version: 66.13
glider: 156
mission: 10
dive: 12
start: 10 31 117 6 28 41
data:
$ID,156
$MISSION,10
$DIVE,12
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,32
$R_STBD_OVSHOOT,81
$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
$GPS1,311017,061902,4744.0288,-12224.3779,8,1.3,41,18.2,0.4,175.8,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.5
$GPS2,311017,062802,4743.9048,-12224.3682,10,1.0,31,18.2,0.4,179.9,8,4.7
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,344.8,1114,-17.1,-7.500,-19.81,1788
$D_GRID,180
$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,-88.0,166,1754,402,506,0.0,0.0,0,53,0.00,0.00,-41.50,0.000,16386,0.000,0.000,166,1754,1472,1527,1417,0,0,0,0,0,0,25.86,28.83,25.89,9.02,46.81
$GC,57,-0.77,-88.0,166,1754,1527,1420,3.6,-9.8,7,77,7.68,0.00,-6.40,0.000,18694,0.222,0.000,2091,1754,1698,1798,1599,0,0,0,0,0,0,24.79,23.99,25.00,9.13,47.59
$GC,143,-0.77,-88.0,2090,1754,1798,1601,12.4,-10.2,22,149,0.00,2.22,0.00,0.000,516,0.000,0.044,2091,381,1699,1798,1601,0,0,0,0,0,0,25.93,25.41,25.95,9.15,45.78
$GC,199,-0.77,-88.0,2090,381,1798,1601,19.2,-13.2,32,206,0.00,2.15,0.00,0.000,1030,0.000,0.021,2082,1789,1699,1798,1601,0,0,0,0,0,0,25.74,25.68,25.76,9.15,46.37
$GC,270,-0.77,-88.0,2081,1802,1798,1601,27.3,-11.0,45,277,0.00,2.20,0.00,0.000,260,0.000,0.032,2071,3183,1699,1798,1601,0,0,0,0,0,0,26.09,25.59,26.11,9.15,46.14
$GC,342,-0.77,-88.0,2070,3183,1798,1601,35.4,-11.7,58,349,0.10,2.20,0.00,0.000,3078,0.164,0.028,2100,1788,1699,1798,1601,0,0,0,0,0,0,25.34,25.63,25.48,9.15,46.10
$GC,414,-0.77,-88.0,2099,1788,1798,1601,43.0,-11.2,71,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1787,1699,1798,1601,0,0,0,0,0,0,26.20,26.23,26.22,9.16,46.14
$GC,544,-0.77,-88.0,2099,1788,1799,1601,55.9,-9.8,96,551,0.00,2.22,0.00,0.000,516,0.000,0.046,2100,398,1699,1798,1601,0,0,0,0,0,0,26.28,25.59,26.29,9.16,45.86
$GC,640,-0.77,-88.0,2099,398,1798,1601,66.2,-10.5,114,647,0.00,2.12,0.00,0.000,1030,0.000,0.022,2091,1810,1699,1798,1601,0,0,0,0,0,0,25.98,25.91,26.00,9.16,46.49
$GC,770,-0.77,-88.0,2090,1824,1798,1602,78.8,-8.8,139,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1825,1699,1798,1601,0,0,0,0,0,0,26.37,26.40,26.39,9.16,45.94
$GC,900,-0.77,-88.0,2090,1826,1798,1601,92.8,-10.6,164,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1826,1699,1798,1601,0,0,0,0,0,0,26.41,26.44,26.44,9.16,46.77
$GC,1035,-0.77,-88.0,2090,1826,1798,1602,106.7,-9.9,189,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1826,1699,1798,1601,0,0,0,0,0,0,26.44,26.47,26.46,9.16,46.18
$GC,1173,-0.77,-88.0,2090,1826,1798,1601,120.3,-9.6,214,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1826,1699,1798,1601,0,0,0,0,0,0,26.48,26.51,26.50,9.15,46.25
