version: 66.10
glider: 156
mission: 3
dive: 33
start: 5 4 112 15 18 19
data:
$ID,156
$MISSION,3
$DIVE,33
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,42
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$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,-7
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51688
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,180
$ESCAPE_HEADING,225
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5627
$TGT_DEFAULT_LON,-748
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-765041.25
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2218
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,30
$C_ROLL_DIVE,3043
$C_ROLL_CLIMB,3043
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,2095
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,18.799999
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.527039
$PRESSURE_SLOPE,0.00011457827
$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,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043884995
$SEABIRD_T_H,0.00063936203
$SEABIRD_T_I,2.617801e-05
$SEABIRD_T_J,2.9531161e-06
$SEABIRD_C_G,-10.166588
$SEABIRD_C_H,1.1473273
$SEABIRD_C_I,-0.001781496
$SEABIRD_C_J,0.00022258813
$GPS1,040512,151243,4744.139,-12223.923,8,1.4,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.6
$GPS2,040512,151701,4744.188,-12223.898,13,1.0,13,18.2
$SPEED_LIMITS,0.504,0.514
$TGT_NAME,HEADING
$TGT_LATLONG,4733.389,-12223.898
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,-1.811
$KALMAN_X,-4423.7,-505.8,34.7,5990.1,279.9
$KALMAN_Y,-4142.1,-808.7,-109.3,7896.5,1026.2
$MHEAD_RNG_PITCHd_Wd,161.8,20000,-10.9,-13.492
$D_GRID,170
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-0.40,-244.3,0.0,0.0,0,75,0.00,0.00,-55.85,0.000,2,0.000,0.000,149,3071,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.40,-244.3,3.3,-7.7,8,109,7.72,0.00,-19.15,0.000,6,0.251,0.000,2078,3071,3093,0,0,0,0,0,0,25.65,28.83,26.25
$GC,174,-0.40,-244.3,19.4,-12.1,24,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3071,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,247,-0.40,-244.3,28.4,-12.0,37,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,320,-0.40,-244.3,36.3,-10.6,50,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,393,-0.40,-244.3,43.7,-10.8,63,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,529,-0.40,-244.3,57.9,-9.7,88,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.40,-244.3,71.5,-9.7,113,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3070,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.40,-244.3,83.9,-7.9,138,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,955,-0.40,-244.3,95.0,-7.8,163,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1094,-0.40,-244.3,106.9,-7.5,188,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3069,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.40,-244.3,118.2,-9.7,213,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-0.40,-244.3,131.3,-9.5,238,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.40,-244.3,144.4,-9.7,263,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3070,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-0.40,-244.3,155.1,-7.0,288,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3069,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.40,-244.3,164.8,-7.4,313,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3069,3095,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1863,begin apogee
$GC,1870,-0.21,0.0,170.5,-7.7,326,2068,0.20,0.00,190.90,0.683,6,0.138,0.000,2145,3069,2094,0,0,0,0,0,0,26.32,28.83,24.12
$STATE,2069,end apogee,CONTROL_FINISHED_OK
$STATE,2069,begin climb
$GC,2072,0.40,244.3,174.3,0.0,357,2275,0.60,0.00,192.57,0.648,6,0.117,0.000,2338,3069,1099,0,0,0,0,0,0,24.74,28.83,24.06
$GC,2407,0.51,586.7,149.9,7.8,413,2540,0.12,0.00,128.98,0.626,6,0.093,0.000,2402,3069,450,0,0,0,0,0,0,25.42,28.83,24.09
$GC,2672,0.51,593.7,113.8,13.4,458,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,3069,443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,0.51,605.7,96.1,13.3,483,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,3069,441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2947,0.53,656.6,78.3,12.7,508,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,3069,440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,0.59,863.2,63.2,10.1,533,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,3069,440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,0.66,1089.0,50.4,9.8,558,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,3069,440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,0.70,1236.9,36.7,11.1,583,3367,0.12,0.00,0.00,0.000,6,0.102,0.000,2471,3069,439,0,0,0,0,0,0,26.11,28.83,28.83
$GC,3433,0.70,1236.9,25.7,17.4,596,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,3069,439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,0.70,1236.9,13.5,15.7,609,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,3069,439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,0.74,1357.3,3.9,11.5,622,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,3069,439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3591,end climb,SURFACE_DEPTH_REACHED
$STATE,3591,begin surface coast
$FINISH,0.0,1.019751
$STATE,3619,end surface coast,CONTROL_FINISHED_OK
$STATE,3619,begin surface
$SM_CCo,3696,0.00,0.000,0,0,439,406.21
$SM_GC,0.85,6.18,0.00,0.00,0.053,0.000,0.000,149,3069,439,-6.40,0.74,406.21,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,4729.30,-12222.38,040512,151500
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.37
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,140.5,37.7
$24V_AH,24.1,2.845
$10V_AH,10.4,1.651
$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,14.950,0.000,512.450,0.000,0.000,0.000,0.000,0.000,6.000,0.000,13.998,1317.639,438.700,484.866,1416.742,122.245,33.210,1122.866,0.000,1410.988,0.000,29.949,0.000
$DEVICE_MAMPS,250.920,0.000,683.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.882,260.696,937.888,965.371,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,54034,629
$CAP_FILE_SIZE,80445,1
$CFSIZE,260165632,254939136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,162058,4744.639,-12223.942,15,3.5,34,18.2