version: 66.12
glider: 157
mission: 15
dive: 16
start: 9 28 116 9 14 8
data:
$ID,157
$MISSION,15
$DIVE,16
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,190
$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,90
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,230
$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,2795
$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,8
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1880
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$GPS1,280916,090603,4743.6572,-12224.8594,5,0.9,7,16.3,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.1
$GPS2,280916,091335,4743.5962,-12224.8477,7,0.9,9,16.3,0.0,125.4,9,9.3
$SPEED_LIMITS,0.070,0.219
$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,349.8,566,-26.8,-7.037,-31.75,947
$D_GRID,175
$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,-1.14,-44.1,195,2199,902,1017,0.0,0.0,0,40,0.00,0.00,-20.35,0.000,16386,0.000,0.000,195,2198,1493,1499,1487,0,0,0,0,0,0,26.38,28.83,26.40
$GC,44,-1.14,-44.1,195,2199,1499,1488,2.1,-1.6,3,81,8.65,0.00,-19.50,0.000,18438,0.245,0.000,2426,2199,2058,2172,1945,0,0,0,0,0,0,25.86,25.21,26.01
$GC,151,-1.14,-44.1,2426,2198,2173,1945,13.4,-16.5,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2199,2059,2173,1945,0,0,0,0,0,0,26.34,26.36,26.36
$GC,228,-1.14,-44.1,2426,2198,2173,1945,28.2,-20.5,33,236,0.00,2.50,0.00,0.000,516,0.000,0.038,2430,1006,2059,2173,1945,0,0,0,0,0,0,26.43,26.15,26.45
$GC,326,-1.14,-44.1,2429,1005,2172,1945,47.7,-18.7,50,334,0.00,2.45,0.00,0.000,1030,0.000,0.029,2420,2204,2058,2172,1945,0,0,0,0,0,0,26.28,26.26,26.32
$GC,472,-1.14,-44.1,2419,2201,2172,1945,70.9,-16.2,75,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2202,2058,2172,1945,0,0,0,0,0,0,26.60,26.63,26.62
$GC,612,-1.14,-44.1,2419,2201,2173,1945,96.1,-17.7,100,620,0.00,2.47,0.00,0.000,516,0.000,0.039,2420,1013,2058,2172,1945,0,0,0,0,0,0,26.67,26.38,26.69
$GC,747,-1.14,-44.1,2419,1014,2173,1945,126.5,-24.1,123,753,0.00,2.38,0.00,0.000,1030,0.000,0.028,2408,2207,2059,2173,1945,0,0,0,0,0,0,26.53,26.46,26.55
$GC,892,-1.14,-44.1,2408,2205,2172,1945,154.9,-20.3,148,900,0.00,2.47,0.00,0.000,516,0.000,0.038,2408,1014,2059,2173,1945,0,0,0,0,0,0,26.76,26.46,26.78
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,1000,-0.21,0.0,2398,2066,2173,1945,175.9,-21.0,165,1050,1.05,0.00,39.38,0.734,10246,0.175,0.000,2724,2065,1879,1958,1800,0,0,0,0,0,0,26.33,25.69,25.30
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1055,1.14,44.1,2724,2065,1958,1800,181.7,0.0,173,1105,1.25,2.53,37.95,0.703,10500,0.118,0.043,3143,3256,1703,1748,1658,0,0,0,0,0,0,25.85,25.46,24.91
$GC,1607,1.18,115.3,3143,3255,1748,1658,167.3,-0.7,270,1676,0.00,2.42,60.12,0.698,9222,0.000,0.028,3153,2065,1419,1427,1411,0,0,0,0,0,0,26.35,26.32,24.96
$GC,1814,1.18,115.3,3153,2065,1427,1411,151.7,9.4,305,1820,0.00,2.25,0.00,0.000,516,0.000,0.047,3156,863,1419,1427,1411,0,0,0,0,0,0,26.20,25.91,26.22
$GC,1907,1.18,115.3,3156,863,1427,1411,142.4,9.4,321,1914,0.00,2.17,0.00,0.000,1030,0.000,0.028,3157,2064,1418,1427,1410,0,0,0,0,0,0,26.15,26.09,26.17
$GC,2052,1.18,115.3,3156,2063,1427,1411,124.0,12.5,346,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2063,1418,1427,1410,0,0,0,0,0,0,26.48,26.50,26.49
$GC,2198,1.18,115.3,3156,2062,1427,1411,110.0,12.2,371,2204,0.00,2.42,0.00,0.000,260,0.000,0.043,3156,3276,1419,1427,1411,0,0,0,0,0,0,26.58,26.29,26.59
$GC,2247,1.18,115.3,3156,3276,1427,1410,103.0,14.2,379,2253,0.00,2.40,0.00,0.000,1030,0.000,0.030,3156,2066,1418,1427,1410,0,0,0,0,0,0,26.41,26.32,26.42
$GC,2391,1.18,115.3,3155,2067,1427,1410,83.9,12.7,404,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2066,1419,1428,1411,0,0,0,0,0,0,26.66,26.68,26.68
$GC,2537,1.18,115.3,3156,2066,1427,1410,66.6,10.8,429,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2066,1418,1427,1410,0,0,0,0,0,0,26.72,26.74,26.74
$GC,2677,1.18,115.3,3156,2067,1427,1411,51.5,10.7,454,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2066,1419,1427,1411,0,0,0,0,0,0,26.76,26.78,26.78
$GC,2822,1.18,115.3,3156,2066,1427,1411,36.9,10.7,479,2830,0.00,2.22,0.00,0.000,516,0.000,0.047,3158,876,1419,1427,1411,0,0,0,0,0,0,26.79,26.49,26.82
$GC,2928,1.18,115.3,3157,877,1427,1411,25.1,11.4,497,2936,0.00,2.17,0.00,0.000,1030,0.000,0.028,3158,2063,1418,1427,1410,0,0,0,0,0,0,26.60,26.56,26.62
$GC,3006,1.18,115.3,3158,2062,1427,1409,15.9,11.3,510,3014,0.00,2.45,0.00,0.000,260,0.000,0.046,3158,3267,1418,1427,1409,0,0,0,0,0,0,26.83,26.55,26.85
$GC,3074,1.18,115.3,3157,3267,1427,1409,7.8,11.8,521,3082,0.00,2.40,0.00,0.000,1030,0.000,0.029,3167,2070,1418,1427,1409,0,0,0,0,0,0,26.62,26.58,26.64
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,1.2,0.999016
$STATE,3140,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3162,65.88,0.055,0,0,961,230.10
$SM_GC,2.31,7.70,0.38,65.88,0.050,0.079,0.055,197,2205,961,-8.06,-0.48,230.10,0,0,1,0,0,0,26.55,26.32,26.48
$IRIDIUM_FIX,4719.74,-12134.56,280916,081413
$TT8_MAMPS,0.024717,0.237433
$HUMID,49.56
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,140.5,55.1
$24V_AH,24.91,1.162
$10V_AH,10.35,0.984
$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,18.650,38.150,137.450,65.875,0.000,25.303,34.584,256.751,1.500,0.000,9.946,1078.433,415.482,259.098,1733.095,212.360,0.000,754.509,0.000,1418.799,0.000,8.354,0.000
$DEVICE_MAMPS,244.800,78.795,733.635,55.080,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.321,1030.490,1038.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312576
$DATA_FILE_SIZE,37079,532
$CAP_FILE_SIZE,59375,0
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280916,100850,4743.650,-12224.960,5,0.9,10,16.3,0.0,0.0,9,7.3