version: 66.08
glider: 141
mission: 15
dive: 172
start: 3 18 111 7 33 54
data:
$ID,141
$MISSION,15
$DIVE,172
$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,120
$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,-28688.277
$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,26
$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
$GPS1,170311,202731,6656.620,-5952.275,0,5116.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.03
$_SM_ANGLEo,-4.4
$GPS2,170311,202731,6656.620,-5952.275,0,5116.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$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,264.8,33984,-17.5,-10.000
$D_GRID,878
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.62,0.000,2,0.000,0.000,2899,858,3017,0,0,0,0,0,0
$GC,26,-0.62,-146.0,14.0,-0.0,1,46,0.65,0.35,-13.80,0.000,4,0.096,0.150,2666,1095,3628,0,0,0,0,0,0
$GC,171,-0.50,-146.0,37.6,-19.4,26,178,0.12,2.22,0.00,0.000,6,0.245,0.057,2692,2487,3631,0,0,0,0,0,0
$GC,517,-0.41,-146.0,95.3,-14.7,87,523,0.15,0.00,0.00,0.000,6,0.237,0.000,2728,2487,3630,0,0,0,0,0,0
$GC,851,-0.44,-146.0,131.6,-9.7,121,855,0.00,2.30,0.00,0.000,4,0.000,0.071,2728,3903,3629,0,0,0,0,0,0
$GC,903,-0.51,-146.0,136.4,-9.4,125,907,0.00,2.20,0.00,0.000,6,0.000,0.043,2728,2470,3629,0,0,0,0,0,0
$GC,1228,-0.56,-146.0,166.1,-8.8,155,1230,0.15,0.00,0.00,0.000,6,0.125,0.000,2679,2470,3630,0,0,0,0,0,0
$GC,1547,-0.49,-146.0,206.1,-12.7,185,1551,0.00,2.20,0.00,0.000,4,0.000,0.060,2678,1074,3629,0,0,0,0,0,0
$GC,1574,-0.45,-146.0,209.9,-12.5,187,1582,0.15,2.25,0.00,0.000,6,0.213,0.057,2714,2491,3629,0,0,0,0,0,0
$GC,1900,-0.49,-146.0,240.1,-9.2,218,1904,0.00,2.28,0.00,0.000,4,0.000,0.073,2714,3905,3628,0,0,0,0,0,0
$GC,1941,-0.56,-146.0,243.9,-8.9,221,1948,0.00,2.20,0.00,0.000,6,0.000,0.044,2714,2489,3628,0,0,0,0,0,0
$GC,2266,-0.61,-146.0,272.8,-8.4,252,2271,0.15,2.22,0.00,0.000,4,0.125,0.061,2665,1086,3628,0,0,0,0,0,0
$GC,2293,-0.58,-146.0,275.8,-11.8,254,2300,0.00,2.25,0.00,0.000,6,0.000,0.057,2665,2501,3628,0,0,0,0,0,0
$GC,2618,-0.50,-146.0,315.6,-12.4,285,2623,0.12,2.28,0.00,0.000,4,0.233,0.074,2692,3903,3628,0,0,0,0,0,0
$GC,2659,-0.53,-146.0,319.7,-9.6,288,2663,0.00,2.17,0.00,0.000,6,0.000,0.044,2692,2486,3628,0,0,0,0,0,0
$GC,2984,-0.53,-146.0,351.1,-10.2,318,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3628,0,0,0,0,0,0
$GC,3303,-0.53,-146.0,383.8,-10.4,348,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3629,0,0,0,0,0,0
$GC,3622,-0.53,-146.0,416.6,-10.2,378,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3629,0,0,0,0,0,0
