.044,1984,2190,2031,2085,1977,0,0,1,0,0,0,26.29,26.25,26.32
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1073,-0.30,0.0,1983,2082,2085,1977,190.7,-18.0,142,1154,0.80,0.08,72.55,0.664,10246,0.159,0.112,2237,2115,1677,1687,1667,0,0,0,0,0,0,26.14,25.16,24.65
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1159,1.03,87.6,2237,2115,1686,1666,197.8,0.0,152,1246,1.27,2.50,71.55,0.642,10500,0.105,0.053,2660,3534,1327,1277,1377,0,0,0,0,0,0,25.22,24.75,24.23
$GC,1294,1.05,132.6,2658,3534,1275,1377,193.4,6.4,169,1341,0.00,2.38,37.35,0.624,9222,0.000,0.042,2670,2139,1150,1071,1229,0,0,0,0,0,0,25.36,25.28,24.37
$GC,1589,1.05,132.6,2669,2138,1071,1225,160.2,12.5,211,1596,0.00,2.40,0.00,0.000,260,0.000,0.053,2670,3540,1147,1071,1224,0,0,0,0,0,0,26.03,25.76,26.06
$GC,1675,1.05,132.6,2669,3540,1071,1223,149.0,13.3,223,1682,0.00,2.40,0.00,0.000,1030,0.000,0.043,2680,2107,1147,1071,1223,0,0,0,0,0,0,25.96,25.88,25.98
$GC,1928,1.05,132.6,2680,2104,1071,1224,120.8,11.0,260,1938,0.00,2.47,0.00,0.000,260,0.000,0.054,2680,3536,1147,1071,1223,0,0,0,0,0,0,26.34,26.06,26.37
$GC,2053,1.05,132.6,2680,3535,1071,1223,106.3,11.2,278,2064,0.00,2.40,0.00,0.000,1030,0.000,0.043,2692,2104,1147,1071,1223,0,0,0,0,0,0,26.20,26.17,26.22
$GC,2312,1.05,132.6,2691,2104,1072,1223,78.0,11.2,315,2318,0.00,2.22,0.00,0.000,516,0.000,0.057,2702,697,1147,1071,1223,0,0,1,0,0,0,26.51,26.22,26.54
$GC,2344,1.05,132.6,2702,697,1071,1223,74.5,10.8,319,2351,0.00,2.17,0.00,0.000,1030,0.000,0.042,2702,2083,1147,1071,1223,0,0,0,0,0,0,26.34,26.26,26.36
$GC,2603,1.05,153.9,2702,2069,1071,1222,45.6,8.2,356,2634,0.00,2.28,17.52,0.550,8708,0.000,0.056,2713,705,1063,980,1147,0,0,0,0,0,0,26.59,26.03,25.52
$GC,2732,1.05,153.9,2712,705,980,1147,30.5,13.8,371,2742,0.00,2.05,0.00,0.000,1030,0.000,0.042,2713,2132,1062,979,1145,0,0,0,0,0,0,26.19,26.18,26.22
$GC,2935,1.05,153.9,2712,2120,979,1145,7.0,10.5,396,2946,0.08,2.55,0.00,0.000,4356,0.190,0.051,2685,3497,1062,980,1144,0,0,0,0,0,0,26.13,26.22,26.22
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FINISH,-0.2,1.011212
$STATE,3018,end surface coast,CONTROL_FINISHED_OK
$STATE,3018,begin surface
$SM_CCo,3041,76.97,0.543,0,0,681,250.20
$SM_GC,0.72,6.75,2.45,76.97,0.055,0.042,0.543,147,2184,681,-6.76,0.96,250.20,0,0,1,0,0,0,26.27,26.27,24.84
$IRIDIUM_FIX,4722.92,-12227.78,290316,015530
$TT8_MAMPS,0.026964,0.260652
$HUMID,31.84
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.5,71.8
$24V_AH,24.23,0.953
$10V_AH,10.38,0.604
$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,15.825,40.000,198.975,76.975,0.000,27.951,34.228,300.895,2.000,0.000,46.731,935.204,251.952,291.849,1981.833,207.348,0.000,767.824,0.000,908.868,0.000,16.413,0.000
$DEVICE_MAMPS,224.910,111.690,664.020,543.150,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.523,1342.400,631.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30371,406
$CAP_FILE_SIZE,52670,0
$CFSIZE,260165632,258752512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,1067.39,0x212ecc,2,24
$GPS,290316,041657,4742.543,-12225.721,11,1.2,50,18.2,0.2,229.7,8,5.1