version: 66.12
glider: 157
mission: 15
dive: 17
start: 9 28 116 10 17 36
data:
$ID,157
$MISSION,15
$DIVE,17
$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,10
$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
$GPS1,280916,100850,4743.6504,-12224.9600,5,0.9,10,16.3,0.0,0.0,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.1
$GPS2,280916,101705,4743.6050,-12225.0000,22,0.9,22,16.3,0.0,5.6,9,3.2
$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,8.2,601,-25.7,-7.037,-30.80,1016
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.10,-47.3,196,2204,903,1014,0.0,0.0,0,47,0.00,0.00,-27.83,0.000,16386,0.000,0.000,196,2204,1685,1714,1656,0,0,0,0,0,0,26.38,28.83,26.40
$GC,51,-1.10,-47.3,196,2205,1714,1656,2.5,-3.7,4,74,8.80,0.00,-11.50,0.000,18438,0.249,0.000,2439,2205,2071,2188,1955,0,0,0,0,0,0,25.84,25.20,25.99
$GC,144,-1.10,-47.3,2438,2204,2190,1955,16.4,-20.4,19,151,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2204,2072,2190,1955,0,0,0,0,0,0,26.45,26.47,26.46
$GC,221,-1.10,-47.3,2438,2204,2190,1955,31.8,-19.5,32,229,0.00,2.53,0.00,0.000,516,0.000,0.038,2443,1002,2072,2190,1955,0,0,0,0,0,0,26.51,26.22,26.53
$GC,321,-1.10,-47.3,2443,1002,2189,1955,50.5,-17.2,49,327,0.00,2.40,0.00,0.000,1030,0.000,0.029,2433,2206,2072,2190,1955,0,0,0,0,0,0,26.39,26.32,26.41
$GC,462,-1.10,-47.3,2433,2203,2190,1955,77.2,-19.6,74,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2204,2072,2190,1955,0,0,0,0,0,0,26.65,26.67,26.67
$GC,607,-1.10,-47.3,2433,2204,2190,1955,102.2,-18.3,99,614,0.00,2.45,0.00,0.000,516,0.000,0.037,2433,991,2072,2190,1955,0,0,0,0,0,0,26.70,26.41,26.72
$GC,715,-1.10,-47.3,2433,991,2190,1955,123.2,-18.3,118,724,0.00,2.42,0.00,0.000,1030,0.000,0.029,2421,2199,2072,2190,1955,0,0,0,0,0,0,26.52,26.48,26.54
$GC,866,-1.10,-47.3,2421,2198,2190,1955,147.5,-17.0,143,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2198,2072,2190,1955,0,0,0,0,0,0,26.78,26.80,26.79
$GC,1006,-1.10,-47.3,2421,2198,2190,1955,172.8,-16.0,168,1014,0.00,2.45,0.00,0.000,516,0.000,0.038,2421,1017,2073,2191,1955,0,0,0,0,0,0,26.82,26.52,26.83
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1051,-0.21,0.0,2412,2065,2190,1955,179.4,-18.8,174,1101,1.00,0.00,42.20,0.721,10246,0.171,0.000,2725,2065,1878,1957,1800,0,0,0,0,0,0,26.36,25.68,25.30
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1106,1.10,47.3,2725,2065,1957,1800,183.4,0.0,182,1156,1.20,2.53,40.35,0.705,10500,0.120,0.043,3129,3252,1690,1734,1647,0,0,0,0,0,0,25.78,25.44,24.88
$GC,1179,1.11,66.6,3128,3252,1734,1647,179.6,5.1,193,1205,0.00,2.42,17.52,0.668,9222,0.000,0.028,3129,2067,1613,1643,1583,0,0,0,0,0,0,25.72,25.65,24.87
$GC,1344,1.11,73.0,3128,2066,1643,1583,168.1,6.4,221,1358,0.00,2.28,6.55,0.576,8708,0.000,0.045,3135,859,1589,1616,1562,0,0,0,0,0,0,26.18,25.61,25.20
$GC,1745,1.11,74.5,3134,859,1616,1563,135.3,6.9,291,1751,0.00,2.17,0.00,0.000,1030,0.000,0.029,3134,2068,1589,1616,1563,0,0,0,0,0,0,26.36,26.29,26.39