$GC,3941,-0.53,-146.0,448.8,-10.2,408,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3629,0,0,0,0,0,0
$GC,4258,-0.53,-146.0,480.3,-9.9,438,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2485,3629,0,0,0,0,0,0
$GC,4578,-0.55,-146.0,511.8,-9.8,468,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2484,3630,0,0,0,0,0,0
$GC,4896,-0.57,-146.0,541.1,-8.3,498,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2485,3629,0,0,0,0,0,0
$GC,5215,-0.60,-146.0,568.7,-8.5,528,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2485,3630,0,0,0,0,0,0
$GC,5533,-0.63,-146.0,597.1,-9.1,558,5537,0.00,2.17,0.00,0.000,4,0.000,0.058,2692,1078,3629,0,0,0,0,0,0
$GC,5554,-0.66,-146.0,599.3,-9.2,559,5562,0.12,2.22,0.00,0.000,6,0.128,0.057,2651,2498,3629,0,0,0,0,0,0
$GC,5878,-0.58,-146.0,637.1,-11.9,571,5882,0.00,2.28,0.00,0.000,4,0.000,0.073,2651,3905,3630,0,0,0,0,0,0
$GC,5956,-0.55,-146.0,646.6,-11.8,573,5960,0.12,2.20,0.00,0.000,6,0.210,0.044,2679,2480,3629,0,0,0,0,0,0
$GC,6279,-0.55,-146.0,677.6,-9.1,584,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3631,0,0,0,0,0,0
$GC,6586,-0.55,-146.0,706.0,-9.2,594,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3631,0,0,0,0,0,0
$GC,6891,-0.55,-146.0,733.9,-9.0,604,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3631,0,0,0,0,0,0
$STATE,7134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7135,begin apogee
$GC,7140,-0.12,0.0,756.8,9.3,612,7269,0.45,0.00,122.60,1.400,6,0.185,0.000,2814,2249,3030,0,0,0,0,0,0
$STATE,7270,end apogee,CONTROL_FINISHED_OK
$STATE,7270,begin climb
$GC,7272,0.62,146.0,760.7,0.0,616,7409,0.77,2.42,127.88,1.353,4,0.137,0.061,3061,877,2433,0,0,0,0,0,0
$GC,7453,0.62,146.0,746.6,27011.5,621,7460,0.00,2.42,0.00,0.000,6,0.000,0.050,3061,2275,2428,0,0,0,0,0,0
$GC,7766,0.62,146.0,706.6,27011.5,632,7770,0.00,2.35,0.00,0.000,4,0.000,0.065,3061,3684,2425,0,0,0,0,0,0
$GC,7817,0.62,146.0,699.4,27011.5,633,7821,0.00,2.30,0.00,0.000,6,0.000,0.047,3071,2284,2424,0,0,0,0,0,0
$GC,8135,0.62,146.0,656.7,27011.5,644,8139,0.00,2.33,0.00,0.000,4,0.000,0.063,3070,3693,2423,0,0,0,0,0,0
$GC,8163,0.62,146.0,652.6,27011.5,645,8168,0.00,2.30,0.00,0.000,6,0.000,0.048,3081,2266,2423,0,0,0,0,0,0
$GC,8499,0.62,146.0,605.5,27011.5,656,8503,0.00,2.33,0.00,0.000,4,0.000,0.063,3081,3688,2423,0,0,0,0,0,0
$GC,8576,0.62,146.0,593.2,27011.5,659,8583,0.00,2.28,0.00,0.000,6,0.000,0.049,3090,2265,2422,0,0,0,0,0,0
$GC,8902,0.62,146.0,546.4,27011.5,690,8906,0.00,2.33,0.00,0.000,4,0.000,0.063,3090,3699,2423,0,0,0,0,0,0
