version: 66.11
glider: 157
mission: 13
dive: 6
start: 6 2 115 22 54 26
data:
$ID,157
$MISSION,13
$DIVE,6
$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,-1486817.2
$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,2950
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,020615,224548,4743.536,-12224.995,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.7
$GPS2,020615,225323,4743.562,-12225.040,7,0.8,7,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,0.245
$KALMAN_X,-152.6,330.7,215.4,-407.5,-235.3
$KALMAN_Y,-1905.6,-303.6,170.0,2882.7,-928.3
$MHEAD_RNG_PITCHd_Wd,358.2,695,-16.2,-9.231,-20.04,2407
$D_GRID,179
$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,-0.57,-146.6,171,1582,691,806,0.0,0.0,0,63,0.00,0.00,-43.25,0.000,16386,0.000,0.000,171,1582,1890,1952,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.57,-146.6,171,1582,1952,1829,3.1,-5.4,8,98,10.45,2.55,-10.12,0.000,18948,0.259,0.060,2771,403,2331,2497,2166,0,0,1,0,0,0,25.80,26.08,26.39
$GC,408,-0.57,-146.6,2771,402,2496,2169,46.6,-11.5,73,415,0.00,2.42,0.00,0.000,1030,0.000,0.031,2762,1578,2333,2497,2169,0,0,0,0,0,0,28.83,26.36,28.83
$GC,539,-0.57,-146.6,2762,1578,2497,2169,61.1,-9.5,98,545,0.00,1.85,0.00,0.000,260,0.000,0.042,2754,2777,2333,2496,2170,0,0,0,0,0,0,28.83,26.41,28.83
$GC,722,-0.57,-146.6,2754,2776,2496,2171,81.1,-10.0,133,728,0.00,1.85,0.00,0.000,1030,0.000,0.031,2755,1574,2333,2496,2170,0,0,0,0,0,0,28.83,26.48,28.83
$GC,856,-0.57,-146.6,2754,1574,2496,2171,95.1,-10.8,158,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1574,2333,2496,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.57,-146.6,2754,1573,2496,2170,108.7,-9.6,183,994,0.00,1.90,0.00,0.000,260,0.000,0.042,2749,2785,2333,2496,2170,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1088,-0.57,-146.6,2749,2786,2496,2171,119.9,-11.0,202,1096,0.00,1.88,0.00,0.000,1030,0.000,0.031,2749,1578,2333,2496,2171,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1226,-0.57,-146.6,2749,1578,2496,2171,135.2,-11.2,227,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1578,2333,2496,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-0.57,-146.6,2749,1578,2496,2171,150.0,-11.6,252,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1578,2333,2496,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-0.57,-146.6,2749,1578,2496,2171,165.2,-11.9,277,1492,0.00,1.88,0.00,0.000,260,0.000,0.043,2749,2776,2333,2496,2171,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1546,-0.57,-146.6,2749,2777,2496,2171,172.3,-11.9,288,1552,0.00,1.85,0.00,0.000,1030,0.000,0.031,2749,1582,2333,2496,2171,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,1603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1603,begin apogee
$GC,1611,-0.15,0.0,2749,1582,2496,2171,179.7,-12.2,299,1733,0.47,0.00,117.53,0.708,10246,0.161,0.000,2901,1581,1744,1785,1704,0,0,0,0,0,0,26.48,28.83,24.72
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1740,0.57,146.6,2901,1582,1785,1703,184.0,0.0,321,1867,0.73,0.00,119.80,0.679,10502,0.122,0.000,3138,1582,1160,1139,1182,0,0,0,0,0,0,25.27,28.83,24.49
