version: 66.12
glider: 157
mission: 15
dive: 8
start: 9 28 116 0 40 35
data:
$ID,157
$MISSION,15
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,95
$T_MISSION,100
$T_ABORT,1440
$T_TURN,500
$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,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025548199
$HD_B,0.0129854
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,41.058334
$TGT_DEFAULT_LON,-124.43333
$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,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$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,195
$PITCH_MAX,3873
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$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,2200
$C_ROLL_CLIMB,2067
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1790
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.18203
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,140
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,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,0.0042744437
$SEABIRD_T_H,0.00061931956
$SEABIRD_T_I,2.1970962e-05
$SEABIRD_T_J,2.2243628e-06
$SEABIRD_C_G,-10.172618
$SEABIRD_C_H,1.1509272
$SEABIRD_C_I,-0.0014653053
$SEABIRD_C_J,0.00019874881
$GPS1,280916,003118,4743.2261,-12225.7080,4,0.8,7,16.3,0.0,0.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.6
$GPS2,280916,004005,4743.2471,-12225.7363,7,0.9,12,16.3,0.0,0.0,9,9.6
$SPEED_LIMITS,0.084,0.238
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$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,27.7,1680,-7.4,-7.018,-16.43,4788
$D_GRID,200
$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,-0.44,-243.3,164,2184,454,515,0.0,0.0,0,40,0.00,0.00,-20.38,0.000,16386,0.000,0.000,163,2184,1078,1051,1105,0,0,0,0,0,0,26.39,28.83,26.41
$GC,44,-0.44,-243.3,163,2184,1051,1105,2.1,-1.9,3,138,9.05,2.50,-72.65,0.000,18948,0.219,1.270,2645,1038,2758,2947,2570,0,0,1,0,0,0,25.90,24.99,26.03
$GC,185,-0.44,-243.3,2644,1038,2947,2571,5.9,-11.0,23,193,0.00,2.40,0.00,0.000,1030,0.000,0.031,2640,2196,2759,2947,2571,0,0,0,0,0,0,26.10,26.07,26.13
$GC,264,-0.44,-243.3,2639,2195,2947,2571,14.5,-11.1,36,272,0.00,2.28,0.00,0.000,260,0.000,0.047,2637,3386,2759,2947,2571,0,0,0,0,0,0,26.43,26.14,26.44
$GC,304,-0.44,-243.3,2636,3386,2947,2571,18.6,-10.6,42,312,0.00,2.17,0.00,0.000,1030,0.000,0.024,2637,2206,2759,2947,2571,0,0,0,0,0,0,26.26,26.24,26.27
$GC,382,-0.44,-243.3,2636,2206,2947,2571,26.4,-10.9,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2206,2759,2947,2571,0,0,0,0,0,0,26.53,26.55,26.54
$GC,458,-0.44,-243.3,2636,2206,2947,2571,34.8,-10.2,68,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2206,2758,2947,2570,0,0,0,0,0,0,26.58,26.60,26.60
$GC,536,-0.44,-243.3,2636,2205,2947,2571,42.4,-9.5,81,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2206,2759,2947,2571,0,0,0,0,0,0,26.63,26.65,26.64
$GC,676,-0.44,-243.3,2636,2205,2946,2571,56.3,-9.7,106,684,0.00,2.28,0.00,0.000,260,0.000,0.045,2627,3386,2759,2947,2571,0,0,0,0,0,0,26.69,26.40,26.71
