version: 66.09
glider: 143
mission: 13
dive: 106
start: 10 21 111 4 25 16
data:
$ID,143
$MISSION,13
$DIVE,106
$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,6
$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,-80648.898
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,211011,041929,6656.398,-5735.035,76,0.8,76,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.7
$GPS2,211011,042442,6656.367,-5735.034,19,1.0,20,-33.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,286.5,127152,-18.3,-10.000
$D_GRID,804
$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,14,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,76,0.00,0.00,-57.05,0.000,2,0.000,0.000,120,2517,1859,0,0,0,0,0,0
$GC,79,-0.77,-146.0,3.2,-1.4,8,162,8.40,1.15,-63.35,0.000,4,0.258,0.102,2141,3211,3083,0,0,0,0,0,0
$GC,413,-0.77,-146.0,52.3,-17.3,58,420,0.00,1.12,0.00,0.000,6,0.000,0.037,2141,2499,3084,0,0,0,0,0,0
$GC,752,-0.77,-146.0,101.9,-14.3,109,758,0.00,1.20,0.00,0.000,4,0.000,0.067,2136,3211,3085,0,0,0,0,0,0
$GC,858,-0.77,-146.0,118.6,-16.3,125,865,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2508,3085,0,0,0,0,0,0
$GC,1197,-0.77,-146.0,169.5,-14.3,176,1204,0.00,1.10,0.00,0.000,4,0.000,0.049,2136,1811,3085,0,0,0,0,0,0
$GC,1290,-0.77,-146.0,183.0,-14.3,190,1297,0.00,1.20,0.00,0.000,6,0.000,0.060,2131,2507,3085,0,0,0,0,0,0
$GC,1627,-0.77,-146.0,232.5,-14.7,241,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2507,3085,0,0,0,0,0,0
$GC,1956,-0.77,-146.0,278.7,-14.8,276,1959,0.00,1.12,0.00,0.000,4,0.000,0.072,2126,3211,3084,0,0,0,0,0,0
$GC,1996,-0.77,-146.0,284.7,-14.7,279,1999,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2507,3084,0,0,0,0,0,0
$GC,2325,-0.77,-146.0,331.0,-14.0,305,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2507,3084,0,0,0,0,0,0
$GC,2640,-0.77,-146.0,374.1,-13.3,330,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2507,3084,0,0,0,0,0,0
$GC,2955,-0.77,-146.0,414.3,-12.4,355,2959,0.00,1.17,0.00,0.000,4,0.000,0.069,2121,3214,3084,0,0,0,0,0,0
$GC,2999,-0.77,-146.0,419.6,-13.1,358,3008,0.12,1.12,0.00,0.000,6,0.181,0.035,2150,2498,3084,0,0,0,0,0,0
$GC,3324,-0.77,-146.0,456.9,-11.1,384,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2498,3084,0,0,0,0,0,0
$GC,3638,-0.77,-146.0,493.0,-11.5,409,3642,0.00,1.05,0.00,0.000,4,0.000,0.046,2151,1822,3084,0,0,0,0,0,0
$GC,3679,-0.77,-146.0,497.4,-11.2,412,3683,0.00,1.17,0.00,0.000,6,0.000,0.057,2147,2512,3084,0,0,0,0,0,0
$GC,4013,-0.77,-146.0,532.9,-10.7,424,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3084,0,0,0,0,0,0
$GC,4319,-0.77,-146.0,564.9,-10.5,434,4323,0.00,1.12,0.00,0.000,4,0.000,0.070,2142,3221,3084,0,0,0,0,0,0
$GC,4397,-0.77,-146.0,572.0,-10.6,436,4402,0.00,1.12,0.00,0.000,6,0.000,0.034,2142,2504,3084,0,0,0,0,0,0
