version: 66.11
glider: 144
mission: 21
dive: 33
start: 10 31 113 15 26 5
data:
$ID,144
$MISSION,21
$DIVE,33
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57341.32
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2307
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.012749
$PRESSURE_SLOPE,0.0001182519
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,311013,151805,4712.606,-12608.802,28,0.9,28,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.9
$GPS2,311013,152538,4712.600,-12608.807,4,0.8,4,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4721.000,-12645.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.238,0.104
$KALMAN_X,-1610.9,0.0,0.0,-70521.9,-421.9
$KALMAN_Y,14196.0,0.0,0.0,182.0,-302.9
$MHEAD_RNG_PITCHd_Wd,276.8,48005,-17.5,-10.000,-21.09,2221
$D_GRID,990
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-146.6,90,2329,1484,1403,0.0,0.0,0,60,0.00,0.00,-42.33,0.000,16386,0.000,0.000,88,2330,2700,2653,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,88,2330,2657,2747,2.4,-3.4,4,91,13.77,0.00,-13.15,0.000,18438,0.433,0.000,2852,2330,3272,3185,3360,0,0,0,0,0,0,14.30,28.83,14.83
$GC,389,-0.50,-146.6,2852,2330,3199,3360,59.0,-12.6,37,391,0.38,0.00,0.00,0.000,2054,0.299,0.000,2944,2330,3280,3200,3360,0,0,0,0,0,0,14.41,28.83,28.83
$GC,689,-0.50,-146.6,2944,2330,3204,3362,86.4,-9.1,64,695,0.00,2.55,0.00,0.000,260,0.000,0.073,2938,3813,3283,3204,3362,0,0,0,0,0,0,28.83,14.69,28.83
$GC,917,-0.50,-146.6,2938,3812,3207,3362,107.7,-9.1,75,921,0.00,2.35,0.00,0.000,1030,0.000,0.038,2938,2351,3284,3206,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1224,-0.58,-146.6,2938,2351,3207,3362,131.0,-7.6,90,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2351,3284,3207,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.69,-146.6,2938,2351,3207,3362,155.8,-7.1,105,1546,0.17,0.00,0.00,0.000,4102,0.131,0.000,2875,2351,3284,3207,3362,0,0,0,0,0,0,14.76,28.83,28.83
$GC,1844,-0.69,-146.6,2875,2351,3207,3362,185.1,-9.5,115,1850,0.00,2.50,0.00,0.000,260,0.000,0.073,2872,3815,3284,3207,3362,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1874,-0.67,-146.6,2871,3815,3207,3362,187.9,-9.4,116,1880,0.00,2.35,0.00,0.000,1030,0.000,0.039,2871,2351,3284,3207,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2204,-0.67,-146.6,2871,2351,3207,3362,219.9,-9.7,127,2210,0.00,2.30,0.00,0.000,516,0.000,0.063,2871,964,3284,3207,3362,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2264,-0.67,-146.6,2871,964,3207,3362,225.9,-9.8,129,2269,0.00,2.38,0.00,0.000,1030,0.000,0.051,2871,2404,3284,3207,3362,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2594,-0.67,-146.6,2871,2404,3207,3362,257.2,-9.9,140,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2404,3284,3207,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.70,-146.6,2871,2403,3207,3362,289.4,-10.7,150,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2403,3284,3207,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.73,-146.6,2871,2404,3207,3362,318.9,-9.7,157,3200,0.00,2.38,0.00,0.000,260,0.000,0.078,2872,3805,3284,3207,3362,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3232,-0.77,-146.6,2871,3805,3207,3362,318.9,-9.7,157,3236,0.00,2.33,0.00,0.000,1030,0.000,0.040,2871,2351,3284,3207,3362,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3549,-0.83,-146.6,2871,2351,3207,3362,350.9,-8.7,163,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2351,3284,3207,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.91,-146.6,2871,2351,3207,3362,377.4,-9.0,168,3851,0.17,0.00,0.00,0.000,4102,0.142,0.000,2811,2351,3284,3207,3362,0,0,0,0,0,0,14.85,28.83,28.83
$GC,4149,-0.83,-146.6,2811,2351,3207,3360,411.4,-11.3,173,4156,0.12,2.47,0.00,0.000,2308,0.308,0.074,2840,3805,3283,3207,3360,0,0,0,0,0,0,14.62,14.85,28.83
$GC,4217,-0.77,-146.6,2840,3805,3207,3359,417.8,-11.2,174,4221,0.00,2.33,0.00,0.000,1030,0.000,0.041,2840,2352,3283,3207,3359,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4564,-0.77,-146.6,2840,2352,3207,3359,451.9,-9.3,180,4568,0.00,2.30,0.00,0.000,516,0.000,0.067,2840,967,3283,3207,3359,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4608,-0.77,-146.6,2840,966,3207,3359,451.9,-9.3,180,4612,0.00,2.38,0.00,0.000,1030,0.000,0.054,2840,2410,3283,3207,3359,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4915,-0.80,-146.6,2840,2410,3207,3357,482.0,-8.4,185,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2410,3282,3207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.83,-146.6,2840,2410,3207,3357,506.0,-8.0,190,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2410,3282,3207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.87,-146.6,2840,2410,3207,3356,530.4,-8.2,195,5521,0.00,2.35,0.00,0.000,260,0.000,0.078,2840,3810,3280,3207,3354,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5553,-0.91,-146.6,2840,3810,3206,3354,530.4,-8.2,195,5557,0.00,2.33,0.00,0.000,1030,0.000,0.042,2840,2359,3280,3207,3354,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5870,-0.97,-146.6,2840,2359,3207,3354,563.4,-9.5,201,5872,0.15,0.00,0.00,0.000,4102,0.146,0.000,2787,2359,3280,3207,3353,0,0,0,0,0,0,14.92,28.83,28.83
