version: 66.12
glider: 157
mission: 15
dive: 9
start: 9 28 116 2 12 2
data:
$ID,157
$MISSION,15
$DIVE,9
$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,12
$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
$GPS1,280916,020132,4743.6460,-12225.3027,5,1.1,30,16.3,0.2,349.7,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.5
$GPS2,280916,021132,4743.7109,-12225.3389,7,1.1,10,16.3,0.0,0.0,9,9.9
$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,46.2,757,-22.2,-7.018,-27.84,1287
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.96,-60.2,188,2212,746,840,0.0,0.0,0,40,0.00,0.00,-20.50,0.000,16386,0.000,0.000,187,2211,1348,1342,1355,0,0,0,0,0,0,26.36,28.83,26.38
$GC,44,-0.96,-60.2,188,2212,1342,1355,2.0,-1.5,3,89,8.95,2.62,-24.62,0.000,18948,0.246,1.263,2485,1011,2032,2144,1920,0,0,1,0,0,0,25.82,24.94,25.98
$GC,167,-0.96,-60.2,2484,1011,2143,1920,14.0,-15.9,22,175,0.00,2.42,0.00,0.000,1030,0.000,0.028,2475,2197,2032,2144,1921,0,0,0,0,0,0,26.11,26.08,26.14
$GC,244,-0.96,-60.2,2474,2195,2143,1920,26.4,-15.2,35,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2195,2032,2143,1921,0,0,0,0,0,0,26.42,26.44,26.44
$GC,322,-0.96,-60.2,2474,2195,2143,1921,38.7,-16.5,48,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2195,2032,2143,1921,0,0,0,0,0,0,26.49,26.52,26.51
$GC,400,-0.96,-60.2,2474,2195,2144,1921,51.1,-16.7,61,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2195,2032,2144,1921,0,0,0,0,0,0,26.55,26.58,26.57
$GC,540,-0.96,-60.2,2474,2194,2143,1921,75.9,-18.4,86,548,0.00,2.25,0.00,0.000,260,0.000,0.042,2466,3385,2032,2143,1921,0,0,0,0,0,0,26.64,26.36,26.65
$GC,744,-0.96,-60.2,2465,3385,2143,1921,110.2,-15.6,121,750,0.00,2.17,0.00,0.000,1030,0.000,0.023,2466,2186,2032,2143,1921,0,0,0,0,0,0,26.54,26.48,26.55
$GC,889,-0.96,-60.2,2465,2186,2143,1921,132.2,-14.3,146,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2186,2032,2144,1921,0,0,0,0,0,0,26.77,26.79,26.79
$GC,1041,-0.96,-60.2,2465,2186,2143,1921,152.3,-11.9,171,1048,0.00,2.33,0.00,0.000,516,0.000,0.040,2466,1012,2032,2144,1921,0,0,0,0,0,0,26.80,26.50,26.82
$GC,1136,-0.96,-60.2,2465,1012,2143,1921,166.9,-16.5,187,1142,0.00,2.35,0.00,0.000,1030,0.000,0.030,2455,2204,2032,2143,1921,0,0,0,0,0,0,26.63,26.55,26.65
$GC,1280,-0.96,-60.2,2454,2202,2143,1921,192.2,-17.7,212,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2202,2032,2144,1921,0,0,0,0,0,0,26.85,26.88,26.87
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1331,-0.21,0.0,2455,2073,2144,1921,200.3,-17.6,219,1392,0.85,0.00,51.58,0.751,10246,0.163,0.000,2725,2073,1790,1856,1724,0,0,0,0,0,0,26.40,25.56,25.18
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1397,0.96,60.2,2725,2073,1856,1724,207.0,0.0,229,1452,1.05,0.00,51.12,0.725,10246,0.112,0.000,3079,2072,1549,1568,1531,0,0,0,0,0,0,25.72,25.24,24.74
$GC,1588,0.98,101.6,3078,2072,1568,1530,202.4,3.7,262,1632,0.00,2.30,36.50,0.715,8708,0.000,0.044,3086,891,1383,1388,1379,0,0,0,0,0,0,26.15,25.22,24.84
$GC,1681,0.98,101.6,3085,891,1388,1379,197.2,7.5,277,1687,0.00,2.17,0.00,0.000,1030,0.000,0.028,3086,2067,1383,1388,1378,0,0,0,0,0,0,25.79,25.72,25.80
$GC,1825,0.98,101.6,3085,2065,1388,1378,185.7,8.2,302,1833,0.00,2.53,0.00,0.000,260,0.000,0.044,3086,3259,1383,1388,1379,0,0,0,0,0,0,26.27,26.00,26.29
$GC,1905,0.98,101.6,3085,3258,1388,1378,177.9,10.4,315,1911,0.00,2.42,0.00,0.000,1030,0.000,0.028,3088,2071,1383,1388,1379,0,0,0,0,0,0,26.19,26.11,26.20
