version: 66.13
glider: 156
mission: 10
dive: 5
start: 10 30 117 22 2 21
data:
$ID,156
$MISSION,10
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0080929501
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5625
$TGT_DEFAULT_LON,-755
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$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
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1345
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.227072
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043872492
$SEABIRD_T_H,0.00063743989
$SEABIRD_T_I,2.4850315e-05
$SEABIRD_T_J,2.6583925e-06
$SEABIRD_C_G,-10.170362
$SEABIRD_C_H,1.1513186
$SEABIRD_C_I,-0.0020813958
$SEABIRD_C_J,0.00025019815
$SEABIRD_C_Z,2977.3
$GPS1,301017,215602,4742.3257,-12224.8682,8,1.1,29,18.2,0.4,225.4,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.6
$GPS2,301017,220141,4742.2964,-12224.9131,14,0.9,14,18.2,0.2,240.7,8,7.3
$SPEED_LIMITS,0.119,0.288
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,4.8,4113,-16.8,-10.000,-19.15,2236
$D_GRID,148
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.77,-146.6,152,1880,408,499,0.0,0.0,0,58,0.00,0.00,-47.10,0.000,16386,0.000,0.000,152,1881,1561,1622,1500,0,0,0,0,0,0,25.94,28.83,25.96,9.05,47.75
$GC,63,-0.77,-146.6,152,1881,1622,1503,3.1,-7.5,8,90,7.65,2.42,-9.90,0.000,18692,0.220,1.196,2081,3234,1934,2025,1843,0,0,0,0,0,0,24.89,23.77,25.10,9.17,47.63
$GC,154,-0.77,-146.6,2080,3235,2025,1846,16.4,-13.2,24,161,0.00,2.22,0.00,0.000,1030,0.000,0.030,2081,1833,1935,2025,1846,0,0,0,0,0,0,25.63,25.52,25.66,9.21,47.67
$GC,225,-0.77,-146.6,2080,1833,2024,1846,25.9,-14.7,37,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1833,1935,2025,1846,0,0,0,0,0,0,26.08,26.10,26.10,9.20,47.40
$GC,297,-0.77,-146.6,2080,1833,2025,1846,36.0,-15.0,50,303,0.00,2.28,0.00,0.000,260,0.000,0.034,2070,3248,1935,2024,1846,0,0,0,0,0,0,26.15,25.65,26.17,9.21,47.12
$GC,377,-0.77,-146.6,2069,3248,2025,1846,48.0,-14.6,65,385,0.10,2.22,0.00,0.000,3078,0.156,0.030,2101,1836,1935,2025,1846,0,0,0,0,0,0,25.46,25.67,25.60,9.20,48.18
$GC,512,-0.77,-146.6,2101,1836,2025,1846,65.8,-13.4,90,519,0.00,2.22,0.00,0.000,516,0.000,0.044,2101,437,1935,2025,1846,0,0,0,0,0,0,26.31,25.64,26.33,9.21,47.71
$GC,583,-0.77,-146.6,2101,437,2025,1846,74.9,-13.3,103,589,0.00,2.17,0.00,0.000,1030,0.000,0.023,2092,1866,1935,2025,1846,0,0,0,0,0,0,26.01,25.94,26.03,9.21,47.99
$GC,713,-0.77,-146.6,2092,1882,2025,1846,93.3,-14.5,128,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1883,1936,2025,1847,0,0,0,0,0,0,26.39,26.42,26.41,9.20,47.63
$GC,846,-0.77,-146.6,2091,1883,2025,1846,113.4,-14.6,153,854,0.00,2.15,0.00,0.000,260,0.000,0.033,2082,3250,1935,2025,1846,0,0,0,0,0,0,26.44,25.83,26.46,9.20,48.11
$GC,908,-0.77,-146.6,2081,3250,2025,1846,120.8,-11.6,164,915,0.00,2.20,0.00,0.000,1030,0.000,0.031,2081,1848,1935,2025,1846,0,0,0,0,0,0,25.91,25.79,25.95,9.20,47.75
$GC,1041,-0.77,-146.6,2081,1847,2025,1846,137.7,-12.0,189,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,1847,1935,2025,1846,0,0,0,0,0,0,26.48,26.51,26.51,9.20,47.16
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1138,-0.30,0.0,2081,1774,2025,1846,148.0,-9.5,206,1265,0.50,0.00,120.90,0.583,10246,0.132,0.000,2243,1773,1345,1334,1356,0,0,0,0,0,0,25.18,24.66,24.05,9.20,47.48
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1270,0.77,146.6,2243,1773,1334,1355,153.6,0.0,227,1396,1.00,0.00,121.20,0.559,10758,0.100,0.000,2579,1773,761,656,866,0,0,0,0,0,0,24.82,24.44,23.87,9.14,46.73
