version: 66.08
glider: 141
mission: 15
dive: 53
start: 2 28 111 7 58 2
data:
$ID,141
$MISSION,15
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$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
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22406.588
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$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,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.21
$_SM_ANGLEo,-6.3
$GPS2,280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0
$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,247.6,22799,-17.5,-10.000
$D_GRID,651
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.93,0.000,2,0.000,0.000,2895,2267,3009,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.4,-0.0,1,53,0.62,2.70,-17.30,0.000,4,0.090,0.083,2668,3903,3627,0,0,0,0,0,0
$GC,184,-0.50,-146.0,33.2,-17.6,28,191,0.12,2.25,0.00,0.000,6,0.228,0.048,2693,2490,3629,0,0,0,0,0,0
$GC,529,-0.40,-146.0,91.8,-19.5,89,536,0.15,0.00,0.00,0.000,6,0.233,0.000,2729,2490,3629,0,0,0,0,0,0
$GC,862,-0.40,-146.0,138.5,-11.5,124,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2490,3629,0,0,0,0,0,0
$GC,1183,-0.44,-146.0,172.8,-10.9,154,1187,0.00,2.25,0.00,0.000,4,0.000,0.066,2729,1082,3628,0,0,0,0,0,0
$GC,1227,-0.50,-146.0,177.5,-9.5,157,1234,0.00,2.25,0.00,0.000,6,0.000,0.060,2729,2487,3627,0,0,0,0,0,0
$GC,1554,-0.56,-146.0,204.6,-8.9,188,1559,0.15,2.33,0.00,0.000,4,0.123,0.077,2679,3902,3627,0,0,0,0,0,0
$GC,1571,-0.56,-146.0,206.5,-9.6,189,1575,0.00,2.22,0.00,0.000,6,0.000,0.048,2679,2481,3627,0,0,0,0,0,0
$GC,1896,-0.50,-146.0,249.5,-12.3,219,1900,0.00,2.20,0.00,0.000,4,0.000,0.067,2678,1085,3626,0,0,0,0,0,0
$GC,1929,-0.44,-146.0,253.8,-12.6,221,1936,0.15,2.25,0.00,0.000,6,0.219,0.060,2714,2492,3626,0,0,0,0,0,0
$GC,2254,-0.48,-146.0,285.1,-9.8,252,2258,0.00,2.25,0.00,0.000,4,0.000,0.065,2714,1085,3626,0,0,0,0,0,0
$GC,2276,-0.51,-146.0,287.7,-11.1,253,2283,0.00,2.25,0.00,0.000,6,0.000,0.059,2715,2497,3627,0,0,0,0,0,0
$GC,2602,-0.56,-146.0,318.1,-7.5,284,2606,0.00,2.25,0.00,0.000,4,0.000,0.076,2714,3899,3626,0,0,0,0,0,0
$GC,2618,-0.62,-146.0,319.7,-7.6,285,2625,0.15,2.20,0.00,0.000,6,0.121,0.047,2665,2481,3626,0,0,0,0,0,0
$GC,2943,-0.54,-146.0,356.2,-12.0,316,2947,0.00,2.20,0.00,0.000,4,0.000,0.065,2665,1089,3626,0,0,0,0,0,0
$GC,2972,-0.46,-146.0,359.9,-13.1,318,2977,0.17,2.25,0.00,0.000,6,0.222,0.060,2706,2500,3626,0,0,0,0,0,0
$GC,3298,-0.50,-146.0,390.2,-9.2,348,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2500,3626,0,0,0,0,0,0
$GC,3618,-0.54,-146.0,419.3,-8.8,378,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2500,3627,0,0,0,0,0,0
$GC,3936,-0.59,-146.0,446.3,-8.2,408,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2500,3627,0,0,0,0,0,0
$GC,4255,-0.63,-146.0,471.9,-8.0,438,4257,0.15,0.00,0.00,0.000,6,0.124,0.000,2656,2500,3627,0,0,0,0,0,0
$GC,4571,-0.55,-146.0,509.9,-12.4,468,4575,0.00,2.22,0.00,0.000,4,0.000,0.063,2656,1085,3627,0,0,0,0,0,0