$GC,4725,-0.77,-146.0,608.6,-10.9,447,4729,0.00,1.17,0.00,0.000,4,0.000,0.067,2138,3214,3084,0,0,0,0,0,0
$GC,4803,-0.77,-146.0,616.1,-11.0,449,4807,0.00,1.10,0.00,0.000,6,0.000,0.033,2138,2506,3084,0,0,0,0,0,0
$GC,5133,-0.77,-146.0,655.2,-11.5,460,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3085,0,0,0,0,0,0
$GC,5436,-0.77,-146.0,690.2,-11.4,470,5440,0.00,1.17,0.00,0.000,4,0.000,0.067,2133,3216,3085,0,0,0,0,0,0
$GC,5480,-0.77,-146.0,694.0,-11.4,471,5485,0.00,1.10,0.00,0.000,6,0.000,0.033,2133,2508,3085,0,0,0,0,0,0
$GC,5808,-0.77,-146.0,731.2,-10.6,482,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2508,3085,0,0,0,0,0,0
$GC,6115,-0.77,-146.0,764.3,-10.8,492,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2508,3085,0,0,0,0,0,0
$GC,6420,-0.77,-146.0,796.5,-10.6,502,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2508,3085,0,0,0,0,0,0
$STATE,6510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6510,begin apogee
$GC,6516,-0.16,0.0,806.2,-10.5,505,6645,0.65,0.00,121.65,1.382,6,0.143,0.000,2340,2196,2484,0,0,0,0,0,0
$STATE,6645,end apogee,CONTROL_FINISHED_OK
$STATE,6645,begin climb
$GC,6648,0.77,146.0,810.2,0.0,509,6785,0.90,1.23,128.73,1.319,4,0.074,0.052,2647,1503,1889,0,0,0,0,0,0
$GC,7001,0.77,146.0,775.8,13.4,520,7006,0.00,1.25,0.00,0.000,6,0.000,0.047,2648,2212,1880,0,0,0,0,0,0
$GC,7329,0.77,146.0,730.8,13.2,531,7333,0.00,1.15,0.00,0.000,4,0.000,0.057,2647,2901,1878,0,0,0,0,0,0
$GC,7407,0.77,146.0,721.7,13.4,533,7412,0.00,1.20,0.00,0.000,6,0.000,0.039,2652,2198,1877,0,0,0,0,0,0
$GC,7736,0.77,146.0,674.8,13.9,544,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,1876,0,0,0,0,0,0
$GC,8040,0.77,146.0,634.7,13.3,554,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,1876,0,0,0,0,0,0
$GC,8348,0.77,146.0,595.5,12.5,564,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,1875,0,0,0,0,0,0
$GC,8652,0.77,146.0,557.8,12.3,574,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,1875,0,0,0,0,0,0
$GC,8960,0.77,146.0,518.7,12.6,584,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,1875,0,0,0,0,0,0
$GC,9276,0.77,146.0,478.8,12.8,602,9280,0.00,1.20,0.00,0.000,4,0.000,0.054,2652,2904,1875,0,0,0,0,0,0
$GC,9360,0.77,146.0,468.4,13.3,608,9368,0.00,1.17,0.00,0.000,6,0.000,0.040,2657,2192,1875,0,0,0,0,0,0
$GC,9685,0.77,146.0,428.0,12.0,634,9689,0.00,1.20,0.00,0.000,4,0.000,0.054,2657,2903,1874,0,0,0,0,0,0
$GC,9766,0.77,146.0,417.7,12.9,640,9769,0.00,1.15,0.00,0.000,6,0.000,0.040,2662,2194,1874,0,0,0,0,0,0
$GC,10096,0.77,146.0,376.0,12.7,666,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2194,1874,0,0,0,0,0,0
$GC,10410,0.77,146.0,335.2,13.2,691,10413,0.00,1.20,0.00,0.000,4,0.000,0.055,2662,2908,1874,0,0,0,0,0,0
