version: 66.09
glider: 143
mission: 13
dive: 86
start: 10 18 111 10 42 46
data:
$ID,143
$MISSION,13
$DIVE,86
$N_DIVES,112
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80623.719
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,20
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.40402
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,181011,103705,6703.326,-5700.203,41,0.7,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-68.6
$GPS2,181011,104213,6703.295,-5700.094,14,1.4,14,-33.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,161.2,8751,-18.3,-10.000
$D_GRID,616
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,69,0.00,0.00,-49.30,0.000,2,0.000,0.000,128,2509,1781,0,0,0,0,0,0
$GC,72,-0.77,-146.0,3.0,-1.4,8,164,8.48,1.20,-79.12,0.000,4,0.262,0.099,2144,3222,3082,0,0,0,0,0,0
$GC,325,-0.77,-146.0,36.9,-18.4,51,332,0.00,1.12,0.00,0.000,6,0.000,0.036,2144,2506,3084,0,0,0,0,0,0
$GC,663,-0.77,-146.0,90.2,-15.3,112,670,0.00,1.20,0.00,0.000,4,0.000,0.068,2140,3219,3084,0,0,0,0,0,0
$GC,918,-0.77,-146.0,128.5,-14.6,158,927,0.00,1.10,0.00,0.000,6,0.000,0.036,2139,2510,3084,0,0,0,0,0,0
$GC,1262,-0.77,-146.0,175.7,-13.1,219,1269,0.00,1.17,0.00,0.000,4,0.000,0.069,2135,3213,3084,0,0,0,0,0,0
$GC,1517,-0.77,-146.0,209.5,-13.5,265,1523,0.00,1.10,0.00,0.000,6,0.000,0.037,2135,2504,3084,0,0,0,0,0,0
$GC,1853,-0.77,-146.0,254.0,-12.6,323,1857,0.00,1.08,0.00,0.000,4,0.000,0.049,2135,1817,3083,0,0,0,0,0,0
$GC,2001,-0.77,-146.0,272.9,-12.6,336,2005,0.00,1.20,0.00,0.000,6,0.000,0.061,2130,2516,3083,0,0,0,0,0,0
$GC,2333,-0.77,-146.0,316.2,-12.6,367,2337,0.00,1.12,0.00,0.000,4,0.000,0.072,2125,3220,3082,0,0,0,0,0,0
$GC,2438,-0.77,-146.0,329.9,-13.3,376,2445,0.00,1.10,0.00,0.000,6,0.000,0.034,2125,2511,3082,0,0,0,0,0,0
$GC,2765,-0.77,-146.0,372.3,-12.6,407,2769,0.00,1.08,0.00,0.000,4,0.000,0.047,2125,1817,3082,0,0,0,0,0,0
$GC,2856,-0.77,-146.0,383.9,-12.7,415,2861,0.08,1.17,0.00,0.000,6,0.164,0.058,2143,2509,3082,0,0,0,0,0,0
$GC,3187,-0.77,-146.0,419.6,-10.2,446,3191,0.00,1.12,0.00,0.000,4,0.000,0.067,2140,3217,3083,0,0,0,0,0,0
$GC,3277,-0.77,-146.0,429.0,-10.4,454,3280,0.00,1.08,0.00,0.000,6,0.000,0.032,2140,2508,3083,0,0,0,0,0,0
$GC,3607,-0.77,-146.0,463.3,-10.7,485,3611,0.00,1.08,0.00,0.000,4,0.000,0.046,2141,1813,3083,0,0,0,0,0,0
$GC,3678,-0.77,-146.0,470.3,-10.2,491,3685,0.00,1.17,0.00,0.000,6,0.000,0.057,2136,2510,3083,0,0,0,0,0,0
$GC,4022,-0.77,-146.0,506.8,-10.5,520,4026,0.00,1.10,0.00,0.000,4,0.000,0.068,2130,3210,3084,0,0,0,0,0,0
$GC,4126,-0.77,-146.0,517.8,-10.8,523,4129,0.00,1.08,0.00,0.000,6,0.000,0.032,2130,2501,3084,0,0,0,0,0,0
$GC,4466,-0.77,-146.0,556.2,-11.2,534,4470,0.00,1.05,0.00,0.000,4,0.000,0.046,2130,1817,3085,0,0,0,0,0,0
$GC,4618,-0.77,-146.0,570.8,-10.7,538,4622,0.00,1.17,0.00,0.000,6,0.000,0.057,2126,2513,3086,0,0,0,0,0,0
$STATE,4910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4910,begin apogee
$GC,4916,-0.16,0.0,605.4,-11.2,548,5044,0.68,0.00,117.38,1.209,6,0.142,0.000,2341,2197,2484,0,0,0,0,0,0
$STATE,5045,end apogee,CONTROL_FINISHED_OK
$STATE,5045,begin climb
$GC,5047,0.77,146.0,610.0,0.0,552,5181,0.90,1.10,124.32,1.183,4,0.075,0.050,2651,1507,1888,0,0,0,0,0,0
$GC,5366,0.77,146.0,579.6,14.7,561,5370,0.00,1.20,0.00,0.000,6,0.000,0.048,2651,2205,1881,0,0,0,0,0,0
$GC,5686,0.77,146.0,531.4,13.8,572,5690,0.00,1.15,0.00,0.000,4,0.000,0.057,2651,2902,1879,0,0,0,0,0,0
$GC,5720,0.77,146.0,526.3,14.0,573,5723,0.00,1.15,0.00,0.000,6,0.000,0.037,2656,2205,1879,0,0,0,0,0,0
$GC,6046,0.77,146.0,480.2,13.8,592,6050,0.00,1.20,0.00,0.000,4,0.000,0.054,2656,2906,1878,0,0,0,0,0,0