$GC,1889,1.12,86.6,3134,2066,1617,1562,126.8,5.8,316,1910,0.00,0.00,12.07,0.633,8198,0.000,0.000,3134,2066,1536,1559,1514,0,0,0,0,0,0,26.63,25.96,25.60
$GC,2050,1.12,86.6,3134,2065,1559,1514,114.3,9.5,343,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2065,1536,1559,1513,0,0,0,0,0,0,26.58,26.60,26.60
$GC,2191,1.12,86.6,3134,2065,1559,1514,102.1,7.5,368,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2065,1535,1558,1513,0,0,0,0,0,0,26.65,26.67,26.67
$GC,2336,1.12,86.6,3134,2065,1559,1514,90.0,9.0,393,2342,0.00,2.25,0.00,0.000,516,0.000,0.046,3140,871,1536,1559,1514,0,0,0,0,0,0,26.71,26.40,26.73
$GC,2364,1.12,86.6,3139,871,1559,1514,87.8,8.5,397,2370,0.00,2.15,0.00,0.000,1030,0.000,0.028,3140,2067,1536,1559,1513,0,0,0,0,0,0,26.53,26.46,26.55
$GC,2506,1.12,86.6,3139,2065,1559,1514,76.4,7.9,422,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2065,1536,1559,1514,0,0,0,0,0,0,26.76,26.78,26.78
$GC,2651,1.12,86.6,3139,2065,1559,1514,65.2,7.7,447,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2065,1535,1558,1513,0,0,0,0,0,0,26.79,26.82,26.82
$GC,2792,1.12,86.6,3139,2065,1559,1514,54.9,7.3,472,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2065,1536,1559,1513,0,0,0,0,0,0,26.83,26.85,26.84
$GC,2937,1.12,98.8,3139,2064,1559,1514,45.6,5.8,497,2954,0.00,0.00,12.15,0.601,8198,0.000,0.000,3140,2064,1486,1505,1467,0,0,0,0,0,0,26.86,26.17,25.81
$GC,3093,1.12,98.8,3139,2064,1505,1468,34.9,7.3,524,3101,0.00,2.28,0.00,0.000,516,0.000,0.045,3143,882,1486,1505,1467,0,0,0,0,0,0,26.76,26.44,26.77
$GC,3364,1.12,98.8,3141,883,1505,1467,13.6,9.0,572,3372,0.00,2.17,0.00,0.000,1030,0.000,0.029,3142,2063,1486,1505,1467,0,0,0,0,0,0,26.61,26.58,26.63
$GC,3442,1.12,98.8,3141,2062,1505,1467,6.6,8.5,585,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2062,1486,1505,1468,0,0,0,0,0,0,26.84,26.86,26.86
$STATE,3499,end climb,SURFACE_DEPTH_REACHED
$STATE,3499,begin surface coast
$FINISH,1.1,0.999016
$STATE,3516,end surface coast,CONTROL_FINISHED_OK
$STATE,3517,begin surface
$SM_CCo,3538,75.82,0.054,0,0,963,230.10
$SM_GC,1.48,7.65,0.35,75.82,0.051,0.056,0.054,189,2209,963,-8.06,-0.65,230.10,0,0,0,0,0,0,26.58,26.61,26.49
$IRIDIUM_FIX,4726.11,-12226.80,280916,090808
$TT8_MAMPS,0.024717,0.238931
$HUMID,48.81
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,140.8,59.9
$24V_AH,24.87,1.208
$10V_AH,10.35,1.051
$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,18.650,32.900,130.850,75.825,0.000,28.944,34.600,280.223,1.000,0.000,23.843,1213.508,456.970,268.099,1959.247,225.190,0.000,805.168,0.000,1607.052,0.000,5.580,0.000
$DEVICE_MAMPS,248.625,55.845,721.395,54.315,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.510,1180.718,1191.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312612
$DATA_FILE_SIZE,40321,598
$CAP_FILE_SIZE,65396,0
$CFSIZE,260165632,257208320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,280916,111857,4743.700,-12224.849,5,0.9,23,16.3,0.0,169.2,9,10.0