version: 66.11
glider: 156
mission: 6
dive: 3
start: 1 6 115 21 46 36
data:
$ID,156
$MISSION,6
$DIVE,3
$N_DIVES,20
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,6
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,25
$T_ABORT,720
$T_TURN,600
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,51793
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,50
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,56.75
$TGT_DEFAULT_LON,-7.25
$TGT_AUTO_DEFAULT,0
$SM_CC,340
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,0
$N_NOSURFACE,-1
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-905781.94
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2222
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1638
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.360556
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$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,0.0043990691
$SEABIRD_T_H,0.00065709552
$SEABIRD_T_I,3.75727e-05
$SEABIRD_T_J,5.2690598e-06
$SEABIRD_C_G,-10.168411
$SEABIRD_C_H,1.1470841
$SEABIRD_C_I,-0.001554661
$SEABIRD_C_J,0.00020326475
$GPS1,060115,214218,4743.387,-12224.641,8,1.6,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.4
$GPS2,060115,214543,4743.391,-12224.649,14,1.8,14,18.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.040,0.259
$KALMAN_X,-72.8,-30.3,-29.5,3.9,-10.9
$KALMAN_Y,0.0,34.3,34.1,501.0,43.4
$MHEAD_RNG_PITCHd_Wd,350.5,2062,-18.1,-10.000,-20.89,2270
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.77,-146.0,154,2013,403,499,0.0,0.0,0,106,0.00,0.00,-83.28,0.000,16390,0.000,0.000,154,2014,2220,2244,2197,0,0,0,0,0,0,28.83,28.83,26.41
$GC,111,-0.77,-146.0,154,2015,2244,2198,3.6,-6.3,16,124,6.95,2.42,0.00,0.000,2564,0.234,0.057,1979,601,2221,2244,2198,0,0,0,0,0,0,25.75,25.98,28.83
$STATE,311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,311,begin apogee
$GC,322,-0.28,0.0,1969,2015,2245,2197,45.6,-18.2,55,443,0.50,0.00,113.62,0.554,10246,0.169,0.000,2125,2014,1637,1646,1628,0,0,0,0,0,0,25.97,28.83,24.51
$STATE,444,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,448,0.77,146.0,2124,2014,1646,1627,56.8,0.0,77,571,1.10,2.42,114.07,0.532,10500,0.133,0.050,2463,3422,1056,1023,1089,0,0,0,0,0,0,25.01,24.87,24.37
$GC,713,0.77,146.0,2462,3421,1023,1087,33.9,10.6,126,719,0.00,2.35,0.00,0.000,1030,0.000,0.049,2473,2013,1055,1023,1087,0,0,0,0,0,0,28.83,25.63,28.83
$GC,785,0.77,151.3,2473,2013,1023,1087,26.9,9.8,139,797,0.00,0.00,5.45,0.418,8198,0.000,0.000,2473,2013,1035,1009,1061,0,0,0,0,0,0,28.83,28.83,25.19
$GC,863,0.77,156.9,2473,2012,1009,1060,19.2,9.7,153,875,0.00,2.45,5.82,0.425,8708,0.000,0.069,2485,596,1014,989,1040,0,0,0,0,0,0,28.83,25.74,25.25
$GC,899,0.77,156.9,2484,596,989,1040,15.0,11.0,159,906,0.00,2.38,0.00,0.000,1030,0.000,0.041,2484,2013,1014,989,1039,0,0,0,0,0,0,28.83,25.86,28.83
$GC,971,0.77,156.9,2484,2012,989,1038,7.4,10.9,172,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2012,1013,989,1038,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1017,end climb,SURFACE_DEPTH_REACHED
$STATE,1018,begin surface coast
$FINISH,0.1,1.020930
$STATE,1034,end surface coast,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$SM_CCo,1053,117.05,0.500,2,0,451,298.17
$SM_CCo,1185,-0.03,0.000,0,0,450,298.17
$SM_CCo,1190,0.00,0.000,0,0,450,298.17
$SM_GC,1.02,6.22,0.00,0.00,0.051,0.000,0.000,146,2012,450,-6.41,0.06,298.17,0,0,0,0,0,0,26.02,28.83,28.83
$IRIDIUM_FIX,4726.11,-12219.67,060115,212138
$TT8_MAMPS,0.027713,0.027713
$HUMID,29.95
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.80
$XPDR_PINGS,15
$24V_AH,24.4,0.355
$10V_AH,10.4,0.244
$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,14.775,14.425,238.975,117.050,0.000,0.000,0.000,0.000,3.750,0.000,14.843,361.719,130.811,407.274,297.370,65.387,31.303,614.592,0.000,289.863,0.000,0.995,0.000
$DEVICE_MAMPS,234.090,68.850,553.860,500.310,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,119.389,133.757,228.628,208.263,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,13645,184
$CAP_FILE_SIZE,40883,0
$CFSIZE,260165632,257789952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,060115,220719,4743.366,-12224.787,10,1.8,10,18.2