version: 66.12
glider: 156
mission: 8
dive: 18
start: 3 29 116 12 30 12
data:
$ID,156
$MISSION,8
$DIVE,18
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,50
$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,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,280
$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,23
$R_STBD_OVSHOOT,44
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290316,122233,4743.0142,-12224.5020,10,1.3,43,18.2,0.2,227.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-59.7
$GPS2,290316,122948,4742.9541,-12224.5176,16,1.1,16,18.2,0.3,192.3,8,8.8
$SPEED_LIMITS,0.143,0.275
$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,342.2,2863,-21.2,-12.000,-23.54,1866
$D_GRID,177
$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,-0.97,-146.0,158,2190,469,655,0.0,0.0,0,86,0.00,0.00,-66.53,0.000,16386,0.000,0.000,158,2191,1959,1989,1930,0,0,0,0,0,0,25.91,28.83,25.94
$GC,91,-0.97,-146.0,158,2191,1989,1934,3.8,-7.1,7,112,7.15,2.40,-6.53,0.000,18692,0.227,1.268,2021,3584,2260,2321,2200,0,0,0,0,0,0,25.51,24.69,25.75
$GC,155,-0.97,-146.0,2021,3584,2322,2203,21.7,-21.2,14,166,0.00,2.33,0.00,0.000,1030,0.000,0.039,2022,2173,2262,2321,2203,0,0,0,0,0,0,25.74,25.71,25.77
$GC,349,-0.97,-146.0,2021,2167,2322,2203,57.3,-17.4,39,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2167,2262,2322,2203,0,0,0,0,0,0,26.19,26.22,26.22
$GC,600,-0.97,-146.0,2021,2158,2322,2202,103.4,-18.7,76,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2158,2262,2322,2202,0,0,0,0,0,0,26.36,26.40,26.39
$GC,858,-0.97,-146.0,2021,2158,2321,2202,149.1,-17.5,113,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2158,2262,2322,2202,0,0,0,0,0,0,26.48,26.51,26.51
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1018,-0.30,0.0,2021,2085,2322,2202,177.2,-18.3,136,1141,0.68,0.00,116.75,0.646,10246,0.146,0.000,2240,2084,1677,1672,1682,0,0,0,0,0,0,26.13,24.82,24.34
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1146,0.97,146.0,2240,2084,1672,1680,186.3,0.0,152,1278,1.17,2.40,118.18,0.620,10756,0.086,0.054,2649,734,1094,1036,1152,0,0,0,0,0,0,24.91,24.63,24.14
$GC,1310,0.98,189.5,2648,734,1036,1150,179.3,9.6,173,1358,0.00,2.30,35.22,0.598,9222,0.000,0.043,2648,2094,921,836,1006,0,0,0,0,0,0,25.18,25.10,24.32
$GC,1606,0.98,189.5,2649,2093,836,1001,139.8,13.9,215,1612,0.00,2.38,0.00,0.000,260,0.000,0.052,2649,3531,918,836,1001,0,0,0,0,0,0,25.99,25.72,26.01
$GC,1709,0.98,189.5,2648,3531,836,999,122.2,16.7,230,1719,0.00,2.33,0.00,0.000,1030,0.000,0.041,2659,2143,917,836,999,0,0,0,0,0,0,25.91,25.86,25.94
$GC,1966,0.98,189.5,2659,2138,836,998,84.6,15.3,267,1973,0.00,2.38,0.00,0.000,516,0.000,0.054,2671,688,917,836,999,0,0,0,0,0,0,26.32,26.04,26.35
$GC,2012,0.98,189.5,2670,688,836,999,77.2,15.3,273,2019,0.00,2.33,0.00,0.000,1030,0.000,0.043,2671,2116,917,836,999,0,0,0,0,0,0,26.17,26.09,26.18
$GC,2277,0.98,189.5,2670,2113,835,999,40.6,12.9,310,2287,0.00,2.33,0.00,0.000,260,0.000,0.054,2671,3517,917,836,999,0,0,0,0,0,0,26.46,26.20,26.49
$GC,2324,0.98,189.5,2670,3516,836,998,34.3,14.6,315,2335,0.00,2.33,0.00,0.000,1030,0.000,0.043,2681,2102,917,836,998,0,0,0,0,0,0,26.27,26.22,26.29
$GC,2527,0.98,189.5,2681,2101,836,998,8.1,12.2,340,2538,0.00,2.33,0.00,0.000,516,0.000,0.055,2692,706,917,836,998,0,0,0,0,0,0,26.54,26.26,26.57
$STATE,2577,end climb,SURFACE_DEPTH_REACHED
$STATE,2578,begin surface coast
$FINISH,-0.0,1.017317
$STATE,2603,end surface coast,CONTROL_FINISHED_OK
$STATE,2604,begin surface
$SM_CCo,2626,78.45,0.516,2,0,561,280.09
$SM_GC,0.79,6.65,2.47,78.45,0.047,0.044,0.516,155,2190,561,-6.75,-0.90,280.09,0,0,0,0,2,0,26.30,26.30,24.94
$IRIDIUM_FIX,4726.11,-12222.38,290316,113022
$TT8_MAMPS,0.026964,0.252413
$HUMID,31.29
$INTERNAL_PRESSURE,10.3813
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.14,1.668
$10V_AH,10.38,1.108
$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,15.650,28.375,270.150,78.450,0.000,29.413,35.482,231.915,0.000,0.000,17.226,777.285,204.060,333.119,1669.056,176.798,0.000,784.329,0.000,789.658,0.000,0.534,0.000
$DEVICE_MAMPS,227.205,1268.370,646.425,516.375,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.261,1163.842,547.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,27021,349
$CAP_FILE_SIZE,44001,0
$CFSIZE,260165632,258453504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290316,131624,4743.172,-12224.690,13,1.1,13,18.2,0.5,165.6,8,8.4