version: 66.08
glider: 141
mission: 15
dive: 89
start: 3 6 111 13 55 25
data:
$ID,141
$MISSION,15
$DIVE,89
$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,-3
$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,-23514.691
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,060311,123544,6716.668,-5810.557,0,4108.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.07
$_SM_ANGLEo,1.1
$GPS2,060311,123544,6716.668,-5810.557,0,4108.5,0,-38.2
$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,151.2,64770,-17.5,-10.000
$D_GRID,1017
$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,-6.82,0.000,2,0.000,0.000,2884,862,3140,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,52,0.62,5.00,-13.10,0.000,4,0.116,0.075,2667,3906,3629,0,0,0,0,0,0
$GC,193,-0.59,-146.0,32.5,-13.6,30,200,0.00,2.25,0.00,0.000,6,0.000,0.048,2667,2470,3630,0,0,0,0,0,0
$GC,539,-0.50,-146.0,85.8,-15.3,91,546,0.12,2.35,0.00,0.000,4,0.221,0.075,2695,3904,3629,0,0,0,0,0,0
$GC,628,-0.54,-146.0,96.7,-11.8,106,635,0.00,2.22,0.00,0.000,6,0.000,0.050,2695,2485,3629,0,0,0,0,0,0
$GC,955,-0.54,-146.0,135.0,-11.4,139,959,0.00,2.22,0.00,0.000,4,0.000,0.068,2695,1085,3629,0,0,0,0,0,0
$GC,982,-0.54,-146.0,138.3,-11.8,141,990,0.00,2.28,0.00,0.000,6,0.000,0.063,2695,2486,3629,0,0,0,0,0,0
$GC,1309,-0.54,-146.0,174.1,-10.7,172,1313,0.00,2.30,0.00,0.000,4,0.000,0.081,2695,3905,3629,0,0,0,0,0,0
$GC,1318,-0.54,-146.0,175.4,-10.6,172,1326,0.00,2.22,0.00,0.000,6,0.000,0.048,2695,2492,3629,0,0,0,0,0,0
$GC,1645,-0.54,-146.0,208.8,-10.1,203,1649,0.00,2.30,0.00,0.000,4,0.000,0.078,2695,3907,3628,0,0,0,0,0,0
$GC,1675,-0.56,-146.0,211.8,-10.0,205,1679,0.00,2.22,0.00,0.000,6,0.000,0.050,2695,2478,3628,0,0,0,0,0,0
$GC,2006,-0.59,-146.0,243.6,-9.2,236,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2478,3628,0,0,0,0,0,0
$GC,2326,-0.62,-146.0,272.2,-9.0,266,2330,0.00,2.20,0.00,0.000,4,0.000,0.066,2695,1072,3628,0,0,0,0,0,0
$GC,2338,-0.64,-146.0,273.7,-10.0,266,2345,0.12,2.25,0.00,0.000,6,0.140,0.063,2655,2492,3627,0,0,0,0,0,0
$GC,2663,-0.58,-146.0,315.6,-12.7,297,2667,0.00,2.28,0.00,0.000,4,0.000,0.080,2655,3902,3628,0,0,0,0,0,0
$GC,2703,-0.54,-146.0,320.7,-12.6,300,2708,0.12,2.20,0.00,0.000,6,0.204,0.050,2684,2492,3628,0,0,0,0,0,0
$GC,3028,-0.54,-146.0,355.4,-10.4,330,3032,0.00,2.28,0.00,0.000,4,0.000,0.076,2684,3903,3628,0,0,0,0,0,0
$GC,3037,-0.54,-146.0,356.5,-10.7,330,3045,0.00,2.22,0.00,0.000,6,0.000,0.048,2684,2487,3628,0,0,0,0,0,0
$GC,3364,-0.54,-146.0,389.0,-10.0,361,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2488,3628,0,0,0,0,0,0
$GC,3683,-0.54,-146.0,423.2,-11.0,391,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2487,3629,0,0,0,0,0,0
$GC,4002,-0.54,-146.0,457.2,-10.2,421,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2488,3629,0,0,0,0,0,0
$GC,4319,-0.54,-146.0,489.4,-10.2,451,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2487,3629,0,0,0,0,0,0
$GC,4639,-0.57,-146.0,521.4,-10.1,481,4643,0.00,2.28,0.00,0.000,4,0.000,0.077,2684,3899,3629,0,0,0,0,0,0
$GC,4667,-0.60,-146.0,524.3,-10.1,483,4671,0.00,2.17,0.00,0.000,6,0.000,0.050,2683,2489,3629,0,0,0,0,0,0
