version: 66.12
glider: 156
mission: 8
dive: 2
start: 3 28 116 18 57 20
data:
$ID,156
$MISSION,8
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,30
$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,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$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,50
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,280316,185247,4743.0610,-12224.1455,8,0.9,14,18.2,0.4,115.9,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.9
$GPS2,280316,185658,4743.0605,-12224.1084,13,1.4,17,18.2,0.2,64.8,8,5.1
$SPEED_LIMITS,0.173,0.262
$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,331.4,2710,-18.1,-10.000,-20.89,2270
$D_GRID,171
$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,-0.77,-146.0,157,2208,395,570,0.0,0.0,0,95,0.00,0.00,-76.10,0.000,16386,0.000,0.000,157,2208,2112,2132,2092,0,0,0,0,0,0,26.38,28.83,26.41
$GC,100,-0.77,-146.0,157,2209,2132,2097,4.1,-5.5,8,121,7.20,2.53,-3.00,0.000,18948,0.223,1.284,2097,784,2257,2304,2211,0,0,0,0,0,0,25.80,24.97,26.08
$GC,219,-0.77,-146.0,2097,784,2304,2211,29.3,-14.7,22,230,0.00,2.28,0.00,0.000,1030,0.000,0.046,2089,2165,2257,2304,2211,0,0,0,0,0,0,26.05,26.00,26.08
$GC,411,-0.77,-146.0,2088,2162,2304,2211,57.8,-13.5,47,417,0.00,2.38,0.00,0.000,260,0.000,0.058,2077,3610,2257,2304,2211,0,0,0,0,0,0,26.44,26.12,26.47
$GC,483,-0.77,-146.0,2077,3610,2304,2211,68.4,-14.4,57,490,0.00,2.30,0.00,0.000,1030,0.000,0.043,2077,2177,2257,2304,2211,0,0,0,0,0,0,26.28,26.20,26.29
$GC,734,-0.77,-146.0,2077,2160,2304,2211,107.3,-15.7,94,745,0.00,2.30,0.00,0.000,516,0.000,0.064,2077,792,2257,2305,2210,0,0,0,0,0,0,26.58,26.26,26.60
$GC,861,-0.77,-146.0,2077,792,2304,2210,126.9,-15.3,112,871,0.00,2.28,0.00,0.000,1030,0.000,0.046,2067,2188,2257,2304,2210,0,0,0,0,0,0,26.35,26.30,26.39
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1018,-0.28,0.0,2067,2064,2304,2210,151.0,-15.8,134,1141,0.52,0.10,115.95,0.644,10246,0.134,0.102,2244,2112,1676,1655,1697,0,0,0,0,0,0,26.19,24.94,24.44
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1146,0.77,146.0,2243,2112,1655,1694,160.0,0.0,150,1269,0.98,2.50,116.10,0.618,10756,0.103,0.063,2578,729,1094,1021,1167,0,0,1,0,0,0,25.05,24.80,24.30
$GC,1310,0.78,196.3,2579,730,1022,1162,153.6,7.7,171,1357,0.00,2.30,40.00,0.598,9222,0.000,0.046,2579,2103,894,810,978,0,0,0,0,0,0,25.39,25.30,24.45
$GC,1605,0.79,215.4,2578,2102,810,970,125.2,9.1,213,1628,0.00,2.35,16.10,0.567,8452,0.000,0.054,2579,3519,817,719,916,0,0,0,0,0,0,26.16,25.44,25.09
$GC,1734,0.79,215.4,2578,3519,719,910,111.2,11.2,231,1741,0.00,2.30,0.00,0.000,1030,0.000,0.046,2589,2131,814,719,910,0,0,0,0,0,0,25.97,25.89,25.99
$GC,1987,0.80,252.5,2589,2123,719,909,86.2,8.3,268,2028,0.00,2.42,31.70,0.583,8708,0.000,0.060,2601,700,672,538,807,0,0,0,0,0,0,26.40,25.45,25.11
$GC,2050,0.81,295.1,2600,700,537,806,81.2,8.1,276,2097,0.00,2.38,38.25,0.567,9222,0.000,0.047,2601,2087,501,420,582,0,0,0,0,0,0,25.79,25.75,24.77
$GC,2345,0.81,295.1,2600,2086,420,581,48.9,11.0,318,2355,0.00,2.45,0.00,0.000,260,0.000,0.057,2600,3548,500,420,581,0,0,0,0,0,0,26.22,25.92,26.25
$GC,2407,0.81,295.1,2600,3548,420,582,42.0,11.5,325,2418,0.00,2.40,0.00,0.000,1030,0.000,0.044,2612,2113,501,421,582,0,0,0,0,0,0,26.06,26.01,26.08
$GC,2611,0.81,295.1,2611,2108,421,581,18.7,12.8,350,2621,0.00,2.35,0.00,0.000,516,0.000,0.060,2621,707,502,422,582,0,0,0,0,0,0,26.43,26.13,26.46
$GC,2664,0.81,295.1,2621,707,421,582,11.6,12.1,356,2675,0.00,2.38,0.00,0.000,1030,0.000,0.046,2622,2161,501,421,582,0,0,0,0,0,0,26.22,26.17,26.25
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,-0.0,1.020633
$STATE,2770,end surface coast,CONTROL_FINISHED_OK
$STATE,2770,begin surface
$SM_CCo,2850,0.00,0.000,0,0,501,295.41
$SM_GC,0.92,6.43,0.10,0.00,0.039,0.098,0.000,136,2237,501,-6.78,-0.14,295.41,0,0,0,0,0,0,26.25,26.27,26.30
$IRIDIUM_FIX,4726.11,-12222.38,280316,184807
$TT8_MAMPS,0.026964,0.266644
$HUMID,33.61
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,110.2,72.4
$24V_AH,24.30,0.346
$10V_AH,10.38,0.134
$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,15.125,38.250,358.100,0.000,0.000,0.000,0.000,0.000,1.250,0.000,18.409,794.447,255.412,294.445,1472.741,105.880,0.000,798.263,0.000,833.434,0.000,10.372,0.000
$DEVICE_MAMPS,223.380,1284.435,644.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.630,1244.859,585.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312212
$DATA_FILE_SIZE,26979,369
$CAP_FILE_SIZE,58634,0
$CFSIZE,260165632,259022848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,280316,194603,4743.574,-12224.237,13,1.2,34,18.2,0.3,319.3,8,5.6