$GC,788,-0.44,-243.3,2626,3386,2946,2571,67.8,-10.5,125,795,0.00,2.15,0.00,0.000,1030,0.000,0.024,2627,2195,2758,2946,2571,0,0,0,0,0,0,26.55,26.49,26.56
$GC,930,-0.44,-243.3,2626,2194,2946,2571,83.3,-10.8,150,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,2758,2946,2571,0,0,0,0,0,0,26.77,26.79,26.79
$GC,1074,-0.44,-243.3,2626,2194,2946,2571,100.2,-13.0,175,1081,0.00,2.28,0.00,0.000,260,0.000,0.046,2618,3408,2758,2946,2571,0,0,0,0,0,0,26.81,26.52,26.83
$GC,1116,-0.44,-243.3,2617,3408,2945,2571,105.8,-12.0,182,1124,0.00,2.20,0.00,0.000,1030,0.000,0.025,2618,2198,2758,2945,2571,0,0,0,0,0,0,26.63,26.58,26.63
$GC,1265,-0.44,-243.3,2618,2198,2945,2571,123.7,-12.8,207,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2198,2758,2945,2571,0,0,0,0,0,0,26.85,26.87,26.86
$GC,1406,-0.44,-243.3,2617,2198,2945,2571,140.0,-10.0,232,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2198,2758,2945,2571,0,0,0,0,0,0,26.86,26.88,26.87
$GC,1555,-0.44,-243.3,2618,2198,2945,2571,153.5,-7.8,257,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2198,2758,2945,2571,0,0,0,0,0,0,26.89,26.92,26.91
$GC,1700,-0.44,-243.3,2617,2198,2944,2571,168.2,-11.1,282,1708,0.00,2.30,0.00,0.000,260,0.000,0.047,2613,3400,2757,2943,2571,0,0,0,0,0,0,26.91,26.61,26.93
$GC,1768,-0.44,-243.3,2613,3400,2942,2571,175.8,-10.5,293,1775,0.12,2.12,0.00,0.000,3078,0.142,0.024,2656,2202,2756,2942,2571,0,0,0,0,0,0,26.52,26.67,26.65
$GC,1913,-0.44,-243.3,2655,2201,2942,2571,186.9,-7.3,318,1921,0.00,2.28,0.00,0.000,260,0.000,0.047,2648,3391,2756,2942,2571,0,0,0,0,0,0,26.94,26.63,26.96
$GC,1948,-0.44,-243.3,2647,3391,2942,2571,189.3,-8.2,323,1954,0.00,2.12,0.00,0.000,1030,0.000,0.024,2648,2197,2756,2942,2571,0,0,0,0,0,0,26.75,26.70,26.77
$GC,2092,-0.44,-243.3,2647,2197,2942,2571,199.5,-7.4,348,2100,0.00,2.30,0.00,0.000,260,0.000,0.047,2638,3399,2756,2942,2571,0,0,0,0,0,0,26.95,26.65,26.97
$STATE,2105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2105,begin apogee
$GC,2116,-0.21,0.0,2638,2078,2942,2571,201.0,-7.2,350,2313,0.22,0.00,188.57,0.737,10246,0.123,0.000,2724,2078,1788,1817,1760,0,0,0,0,0,0,26.58,24.98,24.46
$STATE,2314,end apogee,CONTROL_FINISHED_OK
$STATE,2314,begin climb
$GC,2318,0.44,243.3,2723,2078,1817,1760,209.1,0.0,382,2526,0.55,0.00,199.43,0.712,10758,0.089,0.000,2920,2078,820,778,862,0,0,0,0,0,0,24.40,24.92,24.44
$GC,2662,0.44,243.3,2919,2078,779,862,189.3,9.6,440,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2078,820,779,862,0,0,0,0,0,0,26.05,26.07,26.06
$GC,2807,0.44,243.3,2919,2078,779,862,175.3,10.0,465,2813,0.00,2.25,0.00,0.000,516,0.000,0.045,2920,865,819,778,861,0,0,0,0,0,0,26.32,26.01,26.33
$GC,2871,0.44,243.3,2919,865,778,861,169.6,8.2,476,2879,0.00,2.20,0.00,0.000,1030,0.000,0.028,2917,2064,819,778,861,0,0,0,0,0,0,26.17,26.13,26.19
$GC,3019,0.44,243.3,2917,2063,778,861,156.2,11.4,501,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2063,819,778,860,0,0,0,0,0,0,26.51,26.54,26.53
$GC,3160,0.44,243.3,2917,2063,778,860,142.0,9.5,526,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2063,819,778,860,0,0,0,0,0,0,26.60,26.63,26.62
