version: 66.12
glider: 156
mission: 8
dive: 5
start: 3 28 116 22 50 16
data:
$ID,156
$MISSION,8
$DIVE,5
$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,-6
$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,45
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,280316,224027,4743.6787,-12224.4111,12,1.6,45,18.2,0.7,149.8,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-63.2
$GPS2,280316,224951,4743.5918,-12224.4414,11,1.3,44,18.2,0.0,245.1,8,6.1
$SPEED_LIMITS,0.097,0.203
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,165.6,1098,-23.2,-9.744,-25.61,1379
$D_GRID,174
$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,-1.03,-87.6,156,2213,386,514,0.0,0.0,0,86,0.00,0.00,-66.57,0.000,16386,0.000,0.000,155,2211,1876,1918,1835,0,0,0,0,0,0,26.13,28.83,26.17
$GC,91,-1.03,-87.6,156,2209,1918,1842,3.8,-7.5,7,113,6.93,2.42,-3.53,0.000,19204,0.223,1.272,2007,782,2027,2077,1978,0,0,0,0,0,0,25.65,24.80,25.91
$GC,627,-1.03,-87.6,2006,782,2077,1980,109.1,-18.0,81,636,0.00,2.10,0.00,0.000,1030,0.000,0.042,1998,2093,2028,2077,1980,0,0,0,0,0,0,26.26,26.17,26.28
$GC,886,-1.03,-87.6,1998,2090,2077,1980,155.7,-17.8,118,897,0.00,2.42,0.00,0.000,260,0.000,0.054,1987,3586,2028,2077,1979,0,0,0,0,0,0,26.55,26.25,26.57
$GC,932,-1.03,-87.6,1987,3587,2077,1980,164.2,-18.6,124,943,0.00,2.40,0.00,0.000,1030,0.000,0.042,1987,2196,2028,2077,1980,0,0,0,0,0,0,26.34,26.29,26.36
$STATE,971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,971,begin apogee
$GC,980,-0.30,0.0,1987,2064,2077,1979,171.0,-17.8,129,1057,0.80,0.00,72.45,0.658,10246,0.156,0.000,2242,2065,1677,1685,1669,0,0,0,0,0,0,26.13,25.15,24.64
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1062,1.03,87.6,2241,2065,1685,1668,178.3,0.0,139,1139,1.25,0.00,71.05,0.631,10758,0.103,0.000,2655,2065,1328,1284,1372,0,0,0,0,0,0,25.20,24.74,24.25
$GC,1386,1.04,118.6,2655,2064,1284,1366,160.0,7.4,185,1418,0.00,2.58,25.30,0.607,8452,0.000,0.052,2656,3511,1206,1139,1274,0,0,1,0,0,0,26.06,25.22,24.87
$GC,1477,1.04,118.6,2655,3510,1138,1273,151.4,11.5,197,1483,0.00,2.40,0.00,0.000,1030,0.000,0.042,2667,2139,1206,1139,1274,0,0,0,0,0,0,25.72,25.64,25.74
$GC,1729,1.05,131.3,2666,2139,1138,1274,127.6,8.8,234,1747,0.00,2.50,11.90,0.562,8452,0.000,0.054,2667,3515,1154,1077,1231,0,0,1,0,0,0,26.25,25.76,25.22
$GC,1856,1.05,131.3,2666,3514,1076,1231,114.3,11.4,252,1867,0.00,2.47,0.00,0.000,1030,0.000,0.044,2677,2114,1153,1076,1231,0,0,0,0,0,0,26.01,25.96,26.03
$GC,2114,1.05,132.4,2677,2115,1077,1231,88.2,9.7,289,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2115,1154,1077,1231,0,0,0,0,0,0,26.41,26.44,26.44
$GC,2365,1.05,132.4,2677,2115,1077,1231,61.2,10.9,326,2376,0.00,2.53,0.00,0.000,260,0.000,0.054,2677,3506,1153,1076,1231,0,0,0,0,0,0,26.52,26.22,26.55
$GC,2424,1.05,132.4,2677,3506,1077,1230,54.1,12.4,334,2435,0.00,2.45,0.00,0.000,1030,0.000,0.045,2689,2105,1153,1076,1230,0,0,0,0,0,0,26.31,26.27,26.35
$GC,2716,1.05,136.3,2688,2095,1077,1230,24.8,9.5,371,2728,0.00,2.15,5.25,0.438,8708,0.000,0.057,2700,697,1134,1060,1209,0,0,0,0,0,0,26.61,26.04,25.68
$GC,2740,1.05,140.6,2698,697,1059,1209,22.5,9.4,373,2752,0.00,2.20,5.00,0.425,9222,0.000,0.044,2699,2160,1116,1040,1193,0,0,0,0,0,0,26.32,26.29,25.64
$GC,2945,1.05,159.4,2698,2126,1039,1193,3.3,8.3,398,2965,0.00,0.00,15.52,0.523,8198,0.000,0.000,2699,2124,1040,954,1127,0,0,0,0,0,0,26.57,26.00,25.54
$STATE,2973,end climb,SURFACE_DEPTH_REACHED
$STATE,2974,begin surface coast
$FINISH,-0.2,1.003669
$STATE,3021,end surface coast,CONTROL_FINISHED_OK
$STATE,3021,begin surface
$SM_CCo,3042,72.28,0.547,0,0,681,250.20
$SM_GC,1.45,6.80,0.17,72.28,0.055,0.068,0.547,161,2266,681,-6.75,-2.12,250.20,0,0,0,0,0,0,26.13,26.17,24.79
$IRIDIUM_FIX,4726.11,-12215.26,280316,212159
$TT8_MAMPS,0.026964,0.257656
$HUMID,32.67
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,65.7
$24V_AH,24.25,0.643
$10V_AH,10.38,0.351
$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,15.775,28.950,206.475,72.275,0.000,30.740,35.235,318.513,1.250,0.000,45.566,940.936,248.148,270.061,2026.232,199.760,0.000,731.055,0.000,918.592,0.000,11.636,0.000
$DEVICE_MAMPS,222.615,1272.195,657.900,546.975,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.740,1374.905,647.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312156
$DATA_FILE_SIZE,30377,407
$CAP_FILE_SIZE,51546,0
$CFSIZE,260165632,258899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,280316,234333,4743.203,-12224.327,12,1.7,39,18.2,0.7,150.4,8,5.4