$GC,1523,0.78,175.3,2578,1773,655,862,133.7,8.7,272,1566,0.00,0.00,33.15,0.513,8710,0.000,0.000,2579,1773,647,566,728,0,0,0,0,1,0,25.73,24.79,24.18,9.07,46.61
$GC,1692,0.79,211.1,2578,1772,565,724,115.8,8.4,303,1728,0.00,0.00,29.48,0.532,8198,0.000,0.000,2578,1772,505,452,558,0,0,0,0,0,0,25.88,24.70,24.32,9.06,46.53
$GC,1855,0.79,211.1,2578,1773,452,558,96.6,11.3,333,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1773,505,452,558,0,0,0,0,0,0,25.94,25.96,25.95,9.05,47.71
$GC,1986,0.79,211.1,2578,1773,453,559,81.8,11.7,358,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1773,505,452,558,0,0,0,0,0,0,26.11,26.14,26.13,9.05,47.28
$GC,2116,0.79,211.1,2578,1773,453,559,67.3,10.8,383,2123,0.00,2.20,0.00,0.000,516,0.000,0.049,2589,407,506,453,559,0,0,0,0,0,0,26.22,25.61,26.25,9.05,48.85
$GC,2162,0.79,211.1,2589,407,453,559,62.3,11.4,391,2169,0.00,2.15,0.00,0.000,1030,0.000,0.026,2589,1813,506,453,559,0,0,0,0,0,0,25.94,25.87,25.96,9.05,48.11
$GC,2296,0.79,211.1,2589,1828,453,559,47.0,11.3,416,2302,0.00,2.30,0.00,0.000,516,0.000,0.047,2600,406,506,453,559,0,0,0,0,0,0,26.32,25.67,26.34,9.05,48.11
$GC,2352,0.79,211.1,2599,405,453,559,40.2,11.2,426,2359,0.00,2.15,0.00,0.000,1030,0.000,0.026,2600,1807,506,453,559,0,0,0,0,0,0,26.01,25.94,26.03,9.05,48.18
$GC,2486,0.79,211.1,2599,1821,453,559,24.3,12.8,451,2493,0.00,2.17,0.00,0.000,260,0.000,0.036,2600,3187,506,453,559,0,0,0,0,0,0,26.40,25.82,26.42,9.05,48.66
$GC,2522,0.79,211.1,2599,3187,453,559,19.4,13.2,457,2530,0.00,2.17,0.00,0.000,1030,0.000,0.033,2609,1809,506,453,559,0,0,0,0,0,0,25.91,25.80,25.96,9.05,48.30
$GC,2594,0.79,211.1,2608,1808,453,559,10.4,11.7,470,2601,0.00,2.28,0.00,0.000,516,0.000,0.049,2620,390,505,453,558,0,0,0,0,0,0,26.43,25.70,26.45,9.05,48.30
$GC,2609,0.79,211.1,2619,390,453,559,8.6,11.2,472,2617,0.00,2.15,0.00,0.000,1030,0.000,0.025,2619,1812,506,453,559,0,0,0,0,0,0,26.08,26.01,26.10,9.05,49.13
$FREEZE,4.48,12.002,-1.595,0,1,0
$FREEZE,3.94,12.014,-1.588,0,1,0
$FREEZE,3.33,12.020,-1.583,0,1,0
$FREEZE,2.85,12.029,-1.577,0,1,0
$FREEZE,2.23,12.036,-1.572,0,1,0
$FREEZE,1.68,12.035,-1.574,0,1,0
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FREEZE,1.04,12.039,-1.572,0,1,0
$FREEZE,0.54,12.044,-1.570,0,1,0
$FREEZE,0.18,12.033,-0.789,0,1,0
$FINISH,0.2,1.010784
$STATE,2694,end surface coast,CONTROL_FINISHED_OK
$STATE,2694,begin surface
$SM_CCo,2714,20.12,0.288,1,0,451,224.57
$SM_CCo,2744,-0.03,0.000,0,0,450,224.57
$SM_CCo,2750,-0.03,0.000,0,0,451,224.57
$SM_GC,1.33,6.47,0.00,-0.03,0.040,0.000,0.000,155,1828,451,-6.77,-0.65,224.57,0,0,0,0,0,0,25.88,26.48,25.79
$IRIDIUM_FIX,4756.14,-12623.88,301017,212755
$TT8_MAMPS,0.026964,0.252413
$HUMID,48.03
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,100.1,39.8
$24V_AH,23.77,27.704
$10V_AH,10.49,0.224
$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,15.725,35.550,304.725,20.125,0.000,24.686,40.801,142.708,0.750,0.000,15.759,1140.165,394.029,408.667,952.085,224.146,0.000,848.177,0.000,752.097,0.000,7.157,0.000
$DEVICE_MAMPS,219.555,1195.695,582.930,288.405,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.804,417.019,424.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191980
$DATA_FILE_SIZE,34915,487
$CAP_FILE_SIZE,56412,0
$CFSIZE,260165632,257142784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.052,294.77,1
$GPS,301017,224932,4742.728,-12224.739,8,1.2,35,18.2,0.2,194.3,9,5.2