$GC,6090,0.77,146.0,473.8,14.3,596,6094,0.00,1.15,0.00,0.000,6,0.000,0.038,2661,2202,1877,0,0,0,0,0,0
$GC,6422,0.77,146.0,428.9,13.1,627,6426,0.00,1.20,0.00,0.000,4,0.000,0.054,2661,2907,1877,0,0,0,0,0,0
$GC,6479,0.77,146.0,421.2,13.3,632,6483,0.00,1.15,0.00,0.000,6,0.000,0.038,2665,2199,1878,0,0,0,0,0,0
$GC,6811,0.77,146.0,377.6,12.6,663,6814,0.00,1.20,0.00,0.000,4,0.000,0.054,2665,2908,1877,0,0,0,0,0,0
$GC,6883,0.77,146.0,368.6,12.9,669,6890,0.00,1.15,0.00,0.000,6,0.000,0.039,2670,2196,1878,0,0,0,0,0,0
$GC,7208,0.77,146.0,327.4,12.4,700,7211,0.00,1.20,0.00,0.000,4,0.000,0.054,2670,2905,1877,0,0,0,0,0,0
$GC,7224,0.77,146.0,325.9,12.4,701,7231,0.00,1.15,0.00,0.000,6,0.000,0.039,2675,2191,1877,0,0,0,0,0,0
$GC,7549,0.77,146.0,284.3,12.5,732,7553,0.00,1.20,0.00,0.000,4,0.000,0.054,2675,2904,1877,0,0,0,0,0,0
$GC,7578,0.77,146.0,281.2,13.2,734,7587,0.12,1.12,0.00,0.000,6,0.158,0.039,2642,2204,1877,0,0,0,0,0,0
$GC,7905,0.77,146.0,242.2,11.5,771,7912,0.00,1.08,0.00,0.000,4,0.000,0.050,2646,1496,1877,0,0,0,0,0,0
$GC,8062,0.77,146.0,224.3,10.6,799,8069,0.00,1.15,0.00,0.000,6,0.000,0.050,2646,2205,1877,0,0,0,0,0,0
$GC,8400,0.77,146.0,185.7,11.6,860,8406,0.00,1.12,0.00,0.000,4,0.000,0.057,2646,2910,1877,0,0,0,0,0,0
$GC,8420,0.77,146.0,183.3,12.1,863,8427,0.00,1.15,0.00,0.000,6,0.000,0.039,2651,2193,1877,0,0,0,0,0,0
$GC,8757,0.77,146.0,144.6,11.3,924,8764,0.00,1.20,0.00,0.000,4,0.000,0.055,2651,2909,1877,0,0,0,0,0,0
$GC,8814,0.77,146.0,137.8,11.3,934,8823,0.00,1.12,0.00,0.000,6,0.000,0.040,2655,2204,1877,0,0,0,0,0,0
$GC,9158,0.79,166.9,102.1,9.0,995,9184,0.00,1.20,16.80,0.900,4,0.000,0.055,2655,2903,1803,0,0,0,0,0,0
$GC,9433,0.80,172.8,74.7,9.7,1044,9446,0.00,1.15,5.93,0.784,6,0.000,0.041,2660,2197,1780,0,0,0,0,0,0
$GC,9780,0.81,180.7,43.4,9.6,1106,9795,0.00,1.10,8.05,0.835,4,0.000,0.054,2665,1497,1747,0,0,0,0,0,0
$GC,10044,0.85,210.6,21.2,8.6,1153,10066,0.00,1.15,16.45,0.827,6,0.000,0.051,2665,2200,1625,0,0,0,0,0,0
$STATE,10251,end climb,SURFACE_DEPTH_REACHED
$STATE,10251,begin surface coast
$FINISH,1.7,1.014081
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10291,64.90,0.080,0,0,1058,350.04
$SM_GC,2.62,6.80,0.52,64.90,0.041,0.064,0.080,124,2508,1058,-7.06,-0.90,350.04,0,0,0,0,0,0
$RAFOS_CLK,631
$RAFOS,6,1318942141,12.833333,12.816944,60,57,55,0,0,0,198,142,155,0,0,0
$RAFOS,5,1318941665,12.700000,12.684722,75,64,60,0,0,0,632,208,220,0,0,0
$RAFOS,4,1318941182,12.566667,12.550555,67,63,57,0,0,0,873,215,185,0,0,0
$RAFOS,3,1318940709,12.433333,12.419167,67,60,59,0,0,0,953,201,173,0,0,0
$RAFOS,2,1318940248,12.300000,12.291111,63,56,55,0,0,0,206,174,153,0,0,0
$RAFOS,1,1318939744,12.166667,12.151111,80,75,65,0,0,0,1030,213,188,0,0,0
$RAFOS,0,1318939261,12.033333,12.016945,74,59,57,0,0,0,218,125,206,0,0,0
$RAFOS_FIX,6704.713379,-5706.170410,181011,121220,4,72,0.80
$IRIDIUM_FIX,6636.54,-5707.59,181011,070745
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,451.0,169.0
$24V_AH,23.4,11.348
$10V_AH,10.3,9.515
$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,17.050,51.300,288.925,64.900,0.000,0.000,0.000,203.750,6.250,0.000,16.173,3266.004,4513.567,498.623,2206.709,203.854,0.000,1741.554,0.000,1987.901,2520.000,14.283,0.000
$DEVICE_MAMPS,261.630,99.450,1209.465,80.325,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.256,682.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,46643,1194
$CAP_FILE_SIZE,122063,0
$CFSIZE,260165632,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1462.3
$CURRENT,0.158,329.2,1
$GPS,181011,133658,6703.263,-5658.559,21,1.1,35,-33.5