$GC,4993,-0.63,-146.0,554.0,-8.7,513,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3629,0,0,0,0,0,0
$GC,5313,-0.65,-146.0,582.6,-9.1,543,5317,0.00,2.28,0.00,0.000,4,0.000,0.078,2684,3898,3629,0,0,0,0,0,0
$GC,5340,-0.69,-146.0,585.3,-9.5,545,5348,0.12,2.20,0.00,0.000,6,0.131,0.050,2642,2487,3629,0,0,0,0,0,0
$GC,5659,-0.61,-146.0,624.6,-12.8,564,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2486,3629,0,0,0,0,0,0
$GC,5965,-0.54,-146.0,662.5,-12.4,574,5967,0.17,0.00,0.00,0.000,6,0.210,0.000,2685,2486,3629,0,0,0,0,0,0
$GC,6271,-0.57,-146.0,690.5,-8.9,584,6275,0.00,2.30,0.00,0.000,4,0.000,0.079,2685,3902,3629,0,0,0,0,0,0
$GC,6305,-0.63,-146.0,693.6,-9.6,585,6309,0.00,2.17,0.00,0.000,6,0.000,0.050,2685,2490,3629,0,0,0,0,0,0
$GC,6641,-0.66,-146.0,723.3,-8.9,596,6643,0.12,0.00,0.00,0.000,6,0.131,0.000,2644,2489,3629,0,0,0,0,0,0
$GC,6947,-0.60,-146.0,761.3,-13.0,606,6951,0.00,2.28,0.00,0.000,4,0.000,0.079,2643,3899,3629,0,0,0,0,0,0
$GC,6968,-0.54,-146.0,764.4,-12.9,606,6976,0.17,2.17,0.00,0.000,6,0.197,0.050,2688,2490,3629,0,0,0,0,0,0
$GC,7282,-0.58,-146.0,795.0,-9.6,617,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2490,3630,0,0,0,0,0,0
$GC,7588,-0.63,-146.0,822.9,-9.2,627,7592,0.00,2.30,0.00,0.000,4,0.000,0.077,2688,3898,3629,0,0,0,0,0,0
$GC,7598,-0.68,-146.0,823.9,-9.3,627,7603,0.12,2.20,0.00,0.000,6,0.123,0.049,2645,2483,3629,0,0,0,0,0,0
$STATE,7853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7853,begin apogee
$GC,7858,-0.12,0.0,855.4,13.0,636,7988,0.57,0.00,123.95,1.451,6,0.201,0.000,2811,2266,3031,0,0,0,0,0,0
$STATE,7988,end apogee,CONTROL_FINISHED_OK
$STATE,7989,begin climb
$GC,7990,0.62,146.0,862.0,0.0,640,8129,0.80,2.53,128.75,1.418,4,0.144,0.072,3061,880,2432,0,0,0,0,0,0
$GC,8196,0.62,146.0,844.9,29374.0,646,8200,0.00,2.40,0.00,0.000,6,0.000,0.057,3061,2274,2427,0,0,0,0,0,0
$GC,8512,0.62,146.0,808.2,29374.0,656,8516,0.00,2.38,0.00,0.000,4,0.000,0.073,3061,3690,2423,0,0,0,0,0,0
$GC,8635,0.62,146.0,790.6,29374.0,659,8641,0.00,2.35,0.00,0.000,6,0.000,0.058,3071,2276,2422,0,0,0,0,0,0
$GC,8947,0.62,146.0,749.9,29374.0,670,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2276,2421,0,0,0,0,0,0
$GC,9254,0.62,146.0,710.7,29374.0,680,9258,0.00,2.33,0.00,0.000,4,0.000,0.071,3071,3696,2420,0,0,0,0,0,0
$GC,9331,0.62,146.0,698.9,29374.0,682,9335,0.00,2.30,0.00,0.000,6,0.000,0.057,3081,2264,2421,0,0,0,0,0,0
$GC,9655,0.62,146.0,652.7,29374.0,693,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2264,2420,0,0,0,0,0,0
$GC,9963,0.62,146.0,610.2,29374.0,703,9967,0.00,2.33,0.00,0.000,4,0.000,0.071,3081,3691,2420,0,0,0,0,0,0
$GC,10043,0.62,146.0,597.9,29374.0,706,10047,0.00,2.25,0.00,0.000,6,0.000,0.057,3091,2274,2419,0,0,0,0,0,0
$GC,10370,0.62,146.0,552.2,29374.0,736,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2274,2419,0,0,0,0,0,0
$GC,10688,0.62,146.0,509.6,29374.0,766,10692,0.00,2.30,0.00,0.000,4,0.000,0.071,3091,3699,2419,0,0,0,0,0,0
$GC,10761,0.62,146.0,498.3,29374.0,772,10766,0.15,2.30,0.00,0.000,6,0.213,0.059,3066,2264,2419,0,0,0,0,0,0
$GC,11087,0.62,146.0,455.0,29374.0,802,11091,0.00,2.25,0.00,0.000,4,0.000,0.070,3075,856,2419,0,0,0,0,0,0