$GC,1303,-0.77,-88.0,2090,1826,1798,1601,133.2,-9.6,239,1310,0.00,2.15,0.00,0.000,260,0.000,0.034,2081,3187,1699,1798,1601,0,0,0,0,0,0,26.51,25.80,26.53,9.16,46.06
$GC,1414,-0.77,-88.0,2080,3187,1799,1601,144.2,-9.8,260,1421,0.00,2.17,0.00,0.000,1030,0.000,0.028,2081,1788,1699,1798,1601,0,0,0,0,0,0,25.94,25.83,25.98,9.16,45.90
$GC,1548,-0.77,-88.0,2080,1787,1798,1601,156.6,-9.7,285,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1787,1699,1798,1601,0,0,0,0,0,0,26.54,26.57,26.56,9.16,45.74
$GC,1678,-0.77,-88.0,2080,1788,1798,1601,169.4,-9.7,310,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1788,1699,1798,1601,0,0,0,0,0,0,26.56,26.58,26.58,9.15,45.66
$STATE,1715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1715,begin apogee
$GC,1723,-0.30,0.0,2080,1788,1798,1602,173.2,-10.0,317,1803,0.52,0.00,74.68,0.604,10246,0.136,0.000,2248,1786,1344,1370,1318,0,0,0,0,0,0,25.05,24.96,24.32,9.15,45.94
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1808,0.77,88.0,2247,1786,1370,1317,176.6,0.0,330,1894,1.00,2.42,76.03,0.585,10756,0.099,0.048,2599,352,993,953,1033,0,0,0,0,0,0,25.08,24.34,23.95,9.12,45.70
$GC,1935,0.77,88.0,2598,351,953,1033,167.3,11.3,351,1941,0.00,2.20,0.00,0.000,1030,0.000,0.027,2599,1761,993,953,1033,0,0,0,0,0,0,25.20,25.15,25.22,9.08,44.60
$GC,2068,0.77,88.0,2598,1764,953,1031,154.6,9.0,376,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1763,992,953,1031,0,0,0,0,0,0,25.84,25.86,25.86,9.07,45.62
$GC,2198,0.77,88.0,2598,1763,953,1031,143.8,9.2,401,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1764,992,953,1031,0,0,0,0,0,0,26.03,26.06,26.06,9.07,45.66
$GC,2330,0.77,88.0,2597,1764,953,1031,132.7,8.8,426,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1764,992,953,1031,0,0,0,0,0,0,26.16,26.18,26.17,9.08,46.06
$GC,2460,0.77,88.0,2598,1764,953,1030,121.5,8.8,451,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1763,991,953,1030,0,0,0,0,0,0,26.25,26.27,26.26,9.08,47.04
$GC,2589,0.77,88.0,2598,1764,953,1030,110.0,9.1,476,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1764,992,954,1030,0,0,0,0,0,0,26.31,26.34,26.33,9.07,47.28
$GC,2719,0.77,88.0,2598,1764,953,1030,97.2,10.4,501,2727,0.00,2.17,0.00,0.000,260,0.000,0.034,2599,3137,991,953,1030,0,0,0,0,0,0,26.36,25.71,26.38,9.08,46.65
$GC,2781,0.77,88.0,2598,3137,953,1029,90.6,11.4,512,2788,0.00,2.20,0.00,0.000,1030,0.000,0.034,2608,1754,991,953,1029,0,0,0,0,0,0,25.84,25.72,25.88,9.08,46.81
$GC,2915,0.77,88.0,2608,1755,953,1029,76.7,10.4,537,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1755,990,953,1028,0,0,0,0,0,0,26.41,26.44,26.44,9.08,47.00
$GC,3046,0.77,88.0,2608,1755,953,1029,64.6,8.5,562,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1754,991,953,1029,0,0,0,0,0,0,26.45,26.48,26.47,9.08,47.36
