version: 66.13
glider: 156
mission: 10
dive: 10
start: 10 31 117 3 51 13
data:
$ID,156
$MISSION,10
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,80
$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,60
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$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,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,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
$GPS1,311017,034157,4743.9048,-12224.0684,11,1.2,28,18.2,0.2,148.2,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.2
$GPS2,311017,035029,4743.8369,-12224.0137,15,1.1,15,18.2,0.2,160.7,8,8.1
$SPEED_LIMITS,0.075,0.173
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,311.7,1369,-21.0,-7.500,-23.43,1194
$D_GRID,172
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,9,-0.93,-58.7,173,1789,407,500,0.0,0.0,0,52,0.00,0.00,-41.25,0.000,16386,0.000,0.000,173,1789,1455,1507,1403,0,0,0,0,0,0,25.85,28.83,25.88,9.02,47.95
$GC,56,-0.93,-58.7,173,1789,1506,1406,3.2,-7.9,7,70,7.45,0.00,-3.67,0.000,18438,0.222,0.000,2047,1781,1580,1664,1497,0,0,0,0,0,0,24.76,23.94,25.18,9.13,47.79
$GC,134,-0.93,-58.7,2046,1781,1666,1499,13.3,-11.4,21,140,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1781,1582,1666,1498,0,0,0,0,0,0,26.00,26.03,26.02,9.14,46.69
$GC,206,-0.93,-58.7,2046,1781,1666,1499,19.9,-10.3,34,213,0.00,2.25,0.00,0.000,516,0.000,0.048,2053,403,1582,1666,1499,0,0,0,0,0,0,26.08,25.46,26.10,9.15,46.77
$GC,317,-0.93,-58.7,2052,402,1666,1499,34.2,-12.5,55,324,0.00,2.17,0.00,0.000,1030,0.000,0.023,2043,1836,1582,1666,1499,0,0,0,0,0,0,25.87,25.82,25.89,9.15,47.00
$GC,388,-0.93,-58.7,2042,1838,1666,1499,42.0,-10.1,68,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1838,1582,1666,1499,0,0,0,0,0,0,26.23,26.26,26.25,9.15,46.25
$GC,519,-0.93,-58.7,2043,1840,1666,1499,55.7,-10.8,93,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1840,1582,1666,1499,0,0,0,0,0,0,26.30,26.33,26.32,9.15,46.81
$GC,650,-0.93,-58.7,2042,1841,1666,1499,68.8,-9.7,118,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1841,1582,1666,1499,0,0,0,0,0,0,26.36,26.39,26.38,9.15,46.33
$GC,780,-0.93,-58.7,2043,1840,1666,1499,81.2,-8.4,143,786,0.00,2.10,0.00,0.000,260,0.000,0.031,2033,3187,1582,1666,1499,0,0,0,0,0,0,26.40,25.80,26.42,9.15,47.20
$GC,942,-0.93,-58.7,2032,3188,1666,1499,94.8,-9.0,174,949,0.00,2.17,0.00,0.000,1030,0.000,0.030,2037,1793,1582,1666,1498,0,0,0,0,0,0,25.87,25.75,25.91,9.15,46.57
$GC,1078,-0.93,-58.7,2037,1793,1666,1499,107.4,-8.6,199,1085,0.00,2.22,0.00,0.000,516,0.000,0.047,2039,399,1582,1666,1499,0,0,0,0,0,0,26.48,25.64,26.50,9.15,47.36
$GC,1188,-0.93,-58.7,2038,399,1666,1499,117.8,-10.9,219,1195,0.00,2.10,0.00,0.000,1030,0.000,0.023,2029,1811,1582,1666,1499,0,0,0,0,0,0,26.11,26.06,26.13,9.15,46.53
$GC,1322,-0.93,-58.7,2029,1823,1666,1499,132.2,-10.6,244,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1823,1582,1666,1499,0,0,0,0,0,0,26.52,26.55,26.54,9.15,46.45
$GC,1452,-0.93,-58.7,2029,1823,1666,1499,146.0,-10.3,269,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1823,1582,1666,1499,0,0,0,0,0,0,26.54,26.57,26.56,9.15,46.49
$GC,1584,-0.93,-58.7,2029,1823,1666,1499,158.5,-10.0,294,1591,0.00,2.15,0.00,0.000,260,0.000,0.032,2019,3183,1582,1665,1499,0,0,0,0,0,0,26.56,25.84,26.58,9.15,46.25