$GC,6170,-0.90,-146.6,2787,2359,3207,3352,600.5,-12.5,206,6172,0.15,0.00,0.00,0.000,2054,0.308,0.000,2818,2358,3280,3207,3353,0,0,0,0,0,0,14.71,28.83,28.83
$GC,6470,-0.92,-146.6,2818,2358,3207,3352,633.8,-11.0,211,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2358,3279,3207,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.95,-146.6,2818,2358,3207,3351,665.5,-10.5,216,6776,0.00,2.47,0.00,0.000,260,0.000,0.079,2815,3812,3278,3207,3350,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6823,-0.98,-146.6,2815,3812,3207,3350,665.5,-10.5,216,6830,0.00,2.38,0.00,0.000,1030,0.000,0.043,2814,2350,3278,3207,3350,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7130,-1.02,-146.6,2815,2350,3207,3350,700.0,-9.3,222,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2350,3278,3207,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7430,-1.07,-146.6,2815,2350,3207,3348,728.1,-9.3,227,7437,0.12,2.47,0.00,0.000,4356,0.167,0.077,2766,3805,3277,3207,3347,0,0,0,0,0,0,14.88,14.88,28.83
$GC,7498,-1.09,-146.6,2766,3805,3207,3347,734.7,-9.5,228,7502,0.00,2.33,0.00,0.000,1030,0.000,0.043,2766,2358,3276,3206,3347,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7845,-1.01,-146.6,2766,2358,3207,3346,771.9,-10.3,234,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2358,3277,3207,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8145,-0.94,-146.6,2766,2358,3207,3346,803.9,-10.8,239,8151,0.12,2.30,0.00,0.000,2564,0.299,0.067,2797,971,3276,3207,3346,0,0,0,0,0,0,14.73,14.90,28.83
$GC,8209,-0.89,-146.6,2797,971,3207,3345,810.1,-10.7,240,8214,0.00,2.35,0.00,0.000,1030,0.000,0.054,2797,2402,3276,3207,3345,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8560,-0.92,-146.6,2797,2402,3207,3345,845.6,-10.1,246,8567,0.00,2.38,0.00,0.000,260,0.000,0.081,2797,3808,3275,3207,3344,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8614,-0.95,-146.6,2797,3808,3207,3344,845.6,-10.1,246,8621,0.00,2.33,0.00,0.000,1030,0.000,0.042,2797,2361,3275,3207,3344,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8920,-0.99,-146.6,2797,2361,3207,3343,881.9,-10.1,252,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2361,3275,3207,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,-1.05,-146.6,2797,2361,3207,3343,912.9,-10.4,257,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2361,3275,3207,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-1.11,-146.6,2797,2361,3207,3342,941.8,-9.6,262,9523,0.15,0.00,0.00,0.000,4102,0.149,0.000,2748,2360,3274,3207,3342,0,0,0,0,0,0,14.84,28.83,28.83
$GC,9820,-1.04,-146.6,2749,2360,3207,3341,975.8,-11.5,267,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2360,3274,3207,3341,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9999,begin apogee
$GC,10003,-0.22,0.0,2749,2282,3207,3341,996.0,-11.3,270,10148,1.05,0.00,138.65,2.334,10246,0.272,0.000,3030,2281,2671,2628,2714,0,0,0,0,0,0,14.62,28.83,12.48
$STATE,10149,end apogee,CONTROL_FINISHED_OK
$STATE,10150,begin climb
$GC,10151,0.78,146.6,3030,2281,2627,2714,997.7,0.0,272,10302,1.10,2.55,140.15,2.329,10756,0.165,0.076,3356,893,2072,2100,2044,0,0,0,0,0,0,13.86,13.75,12.33
$GC,10337,0.78,146.6,3357,893,2094,2042,985.8,9.0,275,10341,0.00,2.58,0.00,0.000,1030,0.000,0.051,3356,2315,2067,2093,2042,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10665,0.55,146.6,3356,2314,2081,2042,933.2,14.6,281,10702,16.52,12.88,0.00,0.000,4356,0.011,0.003,3309,2314,2061,2080,2042,60,1,85,1,0,0,3.39,3.37,28.83
$STATE,10705,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10718,493.88,0.529,45,1,1586,266.40
$SM_CCo,11440,426.90,1.548,36,0,481,537.70
$SM_GC,1.38,9.02,0.00,0.00,0.079,0.000,0.000,110,2315,487,-9.31,0.23,535.98,0,0,0,0,0,0,14.97,28.83,28.83
$IRIDIUM_FIX,4657.54,-12609.10,311013,151519
$TT8_MAMPS,0.023219,0.023219
$HUMID,66.42
$INTERNAL_PRESSURE,8.46977
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,3.1,13.419
$10V_AH,13.3,3.760
$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,43.025,70.500,278.800,920.775,0.000,58.912,88.571,164.875,0.000,0.000,5.495,1095.478,15360.839,1664.478,1113.228,58.794,0.389,2302.025,0.000,775.644,0.000,0.542,0.000
$DEVICE_MAMPS,432.990,129.285,2334.015,1548.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.414,99.010,286.526,232.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313804
$DATA_FILE_SIZE,17018,281
$CAP_FILE_SIZE,109598,25
$CFSIZE,260165632,217468928
$ERRORS,0,0,0,0,0,0,0,0,1,1,1,60,85,81,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,311013,204105,4713.183,-12611.313,35,1.2,35,16.7