$GC,3176,0.77,88.0,2608,1755,953,1029,53.9,9.8,587,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1755,991,953,1030,0,0,0,0,0,0,26.48,26.51,26.50,9.08,47.00
$GC,3306,0.77,88.0,2608,1755,953,1029,41.4,9.1,612,3313,0.00,2.28,0.00,0.000,516,0.000,0.048,2620,345,991,953,1029,0,0,0,0,0,0,26.51,25.61,26.53,9.08,47.44
$GC,3382,0.77,88.0,2619,345,953,1029,34.2,9.2,626,3389,0.00,2.12,0.00,0.000,1030,0.000,0.026,2619,1762,991,953,1029,0,0,0,0,0,0,26.08,26.02,26.11,9.08,47.20
$GC,3453,0.77,88.0,2619,1764,953,1028,27.9,9.2,639,3460,0.00,2.15,0.00,0.000,260,0.000,0.035,2619,3127,990,953,1028,0,0,0,0,0,0,26.52,25.77,26.54,9.08,47.16
$GC,3530,0.77,88.0,2619,3127,953,1027,21.0,8.7,653,3538,0.10,2.17,0.00,0.000,5126,0.168,0.033,2600,1747,990,953,1027,0,0,0,0,0,0,25.50,25.82,25.62,9.08,47.04
$GC,3603,0.77,88.0,2600,1747,952,1027,15.2,7.6,666,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1747,990,953,1027,0,0,0,0,0,0,26.54,26.57,26.56,9.08,46.88
$GC,3673,0.77,95.9,2600,1747,953,1027,10.2,7.0,679,3686,0.00,0.00,7.60,0.431,8198,0.000,0.000,2601,1747,962,922,1003,0,0,0,0,0,0,26.55,25.66,24.99,9.08,47.36
$FREEZE,4.55,12.006,-1.617,0,1,0
$FREEZE,4.09,12.008,-1.601,0,1,0
$FREEZE,3.65,12.007,-1.589,0,1,0
$GC,3750,0.77,95.9,2600,1747,922,1003,3.6,9.4,693,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1746,962,922,1003,0,0,0,0,0,0,26.48,26.51,26.50,9.07,46.96
$FREEZE,2.39,11.877,-1.535,0,1,0
$FREEZE,2.06,11.832,-1.522,0,1,0
$FREEZE,1.82,11.805,-1.512,0,1,0
$STATE,3774,end climb,SURFACE_DEPTH_REACHED
$STATE,3774,begin surface coast
$FREEZE,1.47,11.799,-1.509,0,1,0
$FREEZE,1.26,11.752,-1.507,0,1,0
$FREEZE,1.02,11.740,-1.504,0,1,0
$FREEZE,0.76,11.730,-1.504,0,1,0
$FREEZE,0.79,11.734,-1.503,0,1,0
$FINISH,0.8,1.020885
$STATE,3802,end surface coast,CONTROL_FINISHED_OK
$STATE,3802,begin surface
$SM_CCo,3822,115.90,0.454,3,0,451,224.57
$SM_CCo,3958,-0.12,0.000,0,0,452,224.57
$SM_CCo,3963,0.08,0.184,0,0,452,224.57
$SM_GC,1.40,6.47,0.00,0.08,0.044,0.000,0.184,154,1747,452,-6.78,-1.50,224.57,0,0,0,0,0,0,25.91,26.52,25.07
$IRIDIUM_FIX,4745.33,-12219.67,311017,050404
$TT8_MAMPS,0.026964,0.250166
$HUMID,45.23
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.0,77.8
$24V_AH,23.65,28.139
$10V_AH,10.50,0.662
$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,15.875,35.175,158.300,115.975,0.000,27.654,58.044,276.833,1.250,0.000,35.059,1728.484,622.087,437.847,1429.940,302.350,0.000,1007.380,0.000,1081.755,0.000,11.755,0.000
$DEVICE_MAMPS,221.850,48.195,603.585,454.410,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.735,594.035,607.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191960
$DATA_FILE_SIZE,48783,702
$CAP_FILE_SIZE,77947,0
$CFSIZE,260165632,256741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.126,186.46,1
$GPS,311017,073602,4744.065,-12224.352,11,1.6,32,18.2,0.5,172.0,9,5.0