version: 66.11
glider: 157
mission: 13
dive: 3
start: 6 2 115 20 2 54
data:
$ID,157
$MISSION,13
$DIVE,3
$N_DIVES,25
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,45
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$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,1440
$T_TURN,300
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52229
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1486813.4
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,195
$PITCH_MAX,3873
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,33
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,268
$ROLL_MAX,3867
$ROLL_DEG,33
$C_ROLL_DIVE,1580
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1745
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00055
$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,5
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.120026
$PRESSURE_SLOPE,0.0001158973
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042746845
$SEABIRD_T_H,0.00061961456
$SEABIRD_T_I,2.2130595e-05
$SEABIRD_T_J,2.2584688e-06
$SEABIRD_C_G,-10.171194
$SEABIRD_C_H,1.1508522
$SEABIRD_C_I,-0.0016472058
$SEABIRD_C_J,0.00021877296
$GPS1,020615,195752,4743.703,-12224.622,3,0.7,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.5
$GPS2,020615,200155,4743.720,-12224.597,5,0.8,5,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.089
$KALMAN_X,147.7,184.4,164.9,33.8,215.0
$KALMAN_Y,36.3,22.1,30.0,1048.5,17.0
$MHEAD_RNG_PITCHd_Wd,287.6,418,-27.1,-9.231,-30.00,925
$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,13,begin dive
$GC,17,-0.85,-56.0,192,1580,686,808,0.0,0.0,0,62,0.00,0.00,-42.80,0.000,16386,0.000,0.000,192,1580,1876,1938,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-91.6,193,1580,1938,1814,3.1,-5.3,8,92,10.02,2.47,-5.80,0.000,18948,0.262,0.056,2703,400,2113,2243,1984,0,0,1,0,0,0,26.06,26.34,26.65
$GC,313,-0.87,-91.6,2703,398,2243,1984,40.1,-15.1,55,320,0.00,2.40,0.00,0.000,1030,0.000,0.029,2693,1578,2113,2243,1984,0,0,0,0,0,0,28.83,26.49,28.83
$GC,443,-0.87,-91.6,2693,1577,2243,1984,57.5,-13.9,80,450,0.00,2.47,0.00,0.000,516,0.000,0.050,2693,391,2113,2243,1984,0,0,0,0,0,0,28.83,26.51,28.83
$GC,494,-0.87,-91.6,2693,390,2243,1984,65.5,-15.9,89,501,0.00,2.40,0.00,0.000,1030,0.000,0.028,2682,1581,2113,2243,1984,0,0,0,0,0,0,28.83,26.55,28.83
$GC,625,-0.87,-91.6,2681,1581,2243,1984,84.7,-13.9,114,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1581,2113,2243,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.87,-91.6,2681,1580,2243,1984,103.4,-14.5,139,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1581,2113,2243,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.87,-91.6,2681,1580,2243,1984,122.4,-15.3,164,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1580,2113,2242,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-0.87,-91.6,2682,1580,2243,1984,139.8,-9.6,189,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1580,2113,2243,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-0.87,-91.6,1664,1579,2180,1976,155.3,-15.3,214,1157,0.00,1.83,0.00,0.000,260,0.000,0.041,2673,2782,2113,2243,1984,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1236,-0.87,-91.6,1664,2781,2182,1976,166.1,-13.1,230,1243,0.00,1.85,0.00,0.000,1030,0.000,0.030,2674,1576,2113,2243,1984,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1301,-0.15,0.0,2673,1576,2243,1985,174.3,-13.7,241,1384,0.80,0.00,74.82,0.715,10246,0.181,0.000,2920,1575,1746,1817,1675,0,0,0,0,0,0,26.47,28.83,25.12
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1389,0.87,91.6,2920,1575,1817,1675,177.4,0.0,256,1472,0.98,0.00,77.97,0.701,10758,0.109,0.000,3252,1575,1378,1385,1372,0,0,0,0,0,0,25.67,28.83,24.68
$GC,1598,0.87,91.6,3252,1575,1385,1372,147.6,15.9,295,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1575,1378,1385,1372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,0.87,91.6,3252,1576,1385,1372,125.2,18.8,320,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1575,1378,1385,1372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,0.87,91.6,3252,1575,1385,1372,99.9,17.8,345,1865,0.00,2.42,0.00,0.000,516,0.000,0.050,3263,406,1378,1385,1372,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1893,0.87,91.6,2304,406,1359,1369,93.7,17.7,351,1900,0.00,2.42,0.00,0.000,1030,0.000,0.031,3263,1585,1378,1385,1372,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2026,0.87,91.6,2240,1584,1358,1367,71.3,15.8,376,2032,0.00,2.50,0.00,0.000,516,0.000,0.050,3275,407,1377,1385,1370,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2046,0.87,91.6,3274,406,1385,1371,67.4,16.4,379,2053,0.00,2.40,0.00,0.000,1030,0.000,0.031,3274,1578,1378,1385,1371,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2180,0.87,91.6,3274,1577,1385,1371,47.8,15.2,404,2186,0.00,2.47,0.00,0.000,516,0.000,0.049,3286,405,1378,1385,1371,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2240,0.87,91.6,3285,405,1385,1371,37.1,18.0,415,2248,0.15,2.42,0.00,0.000,5126,0.193,0.032,3249,1581,1378,1385,1371,0,0,0,0,0,0,26.30,26.49,28.83
$GC,2312,0.87,91.6,3248,1581,1385,1370,24.7,15.5,428,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1581,1377,1385,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,0.87,91.6,3248,1581,1385,1370,15.3,12.3,441,2388,0.00,2.50,0.00,0.000,516,0.000,0.051,3259,395,1377,1385,1370,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,1.0,1.013669
$STATE,2505,end surface coast,CONTROL_FINISHED_OK
$STATE,2505,begin surface
$SM_CCo,2529,85.57,0.516,0,0,747,250.20
$SM_GC,1.83,8.10,2.45,85.57,0.060,0.029,0.516,177,1582,747,-8.66,-0.48,250.20,0,0,1,0,0,0,26.55,26.58,25.29
$IRIDIUM_FIX,4729.30,-12224.09,290308,090949
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,20.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,115.6,73.2
$24V_AH,24.7,0.370
$10V_AH,10.4,0.493
$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,20.050,33.025,152.800,85.575,0.000,0.000,0.000,0.000,2.750,0.000,6.540,1055.898,481.335,331.078,698.639,118.455,31.296,717.194,0.000,688.052,0.000,10.309,0.000
$DEVICE_MAMPS,262.395,55.845,714.510,516.375,0.000,0.000,0.000,0.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.322,376.306,380.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323136
$DATA_FILE_SIZE,33741,464
$CAP_FILE_SIZE,62045,0
$CFSIZE,260165632,257798144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,020615,204716,4743.691,-12224.971,3,1.0,3,16.3