$GC,10639,0.77,146.0,305.8,13.0,708,10647,0.00,1.17,0.00,0.000,6,0.000,0.039,2667,2189,1874,0,0,0,0,0,0
$GC,10964,0.77,146.0,269.0,10.7,734,10968,0.00,1.20,0.00,0.000,4,0.000,0.055,2667,2904,1874,0,0,0,0,0,0
$GC,11222,0.77,146.0,240.9,10.6,759,11231,0.00,1.12,0.00,0.000,6,0.000,0.040,2672,2202,1874,0,0,0,0,0,0
$GC,11561,0.77,146.0,206.2,10.3,810,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,1874,0,0,0,0,0,0
$GC,11897,0.77,146.0,171.4,10.3,861,11904,0.00,1.17,0.00,0.000,4,0.000,0.056,2672,2904,1874,0,0,0,0,0,0
$GC,12009,0.77,146.0,159.4,10.2,878,12017,0.08,1.12,0.00,0.000,6,0.161,0.041,2654,2203,1874,0,0,0,0,0,0
$GC,12348,0.81,177.7,128.9,8.5,929,12381,0.00,1.15,25.08,0.969,4,0.000,0.053,2658,1489,1759,0,0,0,0,0,0
$GC,12502,0.82,190.3,115.1,9.4,952,12522,0.00,1.17,11.73,0.920,6,0.000,0.050,2657,2202,1708,0,0,0,0,0,0
$GC,12853,0.85,213.7,84.1,8.9,1005,12875,0.00,0.00,20.42,0.930,6,0.000,0.000,2657,2202,1613,0,0,0,0,0,0
$GC,13206,0.87,229.3,51.7,9.3,1058,13228,0.00,1.17,14.02,0.905,4,0.000,0.058,2657,2908,1549,0,0,0,0,0,0
$GC,13382,0.94,286.5,37.2,7.4,1084,13438,0.10,1.17,48.30,0.901,6,0.065,0.040,2710,2200,1316,0,0,0,0,0,0
$STATE,13641,end climb,SURFACE_DEPTH_REACHED
$STATE,13642,begin surface coast
$FINISH,1.7,1.025243
$STATE,13656,end surface coast,CONTROL_FINISHED_OK
$STATE,13656,begin surface
$SM_CCo,13673,29.55,0.084,0,0,1058,350.04
$SM_GC,2.84,7.25,0.60,29.55,0.055,0.059,0.084,119,2513,1058,-7.08,-0.79,350.04,0,0,0,0,0,0
$RAFOS_CLK,895
$RAFOS,0,1319184062,8.033334,8.017222,75,66,59,0,0,0,1056,205,145,0,0,0
$RAFOS,6,1319172542,4.833333,4.817222,67,63,59,0,0,0,755,181,216,0,0,0
$RAFOS,5,1319172065,4.700000,4.684722,104,69,64,0,0,0,529,220,208,0,0,0
$RAFOS,4,1319171587,4.566667,4.551944,74,67,62,0,0,0,733,224,154,0,0,0
$RAFOS,3,1319171140,4.433333,4.427778,67,63,60,0,0,0,199,215,184,0,0,0
$RAFOS_FIX,6658.468262,-5738.795410,211011,040436,4,78,8.96
$IRIDIUM_FIX,6636.54,-5606.37,211011,000027
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.16
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,802.9,54.4
$24V_AH,22.9,13.479
$10V_AH,10.3,11.189
$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,17.500,42.725,369.925,29.550,0.000,0.000,0.000,202.025,8.500,0.000,20.572,3141.978,8122.836,531.203,2072.641,205.871,0.000,1718.903,0.000,1844.839,2160.000,30.935,0.000
$DEVICE_MAMPS,257.805,101.745,1381.590,84.150,0.000,0.000,0.000,254.674,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.339,622.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150312
$DATA_FILE_SIZE,43326,1125
$CAP_FILE_SIZE,123698,0
$CFSIZE,260165632,240676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.3
$CURRENT,0.149, 33.6,1
$GPS,211011,081623,6656.669,-5739.319,68,0.8,68,-33.6