version: 66.11
glider: 156
mission: 6
dive: 12
start: 1 7 115 8 59 18
data:
$ID,156
$MISSION,6
$DIVE,12
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,6
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,80
$T_MISSION,90
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,51793
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,56.75
$TGT_DEFAULT_LON,-7.25
$TGT_AUTO_DEFAULT,0
$SM_CC,260
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,0
$N_NOSURFACE,-1
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-905979.06
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2264
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1638
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.360556
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$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,0.0043990691
$SEABIRD_T_H,0.00065709552
$SEABIRD_T_I,3.75727e-05
$SEABIRD_T_J,5.2690598e-06
$SEABIRD_C_G,-10.168411
$SEABIRD_C_H,1.1470841
$SEABIRD_C_I,-0.001554661
$SEABIRD_C_J,0.00020326475
$GPS1,070115,084800,4743.833,-12224.551,8,1.6,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.3
$GPS2,070115,085819,4743.775,-12224.530,15,1.5,15,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.005,-0.214
$KALMAN_X,-1472.8,-36.0,-24.4,1548.6,-0.4
$KALMAN_Y,-1369.3,63.9,505.8,2085.7,214.4
$MHEAD_RNG_PITCHd_Wd,160.6,1437,-15.9,-7.500,-19.32,2379
$D_GRID,173
$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,-0.55,-116.8,139,2014,516,687,0.0,0.0,0,85,0.00,0.00,-65.85,0.000,16386,0.000,0.000,140,2015,2010,2052,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.55,-116.8,139,2022,2052,1973,3.4,-5.3,12,109,7.75,2.38,-2.35,0.000,18692,0.246,0.065,2073,3447,2106,2168,2045,0,0,0,0,0,0,25.50,25.72,26.01
$GC,418,-0.55,-116.8,2073,3447,2175,2045,47.4,-12.0,75,425,0.00,2.22,0.00,0.000,1030,0.000,0.039,2073,2042,2110,2175,2045,0,0,0,0,0,0,28.83,26.05,28.83
$GC,549,-0.55,-116.8,2073,2038,2175,2044,62.4,-11.0,100,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2038,2109,2175,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,679,-0.55,-116.8,2073,2037,2175,2043,76.5,-10.8,125,685,0.00,2.35,0.00,0.000,516,0.000,0.054,2073,629,2108,2175,2042,0,0,0,0,0,0,28.83,26.14,28.83
$GC,724,-0.55,-116.8,2072,630,2175,2041,81.5,-11.8,133,731,0.00,2.35,0.00,0.000,1030,0.000,0.041,2062,2044,2108,2175,2041,0,0,0,0,0,0,28.83,26.18,28.83
$GC,858,-0.55,-116.8,2062,2042,2175,2041,96.2,-11.1,158,864,0.00,2.20,0.00,0.000,260,0.000,0.050,2052,3456,2108,2175,2041,0,0,0,0,0,0,28.83,26.19,28.83
$GC,946,-0.55,-116.8,1264,3454,2125,2034,107.4,-12.6,174,953,0.12,2.22,0.00,0.000,3078,0.158,0.038,2084,2041,2108,2175,2041,0,0,0,0,0,0,26.13,26.24,28.83
$GC,1081,-0.55,-116.8,2085,2036,2175,2041,121.0,-9.2,199,1087,0.00,2.33,0.00,0.000,516,0.000,0.054,2085,631,2108,2175,2041,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1213,-0.55,-116.8,2084,631,2175,2040,134.4,-9.7,224,1222,0.00,2.35,0.00,0.000,1030,0.000,0.041,2075,2045,2107,2175,2040,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1351,-0.55,-116.8,2075,2043,2175,2040,147.2,-9.7,249,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2043,2107,2175,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-0.55,-116.8,2075,2043,2175,2040,159.2,-9.1,274,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2043,2107,2175,2040,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1616,begin apogee
$GC,1625,-0.23,0.0,2075,1900,2174,2040,171.9,-8.9,299,1726,0.32,0.08,93.70,0.640,10246,0.142,0.115,2182,1969,1637,1661,1614,0,0,0,0,0,0,26.23,24.98,24.50
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1734,0.55,116.8,2182,1969,1661,1612,176.8,0.0,317,1840,0.77,2.35,95.03,0.613,10500,0.110,0.047,2436,3323,1172,1134,1210,0,0,1,0,0,0,25.07,24.67,24.15