$GC,1670,-0.93,-58.7,2018,3183,1666,1499,166.5,-9.5,310,1678,0.10,2.15,0.00,0.000,3078,0.183,0.031,2046,1804,1582,1666,1499,0,0,0,0,0,0,25.43,25.77,25.57,9.15,47.28
$STATE,1698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1698,begin apogee
$GC,1707,-0.30,0.0,2046,1745,1666,1499,169.3,-9.0,315,1763,0.62,0.00,51.30,0.600,10246,0.147,0.000,2242,1745,1345,1378,1313,0,0,0,0,0,0,24.95,25.20,24.53,9.15,46.61
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1767,0.93,58.7,2241,1745,1378,1312,170.9,0.0,324,1824,1.15,0.00,50.03,0.583,10758,0.103,0.000,2631,1745,1111,1096,1126,0,0,0,0,0,0,25.29,24.75,24.14,9.13,45.82
$GC,1949,0.93,58.7,2630,1745,1096,1125,157.6,8.9,357,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1745,1110,1096,1125,0,0,0,0,0,0,25.83,25.86,25.84,9.09,45.70
$GC,2081,0.93,58.7,2631,1745,1096,1125,144.9,9.8,382,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1745,1110,1096,1125,0,0,0,0,0,0,26.03,26.06,26.06,9.09,46.92
$GC,2211,0.93,58.7,2630,1745,1096,1124,132.9,8.8,407,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1745,1110,1096,1124,0,0,0,0,0,0,26.16,26.20,26.18,9.09,47.24
$GC,2341,0.93,58.7,2630,1745,1096,1124,120.8,8.3,432,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1745,1110,1096,1124,0,0,0,0,0,0,26.25,26.27,26.27,9.09,46.65
$GC,2471,0.93,58.7,2631,1745,1096,1124,109.9,8.7,457,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1745,1110,1096,1124,0,0,0,0,0,0,26.32,26.34,26.34,9.09,46.81
$GC,2602,0.93,58.7,2630,1745,1096,1124,97.8,9.0,482,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1745,1110,1096,1124,0,0,0,0,0,0,26.37,26.39,26.39,9.09,46.85
$GC,2732,0.93,58.7,2631,1745,1096,1124,84.9,9.6,507,2739,0.00,2.28,0.00,0.000,516,0.000,0.050,2642,343,1109,1095,1124,0,0,0,0,0,0,26.41,25.53,26.43,9.09,47.16
$GC,2823,0.93,58.7,2641,343,1096,1124,75.8,10.2,524,2829,0.00,2.12,0.00,0.000,1030,0.000,0.028,2642,1752,1109,1096,1123,0,0,0,0,0,0,26.02,25.96,26.05,9.09,47.32
$GC,2957,0.93,61.9,2641,1754,1096,1123,65.1,7.2,549,2966,0.00,2.22,4.07,0.365,8452,0.000,0.035,2642,3129,1098,1084,1113,0,0,0,0,0,0,26.47,25.60,24.75,9.10,47.16
$GC,3030,0.93,61.9,2641,3129,1084,1113,58.8,9.1,562,3037,0.00,2.17,0.00,0.000,1030,0.000,0.034,2652,1757,1098,1084,1113,0,0,0,0,0,0,25.94,25.83,25.98,9.09,47.24
$GC,3164,0.93,61.9,2651,1757,1084,1113,46.9,9.4,587,3171,0.00,2.28,0.00,0.000,516,0.000,0.049,2663,342,1098,1084,1113,0,0,0,0,0,0,26.48,25.65,26.50,9.09,47.28
$GC,3288,0.93,61.9,2662,341,1084,1113,34.5,9.6,610,3296,0.00,2.15,0.00,0.000,1030,0.000,0.027,2663,1759,1098,1083,1113,0,0,0,0,0,0,26.10,26.04,26.13,9.09,47.63
$GC,3359,0.93,61.9,2662,1759,1084,1113,28.0,8.6,623,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1759,1098,1083,1113,0,0,0,0,0,0,26.51,26.53,26.53,9.10,47.36
$GC,3430,0.93,61.9,2662,1759,1083,1113,22.3,7.8,636,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1759,1098,1084,1113,0,0,0,0,0,0,26.53,26.55,26.55,9.09,47.91
$GC,3500,0.93,61.9,2662,1759,1083,1113,17.0,7.7,649,3507,0.00,2.15,0.00,0.000,260,0.000,0.034,2663,3125,1098,1083,1113,0,0,0,0,0,0,26.53,25.81,26.55,9.09,47.95