$GC,3305,0.44,243.3,2917,2063,778,860,128.6,9.4,551,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2063,819,778,860,0,0,0,0,0,0,26.67,26.70,26.69
$GC,3445,0.44,243.3,2917,2063,778,861,114.3,9.6,576,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2063,819,778,860,0,0,0,0,0,0,26.72,26.74,26.74
$GC,3590,0.44,243.3,2916,2063,778,860,99.8,10.1,601,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2063,819,778,860,0,0,0,0,0,0,26.77,26.79,26.78
$GC,3730,0.44,243.3,2917,2063,778,860,86.6,8.5,626,3738,0.00,2.22,0.00,0.000,516,0.000,0.053,2917,883,819,778,860,0,0,0,0,0,0,26.80,26.49,26.82
$GC,3901,0.44,243.3,2917,883,778,859,73.4,8.0,655,3907,0.00,2.12,0.00,0.000,1030,0.000,0.031,2918,2072,819,778,860,0,0,0,0,0,0,26.65,26.58,26.66
$GC,4045,0.44,243.3,2917,2070,778,860,61.5,8.0,680,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2071,818,778,859,0,0,0,0,0,0,26.86,26.89,26.87
$GC,4190,0.44,243.3,2917,2070,778,859,49.1,9.1,705,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,819,778,860,0,0,0,0,0,0,26.88,26.91,26.90
$GC,4332,0.44,243.3,2917,2070,778,859,36.6,9.4,730,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,818,778,859,0,0,0,0,0,0,26.90,26.93,26.92
$GC,4409,0.44,243.3,2917,2070,778,859,29.8,9.1,743,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,818,778,859,0,0,0,0,0,0,26.91,26.93,26.93
$GC,4486,0.44,243.3,2917,2070,778,859,23.1,8.9,756,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,819,778,860,0,0,0,0,0,0,26.92,26.94,26.94
$GC,4564,0.44,243.3,2917,2070,778,859,16.2,9.0,769,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,818,778,859,0,0,0,0,0,0,26.93,26.95,26.94
$GC,4641,0.44,243.3,2917,2070,778,860,9.6,9.4,782,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,819,778,860,0,0,0,0,0,0,26.94,26.96,26.96
$GC,4718,0.44,243.3,2917,2070,778,859,2.1,9.2,795,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2070,818,778,859,0,0,0,0,0,0,26.94,26.96,26.96
$STATE,4732,end climb,SURFACE_DEPTH_REACHED
$STATE,4732,begin surface coast
$FINISH,1.1,0.999016
$STATE,4755,end surface coast,CONTROL_FINISHED_OK
$STATE,4755,begin surface
$SM_CCo,4775,3.83,0.057,0,0,793,250.20
$SM_GC,2.60,7.00,0.35,3.83,0.049,0.054,0.057,188,2211,793,-8.05,-0.48,250.20,0,0,0,0,0,0,26.67,26.69,26.64
$IRIDIUM_FIX,4726.11,-12226.80,270916,231837
$TT8_MAMPS,0.024717,0.278628
$HUMID,50.94
$INTERNAL_PRESSURE,8.9542
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,160.3,58.0
$24V_AH,24.40,0.740
$10V_AH,10.33,0.536
$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,16.950,41.125,388.000,3.825,0.000,26.158,40.677,312.422,3.250,0.000,12.967,1514.336,580.285,414.511,2522.555,285.957,0.000,1236.354,0.000,2129.888,0.000,19.430,0.000
$DEVICE_MAMPS,218.790,1269.900,737.460,57.375,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.431,1558.345,1569.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312636
$DATA_FILE_SIZE,57041,801
$CAP_FILE_SIZE,85433,0
$CFSIZE,260165632,257536000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,4762.31,0x212ed4,7,24
$GPS,280916,020132,4743.646,-12225.303,5,1.1,30,16.3,0.2,349.7,9,6.3