version: 66.11
glider: 156
mission: 6
dive: 14
start: 1 7 115 11 35 0
data:
$ID,156
$MISSION,6
$DIVE,14
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,90
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,260
$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,-905981.56
$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,2264
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$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,2040
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,31
$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
$GPS1,070115,112106,4742.998,-12225.064,11,1.9,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.2
$GPS2,070115,113359,4742.906,-12225.155,13,0.8,47,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.093,0.193
$KALMAN_X,-2608.5,95.5,90.4,1669.0,-463.4
$KALMAN_Y,-2970.3,405.9,150.6,2087.0,-994.7
$MHEAD_RNG_PITCHd_Wd,7.4,3062,-15.9,-7.500,-19.32,2379
$D_GRID,186
$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,-0.55,-116.8,143,2040,518,686,0.0,0.0,0,86,0.00,0.00,-65.78,0.000,16386,0.000,0.000,143,2040,1980,2023,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.55,-116.8,143,2040,2023,1940,3.2,-5.6,12,110,7.80,2.42,-3.30,0.000,18948,0.249,0.063,2093,631,2105,2174,2037,0,0,1,0,0,0,25.53,25.75,26.06
$GC,216,-0.55,-116.8,2093,631,2174,2037,20.7,-11.2,35,223,0.00,2.38,0.00,0.000,1030,0.000,0.038,2083,2045,2105,2174,2037,0,0,0,0,0,0,28.83,25.92,28.83
$GC,287,-0.55,-116.8,2083,2043,2175,2036,28.5,-10.9,48,293,0.00,2.22,0.00,0.000,260,0.000,0.049,2073,3463,2106,2176,2037,0,0,0,0,0,0,28.83,25.96,28.83
$GC,327,-0.55,-116.8,2073,3463,2177,2037,33.1,-11.3,55,334,0.00,2.25,0.00,0.000,1030,0.000,0.037,2073,2041,2107,2177,2037,0,0,0,0,0,0,28.83,26.01,28.83
$GC,397,-0.55,-116.8,1280,2033,2126,2029,41.3,-12.7,68,404,0.00,2.35,0.00,0.000,516,0.000,0.051,2072,624,2107,2178,2037,0,0,0,0,0,0,28.83,26.03,28.83
$GC,487,-0.55,-116.8,2072,624,2178,2036,52.9,-13.0,85,494,0.00,2.35,0.00,0.000,1030,0.000,0.037,2062,2042,2107,2177,2037,0,0,0,0,0,0,28.83,26.10,28.83
$GC,618,-0.55,-116.8,2062,2040,2177,2037,66.8,-10.1,110,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2039,2107,2177,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.55,-116.8,2062,2039,2177,2037,80.0,-9.8,135,754,0.00,2.20,0.00,0.000,260,0.000,0.049,2052,3458,2107,2177,2037,0,0,0,0,0,0,28.83,26.17,28.83
$GC,853,-0.55,-116.8,2051,3457,2177,2037,90.1,-9.8,155,860,0.12,2.22,0.00,0.000,3078,0.155,0.039,2084,2040,2107,2177,2037,0,0,0,0,0,0,26.11,26.21,28.83
$GC,989,-0.55,-116.8,2084,2034,2177,2036,99.6,-8.7,180,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2034,2107,2177,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1123,-0.55,-116.8,1264,2031,2124,2029,112.5,-8.8,205,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2033,2107,2177,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.55,-116.8,1248,2022,2123,2028,124.7,-8.1,230,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2024,2107,2177,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.55,-116.8,2084,2024,2177,2036,136.0,-6.9,255,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2024,2106,2177,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.55,-116.8,1256,2022,2124,2029,148.6,-9.4,280,1531,0.00,2.30,0.00,0.000,516,0.000,0.050,2085,631,2106,2177,2036,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1615,-0.55,-116.8,1280,631,2126,2028,155.8,-7.8,297,1622,0.00,2.33,0.00,0.000,1030,0.000,0.039,2075,2050,2106,2177,2036,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1748,-0.55,-116.8,1252,2045,2124,2028,167.3,-9.0,322,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2048,2106,2177,2036,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1881,begin apogee
$GC,1889,-0.23,0.0,2075,1893,2177,2036,180.2,-9.9,347,1990,0.35,0.08,93.62,0.646,10246,0.141,0.112,2189,1963,1637,1661,1614,0,0,0,0,0,0,26.26,25.00,24.51
$STATE,1991,end apogee,CONTROL_FINISHED_OK
$STATE,1994,begin climb
$GC,1997,0.55,116.8,2188,1962,1662,1611,186.1,0.0,365,2098,0.75,0.00,95.32,0.620,10246,0.104,0.000,2438,1961,1173,1134,1212,0,0,0,0,0,0,25.09,28.83,24.14