$GC,4593,-0.47,-146.0,513.0,-13.5,469,4601,0.20,2.22,0.00,0.000,6,0.212,0.060,2705,2489,3627,0,0,0,0,0,0
$GC,4919,-0.51,-146.0,541.1,-8.9,500,4923,0.00,2.25,0.00,0.000,4,0.000,0.076,2705,3899,3628,0,0,0,0,0,0
$GC,4948,-0.58,-146.0,543.6,-8.7,502,4952,0.00,2.17,0.00,0.000,6,0.000,0.046,2705,2488,3627,0,0,0,0,0,0
$GC,5275,-0.63,-146.0,571.5,-8.6,532,5279,0.15,2.22,0.00,0.000,4,0.120,0.062,2654,1075,3628,0,0,0,0,0,0
$GC,5330,-0.59,-146.0,578.3,-12.5,536,5337,0.00,2.25,0.00,0.000,6,0.000,0.060,2654,2499,3627,0,0,0,0,0,0
$GC,5671,-0.52,-146.0,619.7,-12.0,559,5676,0.15,2.22,0.00,0.000,4,0.223,0.063,2689,1087,3628,0,0,0,0,0,0
$STATE,5699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5700,begin apogee
$GC,5707,-0.12,0.0,623.2,12.0,560,5834,0.43,0.00,121.93,1.315,6,0.191,0.000,2816,2277,3030,0,0,0,0,0,0
$STATE,5834,end apogee,CONTROL_FINISHED_OK
$STATE,5835,begin climb
$GC,5837,0.62,146.0,626.3,0.0,564,5972,0.77,2.55,125.70,1.269,4,0.139,0.067,3061,882,2433,0,0,0,0,0,0
$GC,6050,0.54,146.0,608.7,11.3,570,6055,0.00,2.40,0.00,0.000,6,0.000,0.054,3061,2283,2427,0,0,0,0,0,0
$GC,6373,0.44,146.0,570.5,11.8,594,6378,0.20,2.35,0.00,0.000,4,0.181,0.068,3009,3688,2425,0,0,0,0,0,0
$GC,6462,0.39,146.0,560.8,10.8,601,6469,0.00,2.30,0.00,0.000,6,0.000,0.051,3017,2280,2424,0,0,0,0,0,0
$GC,6787,0.41,164.0,531.4,9.2,632,6809,0.00,2.42,15.30,1.143,4,0.000,0.067,3017,3689,2361,0,0,0,0,0,0
$GC,6844,0.36,164.0,525.7,11.2,637,6849,0.17,2.30,0.00,0.000,6,0.184,0.052,2985,2269,2359,0,0,0,0,0,0
$GC,7169,0.49,211.2,500.2,7.8,667,7220,0.12,0.00,42.90,1.196,6,0.105,0.000,3033,2269,2167,0,0,0,0,0,0
$GC,7537,0.49,211.2,458.2,11.4,702,7542,0.00,2.35,0.00,0.000,4,0.000,0.066,3033,3696,2161,0,0,0,0,0,0
$GC,7594,0.45,211.2,450.8,13.8,707,7599,0.12,2.30,0.00,0.000,6,0.200,0.053,3014,2278,2160,0,0,0,0,0,0
$GC,7920,0.49,211.2,416.9,10.7,737,7924,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,864,2159,0,0,0,0,0,0
$GC,7948,0.55,211.2,413.8,10.0,739,7953,0.00,2.28,0.00,0.000,6,0.000,0.054,3021,2280,2158,0,0,0,0,0,0
$GC,8274,0.59,216.4,380.6,9.8,769,8287,0.10,2.28,4.45,0.779,4,0.119,0.068,3061,3690,2147,0,0,0,0,0,0
$GC,8372,0.50,216.4,366.9,14.6,777,8379,0.15,2.28,0.00,0.000,6,0.186,0.052,3034,2266,2146,0,0,0,0,0,0
$GC,8697,0.50,216.4,330.2,11.5,808,8701,0.00,2.30,0.00,0.000,4,0.000,0.067,3033,3685,2146,0,0,0,0,0,0
$GC,8729,0.50,216.4,325.8,13.3,810,8736,0.00,2.28,0.00,0.000,6,0.000,0.052,3041,2272,2146,0,0,0,0,0,0
$GC,9054,0.50,216.4,284.4,12.7,841,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2273,2146,0,0,0,0,0,0
$GC,9376,0.50,216.4,245.1,12.7,871,9380,0.00,2.25,0.00,0.000,4,0.000,0.065,3041,3685,2145,0,0,0,0,0,0
$GC,9427,0.47,216.4,238.0,13.9,875,9432,0.12,2.22,0.00,0.000,6,0.197,0.052,3020,2274,2145,0,0,0,0,0,0
$GC,9753,0.61,286.4,210.5,6.8,905,9824,0.12,0.00,63.85,1.053,6,0.117,0.000,3068,2273,1860,0,0,0,0,0,0