$GC,1855,0.55,116.8,2436,3323,1133,1210,170.2,8.3,338,1861,0.00,2.25,0.00,0.000,1030,0.000,0.038,2446,1979,1172,1134,1210,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1988,0.55,116.8,2446,1979,1133,1210,158.5,8.9,363,1995,0.00,2.50,0.00,0.000,516,0.000,0.057,2458,522,1172,1134,1210,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2014,0.55,116.8,2458,521,1134,1207,155.8,9.1,367,2020,0.00,2.35,0.00,0.000,1030,0.000,0.036,2458,1924,1170,1134,1207,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2146,0.55,116.8,1504,1919,1120,1204,142.8,9.8,392,2153,0.00,2.28,0.00,0.000,260,0.000,0.047,2458,3341,1170,1134,1207,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2197,0.55,116.8,2458,3341,1134,1206,136.8,11.4,401,2204,0.00,2.28,0.00,0.000,1030,0.000,0.038,2468,1929,1170,1134,1206,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2331,0.55,116.8,2468,1930,1134,1207,123.0,9.5,426,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1930,1170,1134,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,0.55,116.8,2468,1928,1134,1206,109.6,10.6,451,2467,0.00,2.35,0.00,0.000,516,0.000,0.054,2479,521,1170,1134,1206,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2491,0.55,116.8,2479,521,1134,1205,106.1,11.3,456,2498,0.15,2.35,0.00,0.000,5126,0.162,0.037,2440,1943,1168,1133,1204,0,0,0,0,0,0,25.94,26.07,28.83
$GC,2624,0.55,116.8,1504,1939,1121,1202,94.4,8.3,481,2630,0.00,2.22,0.00,0.000,260,0.000,0.047,2440,3357,1169,1134,1204,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2664,0.55,116.8,2440,3356,1134,1204,90.6,10.0,488,2671,0.00,2.28,0.00,0.000,1030,0.000,0.039,2449,1922,1169,1134,1204,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2799,0.55,116.8,2449,1917,1134,1204,77.4,11.2,513,2806,0.00,2.30,0.00,0.000,260,0.000,0.048,2450,3358,1169,1134,1204,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2830,0.55,116.8,2449,3358,1134,1204,73.9,10.3,518,2836,0.00,2.25,0.00,0.000,1030,0.000,0.039,2460,1936,1168,1134,1203,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2963,0.55,116.8,2460,1932,1134,1203,60.4,10.9,543,2969,0.00,2.25,0.00,0.000,260,0.000,0.047,2460,3350,1169,1134,1204,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2994,0.55,116.8,2460,3349,1134,1204,56.5,11.5,548,3000,0.00,2.22,0.00,0.000,1030,0.000,0.039,2471,1939,1169,1134,1204,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3127,0.55,116.8,2470,1940,1134,1204,41.5,11.2,573,3134,0.00,2.25,0.00,0.000,260,0.000,0.047,2471,3351,1169,1134,1204,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3159,0.55,116.8,2470,3350,1135,1204,37.8,11.2,578,3167,0.15,2.22,0.00,0.000,5126,0.169,0.038,2442,1945,1169,1134,1204,0,0,0,0,0,0,26.14,26.29,28.83
$GC,3231,0.55,116.8,2442,1944,1134,1204,31.5,7.5,591,3238,0.00,2.35,0.00,0.000,516,0.000,0.054,2452,525,1168,1133,1203,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3257,0.55,116.8,2451,526,1134,1203,29.3,8.6,595,3263,0.00,2.30,0.00,0.000,1030,0.000,0.035,2452,1948,1168,1134,1202,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3328,0.55,116.8,2451,1946,1134,1202,23.1,9.0,608,3334,0.00,2.20,0.00,0.000,260,0.000,0.047,2452,3348,1168,1134,1202,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3343,0.55,116.8,2452,3347,1134,1202,21.7,8.6,610,3350,0.00,2.25,0.00,0.000,1030,0.000,0.038,2462,1928,1168,1134,1202,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3413,0.55,116.8,1536,1925,1122,1200,15.2,9.3,623,3420,0.00,2.30,0.00,0.000,516,0.000,0.054,2474,533,1168,1135,1202,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3455,0.55,116.8,2473,533,1134,1202,11.4,9.4,630,3463,0.12,2.30,0.00,0.000,5126,0.162,0.036,2441,1945,1168,1135,1201,0,0,0,0,0,0,26.22,26.34,28.83
$GC,3527,0.55,116.8,2441,1943,1135,1200,5.4,7.7,643,3534,0.00,2.20,0.00,0.000,260,0.000,0.046,2441,3357,1168,1135,1201,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,3574,end climb,SURFACE_DEPTH_REACHED
$STATE,3574,begin surface coast
$FINISH,0.6,1.021861
$STATE,3590,end surface coast,CONTROL_FINISHED_OK
$STATE,3590,begin surface
$SM_CCo,3612,120.53,0.511,2,0,602,260.24
$SM_GC,1.01,6.07,2.12,120.53,0.054,0.037,0.511,136,2036,602,-6.55,0.79,260.24,0,0,0,0,2,0,26.36,26.37,24.68
$IRIDIUM_FIX,4726.11,-12222.38,070115,070721
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.83
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.80
$XPDR_PINGS,200
$ALTIM_BOTTOM_PING,160.4,26.3
$24V_AH,24.2,1.221
$10V_AH,10.4,0.832
$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,15.475,73.400,188.725,120.525,0.000,28.880,45.556,378.607,53.750,0.000,16.722,1490.557,644.836,464.161,1471.463,293.720,33.231,1022.642,0.000,986.410,0.000,29.894,0.000
$DEVICE_MAMPS,245.565,114.750,639.540,511.020,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.629,362.275,613.389,552.514,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323172
$DATA_FILE_SIZE,47004,655
$CAP_FILE_SIZE,82658,0
$CFSIZE,260165632,257269760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$GPS,070115,100306,4743.056,-12224.659,41,1.1,41,18.2