version: 66.12
glider: 156
mission: 8
dive: 10
start: 3 29 116 4 25 27
data:
$ID,156
$MISSION,8
$DIVE,10
$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,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,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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,290316,041657,4742.5435,-12225.7207,11,1.2,50,18.2,0.2,229.7,8,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.7
$GPS2,290316,042458,4742.5015,-12225.7822,12,1.4,34,18.2,0.2,254.0,8,5.2
$SPEED_LIMITS,0.116,0.258
$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,5.1,4031,-17.9,-9.744,-20.69,2294
$D_GRID,190
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.82,-146.0,147,2178,517,837,0.0,0.0,0,77,0.00,0.00,-57.20,0.000,16386,0.000,0.000,147,2181,1931,1968,1894,0,0,0,0,0,0,25.96,28.83,25.98
$GC,82,-0.82,-146.0,147,2181,1968,1899,4.0,-8.2,6,104,7.25,2.70,-6.75,0.000,18692,0.221,1.269,2062,3574,2262,2324,2200,0,0,1,0,0,0,25.53,24.68,25.76
$GC,202,-0.82,-146.0,2061,3573,2325,2207,30.8,-15.9,20,212,0.00,2.53,0.00,0.000,1030,0.000,0.041,2062,2205,2266,2325,2207,0,0,0,0,0,0,25.84,25.79,25.86
$GC,392,-0.82,-146.0,2061,2192,2325,2207,62.1,-15.0,45,399,0.00,2.00,0.00,0.000,516,0.000,0.057,2062,776,2266,2325,2207,0,0,0,0,0,0,26.25,25.97,26.27
$GC,451,-0.82,-146.0,2061,776,2325,2206,71.0,-14.9,53,458,0.00,2.22,0.00,0.000,1030,0.000,0.043,2052,2237,2265,2325,2206,0,0,1,0,0,0,26.11,26.03,26.13
$GC,702,-0.82,-146.0,2051,2234,2325,2206,112.5,-16.3,90,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2234,2265,2325,2206,0,0,0,0,0,0,26.43,26.46,26.45
$GC,970,-0.82,-146.0,2051,2232,2325,2206,155.7,-17.4,127,976,0.00,2.33,0.00,0.000,260,0.000,0.054,2041,3619,2265,2325,2206,0,0,0,0,0,0,26.52,26.23,26.55
$GC,1032,-0.82,-146.0,2040,3619,2325,2206,167.5,-17.5,136,1043,0.10,2.40,0.00,0.000,3078,0.155,0.038,2072,2129,2265,2325,2206,0,0,0,0,0,0,26.14,26.29,26.24
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1192,-0.30,0.0,2072,2120,2325,2205,190.2,-14.8,158,1315,0.52,0.00,117.57,0.662,10246,0.138,0.000,2248,2099,1676,1665,1688,0,0,0,0,0,0,26.21,24.79,24.30
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1320,0.82,146.0,2247,2099,1665,1686,198.7,0.0,174,1442,1.02,0.00,117.97,0.635,10758,0.102,0.000,2586,2099,1095,1022,1168,0,0,0,0,0,0,24.88,24.60,24.13
$GC,1688,0.82,153.9,2586,2099,1022,1160,173.3,9.4,226,1700,0.00,2.50,7.07,0.519,8452,0.000,0.054,2586,3549,1064,1001,1128,0,0,0,0,0,0,25.98,25.59,25.05
$GC,1799,0.82,153.9,2585,3549,999,1126,161.8,10.6,241,1805,0.00,2.38,0.00,0.000,1030,0.000,0.041,2597,2100,1063,999,1127,0,0,0,0,0,0,25.89,25.81,25.91
$GC,2050,0.83,167.6,2597,2098,999,1126,136.4,9.1,278,2066,0.00,0.00,12.48,0.568,8198,0.000,0.000,2597,2098,1009,939,1079,0,0,0,0,0,0,26.30,25.77,25.29
$GC,2312,0.83,167.6,2597,2097,939,1075,106.7,11.8,316,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2098,1006,938,1075,0,0,0,0,0,0,26.34,26.38,26.37
$GC,2567,0.83,184.9,2596,2098,939,1075,80.3,9.0,353,2590,0.00,2.38,14.85,0.552,8452,0.000,0.054,2597,3545,939,861,1018,0,0,1,0,0,0,26.47,25.95,25.45
$GC,2616,0.83,184.9,2597,3545,861,1017,75.9,9.8,359,2622,0.00,2.40,0.00,0.000,1030,0.000,0.042,2608,2099,939,861,1017,0,0,0,0,0,0,26.10,26.03,26.13
$GC,2868,0.84,207.7,2608,2097,861,1015,50.8,8.7,396,2895,0.00,2.22,19.02,0.544,8708,0.000,0.055,2619,705,848,742,954,0,0,0,0,0,0,26.44,25.72,25.39
$GC,2962,0.84,207.7,2618,705,742,951,42.0,10.2,407,2972,0.00,2.38,0.00,0.000,1030,0.000,0.043,2618,2178,846,742,951,0,0,0,0,0,0,26.05,26.00,26.07
$GC,3165,0.84,207.7,2618,2177,742,948,18.4,11.6,432,3176,0.00,2.33,0.00,0.000,260,0.000,0.053,2619,3543,845,742,948,0,0,0,0,0,0,26.40,26.13,26.43
$GC,3320,0.85,236.8,2618,3543,742,946,3.1,8.4,451,3333,0.00,2.40,7.00,0.461,9218,0.000,0.042,2627,2117,819,712,927,0,0,0,0,0,0,26.25,26.20,26.28
$STATE,3333,end climb,SURFACE_DEPTH_REACHED
$STATE,3334,begin surface coast
$FINISH,-0.1,1.019615
$STATE,3367,end surface coast,CONTROL_FINISHED_OK
$STATE,3367,begin surface
$SM_CCo,3388,31.42,0.509,1,0,681,250.20
$SM_GC,0.92,6.55,0.20,31.42,0.050,0.062,0.509,157,2225,681,-6.74,-0.20,250.20,0,0,0,0,1,0,26.15,26.18,25.25
$IRIDIUM_FIX,4726.11,-12229.50,290316,031610
$TT8_MAMPS,0.026964,0.251664
$HUMID,32.67
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.3,56.2
$24V_AH,24.13,1.029
$10V_AH,10.38,0.668
$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,15.450,33.350,295.975,31.425,0.000,27.487,36.028,257.368,3.000,0.000,37.847,1032.830,280.279,288.584,2109.965,208.051,0.000,814.418,0.000,1013.522,0.000,23.999,0.000
$DEVICE_MAMPS,221.085,1269.135,661.725,508.725,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330H,WL_BBFL2_CNF,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.924,1483.249,698.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.000,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,33781,456
$CAP_FILE_SIZE,54441,0
$CFSIZE,260165632,258707456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$GPS,290316,052357,4742.840,-12225.762,15,1.3,42,18.2,0.3,225.4,9,4.9