$GC,2049,0.98,101.6,3087,2071,1388,1379,164.0,10.0,340,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2072,1383,1388,1378,0,0,0,0,0,0,26.51,26.53,26.52
$GC,2194,0.98,101.6,3087,2071,1388,1379,148.9,10.6,365,2200,0.00,2.20,0.00,0.000,516,0.000,0.047,3099,865,1383,1388,1379,0,0,0,0,0,0,26.60,26.29,26.62
$GC,2277,0.98,101.6,3098,866,1388,1379,140.3,10.7,379,2284,0.00,2.15,0.00,0.000,1030,0.000,0.035,3098,2066,1383,1388,1379,0,0,0,0,0,0,26.45,26.38,26.46
$GC,2422,0.98,101.6,3098,2064,1388,1378,126.1,9.6,404,2430,0.00,2.47,0.00,0.000,260,0.000,0.050,3098,3261,1383,1388,1379,0,0,0,0,0,0,26.70,26.41,26.71
$GC,2524,0.98,101.6,3098,3261,1388,1379,114.8,10.7,421,2530,0.00,2.40,0.00,0.000,1030,0.000,0.029,3100,2066,1383,1388,1379,0,0,0,0,0,0,26.53,26.46,26.55
$GC,2668,0.98,101.6,3099,2066,1388,1378,100.0,10.8,446,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2066,1383,1388,1379,0,0,0,0,0,0,26.77,26.79,26.79
$GC,2813,0.98,101.6,3099,2066,1388,1379,84.6,10.3,471,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2066,1383,1388,1378,0,0,0,0,0,0,26.81,26.83,26.82
$GC,2954,0.98,101.6,3099,2066,1388,1378,70.3,9.5,496,2962,0.00,2.20,0.00,0.000,516,0.000,0.050,3108,874,1383,1388,1378,0,0,0,0,0,0,26.84,26.53,26.86
$GC,2992,0.98,101.6,3107,874,1388,1379,66.7,8.7,502,3000,0.00,2.17,0.00,0.000,1030,0.000,0.029,3108,2067,1383,1388,1378,0,0,0,0,0,0,26.62,26.59,26.65
$GC,3141,0.98,101.6,3108,2066,1388,1379,54.6,9.1,527,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2065,1383,1388,1379,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3284,0.98,101.6,3108,2065,1388,1378,38.5,15.2,552,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2065,1383,1388,1378,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3362,0.98,101.6,3108,2065,1388,1378,28.6,10.7,565,3370,0.00,2.45,0.00,0.000,260,0.000,0.044,3108,3273,1383,1388,1378,0,0,0,0,0,0,26.90,26.61,26.91
$GC,3440,0.98,101.6,3108,3272,1388,1379,20.2,11.1,578,3449,0.00,2.42,0.00,0.000,1030,0.000,0.030,3119,2071,1383,1388,1378,0,0,0,0,0,0,26.70,26.64,26.70
$GC,3518,0.98,101.6,3118,2071,1388,1378,11.7,10.8,591,3526,0.00,2.22,0.00,0.000,516,0.000,0.053,3127,869,1383,1388,1379,0,0,0,0,0,0,26.91,26.60,26.94
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3604,begin surface coast
$FINISH,1.3,0.999016
$STATE,3621,end surface coast,CONTROL_FINISHED_OK
$STATE,3622,begin surface
$SM_CCo,3645,83.22,0.054,0,0,792,250.20
$SM_GC,1.93,7.47,2.58,83.22,0.044,0.032,0.054,195,2207,792,-8.03,-0.42,250.20,0,0,0,0,0,0,26.65,26.65,26.54
$IRIDIUM_FIX,4726.11,-12226.80,280916,003338
$TT8_MAMPS,0.024717,0.244923
$HUMID,50.19
$INTERNAL_PRESSURE,8.9542
$TCM_TEMP,16.70
$XPDR_PINGS,8
$ALTIM_TOP_PING,18.8,16.4
$ALTIM_BOTTOM_PING,155.7,69.3
$24V_AH,24.74,0.798
$10V_AH,10.36,0.605
$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,18.325,47.200,139.200,83.225,0.000,24.938,37.006,378.603,3.750,0.000,10.955,1230.839,480.030,301.866,2056.641,266.717,0.000,872.701,0.000,1617.826,0.000,14.947,0.000
$DEVICE_MAMPS,246.330,1263.015,751.230,54.315,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.148,1167.664,1177.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312608
$DATA_FILE_SIZE,43801,609
$CAP_FILE_SIZE,72830,0
$CFSIZE,260165632,257503232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280916,031504,4744.062,-12224.885,5,0.8,9,16.3,0.0,0.0,12,9.1