$GC,11126,0.62,146.0,449.5,29374.0,805,11131,0.00,2.25,0.00,0.000,6,0.000,0.060,3075,2279,2418,0,0,0,0,0,0
$GC,11454,0.62,146.0,406.0,29374.0,835,11458,0.00,2.25,0.00,0.000,4,0.000,0.073,3075,3688,2418,0,0,0,0,0,0
$GC,11599,0.62,146.0,384.1,29374.0,847,11606,0.00,2.25,0.00,0.000,6,0.000,0.057,3085,2273,2418,0,0,0,0,0,0
$GC,11926,0.62,146.0,340.9,29374.0,878,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2273,2418,0,0,0,0,0,0
$GC,12244,0.62,146.0,300.3,29374.0,908,12248,0.00,2.28,0.00,0.000,4,0.000,0.071,3085,3692,2418,0,0,0,0,0,0
$GC,12321,0.62,146.0,288.7,29374.0,914,12329,0.12,2.25,0.00,0.000,6,0.216,0.057,3067,2271,2418,0,0,0,0,0,0
$GC,12647,0.62,146.0,252.7,29374.0,945,12651,0.00,2.22,0.00,0.000,4,0.000,0.068,3076,860,2418,0,0,0,0,0,0
$GC,12702,0.62,146.0,246.3,29374.0,949,12709,0.00,2.25,0.00,0.000,6,0.000,0.059,3076,2276,2418,0,0,0,0,0,0
$GC,13028,0.62,146.0,209.3,29374.0,980,13032,0.00,2.25,0.00,0.000,4,0.000,0.072,3076,3696,2418,0,0,0,0,0,0
$GC,13195,0.62,146.0,187.4,29374.0,994,13202,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2275,2418,0,0,0,0,0,0
$GC,13522,0.62,146.0,151.7,29374.0,1025,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2276,2418,0,0,0,0,0,0
$GC,13840,0.62,146.0,116.5,29374.0,1055,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2275,2418,0,0,0,0,0,0
$STATE,14057,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14057,begin subsurface finish
$FINISH1,91.9,1.027011,24
$GC,14064,0.03,23.9,91.9,-29374.0,1081,14079,0.68,2.25,-3.50,0.000,4,0.181,0.080,2882,857,2940,0,0,0,0,0,0
$FINISH2,90.0
$STATE,14080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14080,begin surface
$RAFOS_CLK,768
$RAFOS,6,1299430144,16.833334,16.817778,146,69,68,57,55,50,629,203,164,183,152,221
$RAFOS,5,1299429684,16.700001,16.690001,114,60,59,57,49,48,570,159,220,193,137,111
$RAFOS,4,1299429194,16.566668,16.553888,100,60,56,55,51,51,726,207,187,219,150,170
$RAFOS,3,1299428731,16.433332,16.425278,86,60,55,54,54,54,830,190,138,157,213,170
$RAFOS,2,1299428232,16.299999,16.286667,60,60,56,53,51,51,201,211,168,146,155,123
$RAFOS,1,1299427745,16.166666,16.151388,63,61,59,52,52,50,206,184,172,149,111,1103
$RAFOS,0,1299427280,16.033333,16.022223,59,59,58,56,54,53,157,227,167,126,210,180
$RAFOS_FIX,6718.788086,-5808.166504,060311,161628,4,112,0.29
$IRIDIUM_FIX,6641.98,-5820.28,050311,151513
$TT8_MAMPS,0.026215
$HUMID,47.48
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,23.2,22.7
$ALTIM_BOTTOM_PING,93.3,23.3
$24V_AH,22.6,15.680
$10V_AH,10.2,8.125
$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,4.050,109.675,252.700,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2738.397,9071.969,314.171,1841.523,180.806,0.000,1292.773,0.000,1828.691,2520.000,27.802,0.000
$DEVICE_MAMPS,221.085,81.090,1451.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.688,849.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,43395,1083
$CAP_FILE_SIZE,132832,0
$CFSIZE,260165632,245583872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,060311,163928,6718.788,-5808.167,0,4111.5,0,-38.2