version: 66.12
glider: 156
mission: 8
dive: 20
start: 3 29 116 14 24 37
data:
$ID,156
$MISSION,8
$DIVE,20
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,90
$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,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,49
$R_STBD_OVSHOOT,1
$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
$GPS1,290316,141336,4743.2764,-12224.8311,100,1.0,100,18.2,0.4,194.6,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-64.7
$GPS2,290316,142410,4743.0962,-12224.8604,12,1.8,16,18.2,0.6,183.9,8,6.7
$SPEED_LIMITS,0.088,0.235
$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,351.6,2638,-13.9,-7.407,-17.52,3006
$D_GRID,200
$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,-0.65,-146.0,160,2182,473,652,0.0,0.0,0,76,0.00,0.00,-56.72,0.000,16386,0.000,0.000,160,2182,1775,1820,1730,0,0,0,0,0,0,25.89,28.83,25.93
$GC,81,-0.65,-146.0,160,2183,1821,1733,3.6,-7.3,6,103,7.53,0.00,-11.30,0.000,18694,0.227,0.000,2127,2166,2261,2339,2184,0,0,0,0,0,0,25.49,24.87,25.72
$GC,295,-0.65,-146.0,2126,2166,2339,2189,34.4,-13.0,32,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2166,2264,2339,2189,0,0,0,0,0,0,26.20,26.24,26.23
$GC,485,-0.65,-146.0,2127,2166,2339,2189,59.9,-13.6,57,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2166,2264,2339,2189,0,0,0,0,0,0,26.34,26.37,26.36
$GC,736,-0.65,-146.0,2127,2166,2339,2189,89.7,-11.2,94,747,0.00,2.50,0.00,0.000,260,0.000,0.054,2118,3616,2264,2339,2189,0,0,0,0,0,0,26.46,26.17,26.48
$GC,820,-0.65,-146.0,2117,3617,2339,2189,99.4,-12.2,105,826,0.00,2.33,0.00,0.000,1030,0.000,0.038,2118,2203,2264,2339,2189,0,0,0,0,0,0,26.31,26.23,26.33
$GC,1073,-0.65,-146.0,2117,2198,2339,2189,129.5,-11.9,142,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2198,2264,2339,2189,0,0,0,0,0,0,26.55,26.59,26.58
$GC,1329,-0.65,-146.0,2117,2192,2339,2188,159.3,-11.0,179,1336,0.00,2.45,0.00,0.000,260,0.000,0.055,2107,3627,2263,2338,2189,0,0,0,0,0,0,26.62,26.32,26.64
$GC,1402,-0.65,-146.0,2106,3627,2339,2189,167.8,-12.3,189,1409,0.00,2.28,0.00,0.000,1030,0.000,0.039,2107,2183,2264,2339,2189,0,0,0,0,0,0,26.44,26.38,26.46
$STATE,1499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1499,begin apogee
$GC,1508,-0.30,0.0,2106,2086,2340,2188,180.4,-12.9,203,1631,0.40,0.10,116.57,0.650,10246,0.130,0.092,2242,2150,1676,1675,1678,0,0,0,0,0,0,26.27,24.87,24.39
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1639,0.65,146.0,2243,2150,1674,1675,188.8,0.0,219,1766,0.88,2.47,118.15,0.623,10756,0.103,0.051,2541,731,1094,1039,1150,0,0,0,0,0,0,24.96,24.56,24.15
$GC,1795,0.66,178.2,2540,731,1039,1146,184.0,6.3,239,1828,0.00,2.33,26.42,0.595,9222,0.000,0.041,2541,2101,967,892,1042,0,0,0,0,0,0,25.13,25.06,24.34
$GC,2076,0.66,178.2,2540,2099,892,1034,162.4,7.5,279,2083,0.00,2.33,0.00,0.000,260,0.000,0.053,2541,3531,963,892,1034,0,0,2,0,0,0,25.98,25.70,26.01