$GC,3536,0.93,61.9,2662,3125,1083,1113,13.6,9.7,655,3543,0.00,2.17,0.00,0.000,1030,0.000,0.034,2672,1750,1098,1083,1113,0,0,0,0,0,0,25.94,25.82,25.98,9.09,47.32
$GC,3607,0.93,61.9,2672,1750,1083,1113,6.9,9.3,668,3614,0.00,2.28,0.00,0.000,516,0.000,0.050,2683,336,1098,1083,1113,0,0,0,0,0,0,26.55,25.65,26.57,9.09,47.40
$FREEZE,4.77,12.012,-1.603,0,1,0
$FREEZE,4.53,12.005,-1.599,0,1,0
$FREEZE,4.26,11.997,-1.593,0,1,0
$FREEZE,3.97,11.995,-1.587,0,1,0
$FREEZE,3.66,11.992,-1.580,0,1,0
$FREEZE,3.35,11.983,-1.573,0,1,0
$FREEZE,3.05,11.968,-1.556,0,1,0
$FREEZE,2.73,11.953,-1.541,0,1,0
$FREEZE,2.49,11.914,-1.525,0,1,0
$FREEZE,2.38,11.893,-1.517,0,1,0
$FREEZE,2.14,11.887,-1.511,0,1,0
$FREEZE,2.14,11.881,-1.510,0,1,0
$FREEZE,2.22,11.873,-1.510,0,1,0
$FREEZE,2.20,11.872,-1.510,0,1,0
$FREEZE,2.34,11.878,-1.510,0,1,0
$FREEZE,2.52,11.879,-1.510,0,1,0
$FREEZE,2.67,11.887,-1.510,0,1,0
$FREEZE,2.78,11.889,-1.510,0,1,0
$FREEZE,2.82,11.903,-1.513,0,1,0
$FREEZE,3.01,11.921,-1.515,0,1,0
$FREEZE,3.13,11.934,-1.517,0,1,0
$FREEZE,3.18,11.949,-1.517,0,1,0
$FREEZE,3.21,11.956,-1.519,0,1,0
$FREEZE,3.28,11.964,-1.520,0,1,0
$FREEZE,3.44,11.965,-1.522,0,1,0
$FREEZE,3.44,11.967,-1.523,0,1,0
$FREEZE,3.46,11.969,-1.524,0,1,0
$FREEZE,3.45,11.971,-1.526,0,1,0
$FREEZE,3.53,11.973,-1.529,0,1,0
$FREEZE,3.59,11.977,-1.531,0,1,0
$FREEZE,3.56,11.978,-1.533,0,1,0
$FREEZE,3.60,11.979,-1.536,0,1,0
$FREEZE,3.70,11.978,-1.537,0,1,0
$FREEZE,3.62,11.980,-1.537,0,1,0
$FREEZE,3.70,11.980,-1.539,0,1,0
$FREEZE,3.66,11.979,-1.540,0,1,0
$FREEZE,3.75,11.981,-1.541,0,1,0
$FREEZE,3.75,11.981,-1.541,0,1,0
$FREEZE,3.74,11.980,-1.542,0,1,0
$FREEZE,3.82,11.981,-1.543,0,1,0
$FREEZE,3.80,11.981,-1.543,0,1,0
$FREEZE,3.80,11.981,-1.544,0,1,0
$FREEZE,3.74,11.981,-1.545,0,1,0
$FREEZE,3.69,11.981,-1.545,0,1,0
$FREEZE,3.77,11.981,-1.546,0,1,0
$FREEZE,3.79,11.981,-1.546,0,1,0
$FREEZE,3.73,11.981,-1.546,0,1,0
$FREEZE,3.70,11.981,-1.547,0,1,0
$FREEZE,3.77,11.982,-1.547,0,1,0
$FREEZE,3.75,11.982,-1.548,0,1,0
$FREEZE,3.70,11.982,-1.548,0,1,0
$FREEZE,3.75,11.982,-1.549,0,1,0
$FREEZE,3.75,11.982,-1.549,0,1,0
$STATE,3901,end climb,NO_VERTICAL_VELOCITY
$STATE,3901,begin surface
$SM_CCo,3905,140.27,0.475,3,0,450,224.57
$SM_CCo,4117,-0.17,0.000,0,0,452,224.57
$SM_CCo,4123,0.32,0.100,0,0,452,224.57
$SM_CCo,4128,0.60,0.090,0,0,452,224.57
$SM_GC,2.83,6.90,2.38,0.60,0.044,0.024,0.090,154,1798,452,-6.78,-1.78,224.57,0,0,0,0,0,0,25.19,25.27,25.10
$IRIDIUM_FIX,4744.97,-12226.80,311017,022856
$TT8_MAMPS,0.026964,0.250915
$HUMID,46.02
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,13.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.0,74.1
$24V_AH,23.65,28.015
$10V_AH,10.50,0.534
$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,16.225,42.725,105.400,141.200,0.000,31.106,44.375,275.850,1.500,0.000,16.302,1850.030,651.540,412.839,1436.207,313.793,0.000,981.166,0.000,1115.165,0.000,11.744,0.000
$DEVICE_MAMPS,221.850,116.280,599.760,475.065,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.242,634.777,648.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191932
$DATA_FILE_SIZE,48855,724
$CAP_FILE_SIZE,81187,0
$CFSIZE,260165632,256847872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.069,177.25,1
$GPS,311017,050132,4743.986,-12224.210,9,2.0,42,18.2,0.3,150.8,9,5.0