$GC,10142,0.64,286.4,161.6,12.1,942,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2273,1851,0,0,0,0,0,0
$GC,10463,0.68,286.4,123.5,11.4,972,10467,0.00,2.30,0.00,0.000,4,0.000,0.065,3069,3687,1849,0,0,0,0,0,0
$GC,10507,0.68,286.4,118.0,11.7,975,10514,0.00,2.28,0.00,0.000,6,0.000,0.050,3077,2277,1849,0,0,0,0,0,0
$GC,10839,0.73,297.5,87.4,9.5,1017,10853,0.00,2.35,8.93,0.883,4,0.000,0.067,3084,865,1816,0,0,0,0,0,0
$GC,10916,0.83,319.0,79.5,9.0,1030,10947,0.12,2.25,20.67,0.962,6,0.117,0.054,3132,2276,1730,0,0,0,0,0,0
$GC,11285,0.79,319.0,35.4,12.1,1095,11292,0.00,2.28,0.00,0.000,4,0.000,0.069,3132,3685,1725,0,0,0,0,0,0
$GC,11395,0.73,319.0,20.2,14.9,1114,11405,0.17,2.28,0.00,0.000,6,0.195,0.053,3099,2266,1723,0,0,0,0,0,0
$FREEZE,8.75,-1.757,-1.781,3,30,2
$FREEZE,8.15,-1.758,-1.781,3,30,2
$FREEZE,7.67,-1.759,-1.781,3,30,2
$FREEZE,7.04,-1.772,-1.780,3,30,2
$FREEZE,6.61,-1.774,-1.780,3,30,2
$FREEZE,6.09,-1.771,-1.780,3,30,2
$FREEZE,5.58,-1.768,-1.779,3,30,2
$FREEZE,4.85,-1.762,-1.778,3,30,2
$FREEZE,4.33,-1.760,-1.778,3,30,2
$FREEZE,3.82,-1.763,-1.778,3,30,2
$FREEZE,3.26,-1.759,-1.777,3,30,2
$FREEZE,2.82,-1.760,-1.777,3,30,2
$STATE,11547,end climb,SURFACE_DEPTH_REACHED
$STATE,11547,begin surface coast
$FREEZE,2.25,-1.762,-1.777,3,30,2
$FREEZE,1.70,-1.763,-1.776,3,30,2
$FREEZE,1.70,-1.792,-1.713,3,30,2
$FREEZE,1.62,-1.788,-1.713,3,30,2
$FREEZE,1.74,-1.787,-1.713,3,30,2
$FINISH,1.7,1.025182
$STATE,11574,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11591,107.40,0.075,0,0,750,559.04
$SM_GC,2.64,0.00,0.00,107.40,0.000,0.000,0.075,107,2494,750,-8.62,0.14,559.04
$RAFOS_CLK,646
$RAFOS,6,1298882944,8.833333,8.817778,147,59,58,57,56,55,782,208,220,196,166,127
$RAFOS,5,1298882470,8.700000,8.686111,64,63,59,58,55,52,194,913,216,206,174,121
$RAFOS,4,1298881985,8.566667,8.551389,70,59,56,56,56,55,721,207,194,124,182,91
$RAFOS,3,1298881510,8.433333,8.419444,75,60,58,56,51,50,801,161,138,204,194,184
$RAFOS,2,1298881029,8.300000,8.285833,76,59,58,56,53,50,681,153,172,216,184,231
$RAFOS,1,1298880551,8.166667,8.153055,112,66,64,63,59,58,555,184,201,166,210,220
$RAFOS,0,1298880062,8.033334,8.017222,93,61,60,60,58,55,661,166,206,130,189,120
$RAFOS_FIX,6654.948730,-6011.001953,280211,080832,6,96,0.04
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.6
$ALTIM_BOTTOM_PING,601.3,36.6
$24V_AH,23.0,10.780
$10V_AH,10.3,5.230
$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,13.250,100.575,403.725,107.400,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2824.643,6361.350,566.411,1846.665,172.983,0.000,1546.231,0.000,1837.779,2520.000,17.740,0.000
$DEVICE_MAMPS,232.560,82.620,1315.035,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.959,884.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,43329,1146
$CAP_FILE_SIZE,131749,0
$CFSIZE,260165632,248389632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,280211,082432,6654.949,-6011.002,0,6095.5,0,-38.0