$GC,1993,0.57,146.6,3138,1582,1138,1181,159.7,12.1,368,2000,0.00,2.53,0.00,0.000,516,0.000,0.051,3142,406,1160,1139,1181,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2044,0.57,146.6,3141,406,1138,1181,153.6,11.7,377,2051,0.00,2.47,0.00,0.000,1030,0.000,0.034,3142,1582,1159,1138,1181,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2177,0.57,146.6,3142,1582,1138,1180,139.0,10.3,402,2184,0.00,1.88,0.00,0.000,260,0.000,0.042,3142,2782,1159,1138,1180,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2218,0.57,146.6,3141,2782,1138,1180,134.1,11.5,409,2224,0.00,1.90,0.00,0.000,1030,0.000,0.035,3142,1584,1159,1138,1180,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2351,0.57,146.6,3142,1583,1139,1180,120.2,10.4,434,2358,0.00,2.47,0.00,0.000,516,0.000,0.056,3142,403,1159,1139,1180,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2402,0.57,146.6,3142,403,1138,1180,114.6,9.6,443,2408,0.00,2.42,0.00,0.000,1030,0.000,0.037,3142,1580,1159,1138,1180,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2535,0.57,146.6,3142,1579,1138,1179,99.3,12.7,468,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1579,1158,1138,1179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,0.57,146.6,3142,1579,1138,1179,84.9,10.6,493,2671,0.00,1.85,0.00,0.000,260,0.000,0.043,3142,2790,1159,1139,1179,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2685,0.57,146.6,3142,2789,1138,1179,82.5,11.3,496,2691,0.00,1.92,0.00,0.000,1030,0.000,0.035,3142,1575,1158,1138,1179,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2818,0.57,146.6,3142,1575,1138,1179,69.1,9.6,521,2825,0.00,2.42,0.00,0.000,516,0.000,0.054,3142,399,1158,1138,1179,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2869,0.58,155.4,3142,399,1138,1179,64.1,8.9,530,2882,0.00,2.42,8.30,0.576,9222,0.000,0.037,3142,1583,1127,1108,1146,0,0,0,0,0,0,28.83,26.48,25.80
$GC,3008,0.58,155.4,3142,1582,1103,1145,49.9,10.7,556,3014,0.00,1.85,0.00,0.000,260,0.000,0.046,3142,2783,1123,1103,1144,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3053,0.58,155.4,2144,2781,1090,1143,44.2,13.0,564,3059,0.00,1.90,0.00,0.000,1030,0.000,0.035,3142,1578,1124,1103,1145,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3183,0.58,155.4,3142,1578,1103,1145,29.0,10.0,589,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1578,1124,1103,1145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,0.58,155.4,3141,1578,1103,1145,22.4,9.7,602,3260,0.00,2.45,0.00,0.000,516,0.000,0.053,3142,397,1124,1103,1145,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3310,0.58,155.4,3142,397,1103,1145,16.6,10.1,612,3317,0.00,2.42,0.00,0.000,1030,0.000,0.034,3142,1579,1123,1103,1144,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3381,0.61,212.3,3142,1579,1103,1143,10.2,6.8,625,3421,0.00,0.00,33.28,0.523,8454,0.000,0.000,3142,1579,898,858,938,0,0,0,0,0,0,28.83,28.83,25.74
$STATE,3475,end climb,SURFACE_DEPTH_REACHED
$STATE,3476,begin surface coast
$FINISH,0.9,1.011045
$STATE,3517,end surface coast,CONTROL_FINISHED_OK
$STATE,3517,begin surface
$SM_CCo,3537,20.98,0.505,0,0,747,250.20
$SM_GC,1.45,7.85,0.00,20.98,0.057,0.000,0.505,181,1579,747,-8.59,-0.03,250.20,0,0,0,0,0,0,26.28,28.83,25.62
$IRIDIUM_FIX,4726.11,-12222.38,290308,121218
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.82
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,135.2,8.7
$24V_AH,24.5,0.577
$10V_AH,10.4,0.623
$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,19.500,47.100,278.900,20.975,0.000,32.673,41.608,237.666,4.750,0.000,8.571,1439.617,669.835,384.114,1259.141,272.868,33.218,927.975,0.000,959.459,0.000,16.399,0.000
$DEVICE_MAMPS,258.570,60.435,708.390,504.900,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.254,522.599,528.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323072
$DATA_FILE_SIZE,47073,650
$CAP_FILE_SIZE,69159,0
$CFSIZE,260165632,257667072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,020615,235504,4743.525,-12225.035,34,0.8,34,16.3