version: 66.12
glider: 156
mission: 8
dive: 12
start: 3 29 116 6 37 7
data:
$ID,156
$MISSION,8
$DIVE,12
$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,150
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,290316,062827,4743.2114,-12225.6729,10,1.3,43,18.2,0.4,205.9,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.8
$GPS2,290316,063640,4743.1367,-12225.7383,12,1.3,16,18.2,0.4,214.8,8,4.8
$SPEED_LIMITS,0.116,0.258
$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,13.2,2958,-17.9,-9.744,-20.69,2294
$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,14,begin dive
$GC,17,-0.82,-146.0,160,2169,548,807,0.0,0.0,0,76,0.00,0.00,-56.75,0.000,16386,0.000,0.000,160,2169,1910,1945,1876,0,0,0,0,0,0,26.00,28.83,26.03
$GC,81,-0.82,-146.0,160,2169,1945,1880,3.5,-4.7,6,103,7.25,2.33,-8.02,0.000,18948,0.225,1.271,2081,800,2260,2325,2196,0,0,0,0,0,0,25.56,24.72,25.80
$GC,125,-0.82,-146.0,2080,800,2325,2197,14.8,-24.8,10,135,0.00,2.28,0.00,0.000,1030,0.000,0.044,2072,2166,2261,2325,2198,0,0,0,0,0,0,25.78,25.73,25.80
$GC,325,-0.82,-146.0,2072,2165,2325,2199,46.7,-16.3,35,336,0.00,2.42,0.00,0.000,260,0.000,0.055,2061,3612,2262,2325,2199,0,0,0,0,0,0,26.23,25.95,26.26
$GC,432,-0.82,-146.0,2061,3613,2325,2199,65.7,-17.0,50,442,0.00,2.30,0.00,0.000,1030,0.000,0.040,2061,2206,2262,2325,2199,0,0,0,0,0,0,26.10,26.06,26.13
$GC,690,-0.82,-146.0,2061,2192,2325,2199,109.1,-16.9,87,700,0.00,2.28,0.00,0.000,516,0.000,0.053,2061,794,2262,2325,2199,0,0,0,0,0,0,26.44,26.17,26.47
$GC,784,-0.82,-146.0,2060,794,2325,2199,126.0,-17.8,100,794,0.00,2.25,0.00,0.000,1030,0.000,0.042,2051,2196,2262,2325,2199,0,0,0,0,0,0,26.26,26.21,26.32
$GC,1043,-0.82,-146.0,2051,2201,2325,2199,167.6,-15.3,137,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2201,2262,2325,2199,0,0,0,0,0,0,26.56,26.59,26.58
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1186,-0.30,0.0,2051,2075,2325,2199,190.5,-16.7,157,1309,0.57,0.05,117.47,0.660,10246,0.145,0.133,2239,2109,1676,1666,1687,0,0,0,0,0,0,26.19,24.80,24.32
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1310,begin climb
$GC,1314,0.82,146.0,2239,2108,1665,1685,200.1,0.0,173,1441,1.08,0.00,118.43,0.634,10758,0.105,0.000,2592,2106,1094,1028,1160,0,0,0,0,0,0,24.90,24.46,24.13
$GC,1685,0.83,167.5,2591,2127,1028,1152,176.4,8.8,226,1712,0.00,2.45,17.17,0.596,8452,0.000,0.053,2591,3525,1011,944,1079,0,0,0,0,0,0,25.98,25.27,24.92
$GC,1770,0.83,167.5,2591,3525,944,1075,167.9,11.6,237,1777,0.00,2.38,0.00,0.000,1030,0.000,0.041,2602,2120,1009,943,1075,0,0,0,0,0,0,25.73,25.65,25.75
$GC,2023,0.83,190.0,2602,2117,944,1075,142.5,8.7,274,2048,0.00,0.00,19.30,0.591,8198,0.000,0.000,2602,2118,919,834,1005,0,0,0,0,0,0,26.23,25.47,25.13
$GC,2297,0.83,190.4,2601,2116,834,999,115.1,9.7,313,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2116,916,834,999,0,0,0,0,0,0,26.26,26.29,26.29
$GC,2549,0.84,197.1,2601,2117,834,999,89.6,9.4,350,2560,0.00,2.45,6.47,0.485,8452,0.000,0.054,2602,3527,891,805,978,0,0,1,0,0,0,26.41,26.03,25.50
$GC,2605,0.84,197.1,2602,3527,805,976,84.1,10.5,357,2612,0.00,2.35,0.00,0.000,1030,0.000,0.043,2613,2108,890,805,976,0,0,0,0,0,0,26.18,26.10,26.20
$GC,2856,0.84,202.4,2613,2107,805,975,59.5,9.5,394,2868,0.00,2.30,5.65,0.458,8708,0.000,0.057,2623,699,870,782,959,0,0,0,0,0,0,26.48,26.10,25.58
$GC,2940,0.84,202.4,2623,699,782,959,51.5,10.0,405,2947,0.00,2.17,0.00,0.000,1030,0.000,0.042,2624,2110,870,782,958,0,0,0,0,0,0,26.27,26.20,26.29
$GC,3231,0.84,210.2,2623,2126,782,957,22.2,9.4,442,3253,0.00,2.40,7.82,0.486,8452,0.000,0.053,2624,3528,839,742,936,0,0,1,0,0,0,26.55,26.15,25.65
$GC,3387,0.84,210.2,2623,3529,742,933,6.0,10.1,461,3398,0.00,2.45,0.00,0.000,1030,0.000,0.044,2635,2117,837,742,932,0,0,0,0,0,0,26.29,26.25,26.32
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,0.6,1.019356
$STATE,3448,end surface coast,CONTROL_FINISHED_OK
$STATE,3448,begin surface
$SM_CCo,3468,37.58,0.525,1,0,681,250.20
$SM_GC,2.81,6.80,0.15,37.58,0.074,0.070,0.525,163,2235,681,-6.74,-0.65,250.20,0,0,0,0,1,0,26.26,26.31,25.28
$IRIDIUM_FIX,4722.92,-12220.67,290316,052608
$TT8_MAMPS,0.026964,0.252413
$HUMID,32.28
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,141.1,77.6
$24V_AH,24.13,1.184
$10V_AH,10.39,0.793
$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,15.700,33.250,292.325,37.575,0.000,30.846,37.022,279.044,2.000,0.000,17.081,1054.444,290.070,299.051,2169.178,203.577,0.000,838.829,0.000,1042.934,0.000,15.084,0.000
$DEVICE_MAMPS,224.910,1271.430,660.195,524.790,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.061,1532.148,720.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,36983,468
$CAP_FILE_SIZE,56021,0
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$GPS,290316,073734,4743.598,-12225.363,32,2.6,72,18.2,0.4,187.6,6,9.8