$GC,2205,0.66,178.2,2540,3531,892,1033,150.3,9.2,298,2216,0.00,2.30,0.00,0.000,1030,0.000,0.041,2550,2152,962,892,1032,0,0,0,0,0,0,25.94,25.89,25.96
$GC,2464,0.66,178.2,2549,2149,892,1032,129.4,7.7,335,2470,0.00,2.38,0.00,0.000,516,0.000,0.054,2561,692,962,892,1032,0,0,0,0,0,0,26.34,26.06,26.36
$GC,2513,0.66,178.2,2561,692,892,1032,124.9,8.5,342,2524,0.00,2.33,0.00,0.000,1030,0.000,0.043,2561,2106,962,892,1032,0,0,1,0,0,0,26.14,26.10,26.17
$GC,2769,0.66,178.2,2560,2106,892,1032,103.8,7.6,379,2776,0.00,2.28,0.00,0.000,260,0.000,0.052,2562,3517,962,892,1032,0,0,0,0,0,0,26.47,26.20,26.50
$GC,2815,0.66,178.2,2560,3519,892,1031,99.8,8.8,385,2822,0.00,2.33,0.00,0.000,1030,0.000,0.041,2571,2101,962,892,1032,0,0,0,0,0,0,26.30,26.22,26.32
$GC,3066,0.66,178.2,2570,2111,892,1032,79.7,7.4,422,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2111,962,892,1032,0,0,0,0,0,0,26.55,26.59,26.58
$GC,3321,0.66,178.2,2571,2113,892,1032,60.0,8.1,459,3328,0.00,2.38,0.00,0.000,260,0.000,0.054,2571,3525,962,892,1032,0,0,0,0,0,0,26.61,26.34,26.64
$GC,3395,0.66,178.2,2571,3525,893,1031,53.6,9.8,469,3402,0.00,2.35,0.00,0.000,1030,0.000,0.041,2582,2085,961,892,1031,0,0,0,0,0,0,26.45,26.37,26.46
$GC,3682,0.66,184.4,2581,2080,892,1031,30.8,7.2,506,3694,0.00,2.17,5.78,0.451,8708,0.000,0.054,2592,719,941,872,1011,0,0,0,0,0,0,26.67,26.30,25.79
$GC,3792,0.66,184.4,2592,719,872,1011,22.3,7.8,519,3803,0.10,2.00,0.00,0.000,5126,0.140,0.042,2559,2030,941,872,1011,0,0,0,0,0,0,26.22,26.37,26.34
$GC,3996,0.66,201.6,2559,2020,872,1011,7.4,6.8,544,4017,0.00,2.55,14.75,0.518,8452,0.000,0.051,2559,3527,874,783,965,0,0,1,0,0,0,26.66,26.01,25.70
$STATE,4096,end climb,SURFACE_DEPTH_REACHED
$STATE,4096,begin surface coast
$FINISH,-0.2,1.019990
$STATE,4201,end surface coast,CONTROL_FINISHED_OK
$STATE,4201,begin surface
$SM_CCo,4223,69.88,0.517,2,0,562,280.09
$SM_GC,1.04,6.40,2.20,69.88,0.055,0.041,0.517,145,2188,562,-6.76,0.99,280.09,0,0,0,0,2,0,26.29,26.29,25.00
$IRIDIUM_FIX,4726.11,-12228.52,290316,131827
$TT8_MAMPS,0.026964,0.253162
$HUMID,31.02
$INTERNAL_PRESSURE,10.3813
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.6,79.8
$24V_AH,24.15,1.834
$10V_AH,10.38,1.240
$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,15.300,42.225,281.675,69.875,0.000,28.130,37.656,430.761,0.750,0.000,16.968,1288.076,339.620,346.112,2693.523,283.093,0.000,950.761,0.000,1279.340,0.000,7.209,0.000
$DEVICE_MAMPS,227.205,91.800,650.250,517.140,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.633,1921.966,904.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,43587,569
$CAP_FILE_SIZE,65900,0
$CFSIZE,260165632,258338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0,0
$GPS,290316,153751,4743.360,-12224.875,8,1.7,47,18.2,0.6,195.3,9,5.6