$GC,2223,0.55,116.8,2438,1961,1132,1211,172.4,9.0,407,2230,0.00,2.25,0.00,0.000,260,0.000,0.045,2438,3337,1171,1131,1211,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2264,0.55,116.8,2437,3338,1131,1209,168.0,11.7,414,2270,0.00,2.20,0.00,0.000,1030,0.000,0.037,2448,1984,1170,1132,1209,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2397,0.55,116.8,2448,1980,1132,1209,154.9,10.3,439,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1981,1170,1132,1209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2527,0.55,116.8,2448,1978,1132,1209,140.1,12.0,464,2533,0.00,2.42,0.00,0.000,516,0.000,0.052,2459,528,1170,1131,1209,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2568,0.55,116.8,2459,528,1133,1207,136.6,8.7,471,2574,0.00,2.30,0.00,0.000,1030,0.000,0.035,2460,1932,1169,1132,1207,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2702,0.55,116.8,2460,1930,1133,1206,125.9,11.3,496,2709,0.00,2.22,0.00,0.000,260,0.000,0.046,2459,3339,1169,1133,1206,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2793,0.55,116.8,2459,3337,1133,1206,114.5,12.4,513,2800,0.00,2.22,0.00,0.000,1030,0.000,0.037,2469,1937,1169,1133,1206,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2927,0.55,116.8,2469,1935,1133,1206,98.7,11.8,538,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1935,1169,1133,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3057,0.55,116.8,2469,1935,1132,1206,82.8,12.2,563,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1935,1169,1133,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,0.55,116.8,1544,1932,1121,1204,69.6,9.2,588,3192,0.00,2.25,0.00,0.000,260,0.000,0.046,2470,3349,1169,1133,1206,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3236,0.55,116.8,2469,3349,1133,1206,64.8,9.8,597,3243,0.15,2.22,0.00,0.000,5126,0.171,0.037,2441,1939,1169,1133,1206,0,0,0,0,0,0,26.10,26.25,28.83
$GC,3370,0.56,146.0,2441,1939,1133,1206,55.8,6.2,622,3400,0.00,2.45,23.60,0.552,8708,0.000,0.053,2451,524,1056,1005,1107,0,0,0,0,0,0,28.83,25.90,25.41
$GC,3430,0.56,146.0,2451,524,1005,1107,51.3,8.3,632,3437,0.00,2.33,0.00,0.000,1030,0.000,0.034,2451,1943,1055,1005,1106,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3564,0.56,146.0,2451,1941,1005,1104,37.6,12.4,657,3571,0.00,2.22,0.00,0.000,260,0.000,0.045,2451,3351,1054,1005,1104,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3595,0.56,146.0,2451,3351,1005,1103,33.3,12.9,662,3602,0.00,2.25,0.00,0.000,1030,0.000,0.037,2461,1938,1054,1005,1103,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3666,0.56,146.0,2461,1936,1005,1103,24.4,11.1,675,3672,0.00,2.35,0.00,0.000,516,0.000,0.054,2473,521,1054,1005,1103,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3736,0.56,146.0,2472,521,1005,1103,16.4,10.4,688,3743,0.00,2.33,0.00,0.000,1030,0.000,0.034,2473,1947,1054,1005,1103,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3807,0.56,146.0,2472,1945,1004,1102,9.1,9.9,701,3814,0.00,2.20,0.00,0.000,260,0.000,0.046,2473,3344,1053,1005,1101,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3853,0.56,146.0,2472,3343,1005,1101,4.5,10.4,709,3860,0.15,2.22,0.00,0.000,5126,0.164,0.036,2443,1940,1053,1005,1101,0,0,0,0,0,0,26.08,26.22,28.83
$STATE,3875,end climb,SURFACE_DEPTH_REACHED
$STATE,3875,begin surface coast
$FINISH,0.5,1.021678
$STATE,3897,end surface coast,CONTROL_FINISHED_OK
$STATE,3897,begin surface
$SM_CCo,3917,98.40,0.507,2,0,602,260.24
$SM_GC,0.98,6.05,0.17,98.40,0.050,0.062,0.507,141,2062,602,-6.55,-1.19,260.24,0,0,0,0,2,0,26.24,26.27,24.76
$IRIDIUM_FIX,4722.92,-12222.38,070115,111144
$TT8_MAMPS,0.027713,0.027713
$HUMID,29.72
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.80
$XPDR_PINGS,236
$24V_AH,24.1,1.395
$10V_AH,10.4,0.968
$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,15.375,59.925,212.550,98.400,0.000,56.836,92.379,391.355,63.250,0.000,47.898,1619.294,752.191,455.137,1683.753,292.985,33.252,1051.198,0.000,1077.420,0.000,27.633,0.000
$DEVICE_MAMPS,249.390,112.455,645.660,507.195,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.809,383.438,650.124,585.614,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323212
$DATA_FILE_SIZE,53800,717
$CAP_FILE_SIZE,85693,0
$CFSIZE,260165632,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$GPS,070115,124301,4742.809,-12225.311,11,1.4,11,18.2