$GC,8941,0.62,146.0,540.3,27011.5,693,8946,0.15,2.28,0.00,0.000,6,0.213,0.049,3066,2268,2422,0,0,0,0,0,0
$GC,9266,0.62,146.0,498.6,27011.5,723,9271,0.00,2.30,0.00,0.000,4,0.000,0.063,3065,3691,2422,0,0,0,0,0,0
$GC,9306,0.62,146.0,493.2,27011.5,726,9310,0.00,2.22,0.00,0.000,6,0.000,0.048,3073,2272,2422,0,0,0,0,0,0
$GC,9633,0.62,146.0,452.3,27011.5,756,9637,0.00,2.30,0.00,0.000,4,0.000,0.063,3073,3695,2422,0,0,0,0,0,0
$GC,9684,0.62,146.0,445.0,27011.5,760,9688,0.00,2.25,0.00,0.000,6,0.000,0.048,3083,2270,2422,0,0,0,0,0,0
$GC,10009,0.62,146.0,402.0,27011.5,790,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2270,2422,0,0,0,0,0,0
$GC,10330,0.62,146.0,362.4,27011.5,820,10334,0.00,2.30,0.00,0.000,4,0.000,0.063,3083,3700,2421,0,0,0,0,0,0
$GC,10409,0.62,146.0,351.0,27011.5,826,10415,0.00,2.25,0.00,0.000,6,0.000,0.048,3093,2270,2422,0,0,0,0,0,0
$GC,10734,0.62,146.0,309.7,27011.5,857,10738,0.00,2.28,0.00,0.000,4,0.000,0.063,3093,3699,2422,0,0,0,0,0,0
$GC,10774,0.62,146.0,304.2,27011.5,860,10779,0.15,2.22,0.00,0.000,6,0.216,0.049,3069,2268,2421,0,0,0,0,0,0
$GC,11100,0.62,146.0,267.2,27011.5,890,11104,0.00,2.28,0.00,0.000,4,0.000,0.063,3067,3694,2421,0,0,0,0,0,0
$GC,11139,0.62,146.0,262.3,27011.5,893,11146,0.00,2.22,0.00,0.000,6,0.000,0.048,3076,2273,2421,0,0,0,0,0,0
$GC,11465,0.62,146.0,224.4,27011.5,924,11469,0.00,2.25,0.00,0.000,4,0.000,0.063,3076,3691,2421,0,0,0,0,0,0
$GC,11508,0.62,146.0,218.5,27011.5,927,11516,0.00,2.22,0.00,0.000,6,0.000,0.048,3086,2274,2421,0,0,0,0,0,0
$GC,11836,0.62,146.0,181.5,27011.5,958,11840,0.00,2.22,0.00,0.000,4,0.000,0.060,3097,864,2421,0,0,0,0,0,0
$GC,11865,0.62,146.0,178.1,27011.5,960,11870,0.12,2.22,0.00,0.000,6,0.210,0.051,3068,2278,2421,0,0,0,0,0,0
$GC,12196,0.62,146.0,146.8,27011.5,991,12200,0.00,2.25,0.00,0.000,4,0.000,0.066,3067,3690,2421,0,0,0,0,0,0
$GC,12307,0.62,146.0,135.3,27011.5,1000,12314,0.00,2.22,0.00,0.000,6,0.000,0.048,3076,2265,2422,0,0,0,0,0,0
$GC,12632,0.62,146.0,109.5,27011.5,1031,12636,0.00,2.25,0.00,0.000,4,0.000,0.062,3076,3688,2421,0,0,0,0,0,0
$GC,12775,0.52,163.3,96.8,9.2,1046,12800,0.20,2.20,15.12,0.932,6,0.196,0.049,3033,2278,2363,0,0,0,0,0,0
$GC,13138,0.71,278.6,75.3,4.7,1110,13251,0.17,2.40,101.47,0.981,4,0.098,0.063,3105,3693,1892,0,0,0,0,0,0
$GC,13327,0.68,278.6,57.3,11.7,1142,13333,0.00,2.33,0.00,0.000,6,0.000,0.050,3113,2269,1885,0,0,0,0,0,0
$GC,13671,0.68,278.6,21.1,10.7,1203,13678,0.00,2.28,0.00,0.000,4,0.000,0.063,3124,865,1880,0,0,0,0,0,0
$GC,13702,0.68,278.6,17.9,10.8,1208,13709,0.15,2.28,0.00,0.000,6,0.190,0.050,3087,2283,1879,0,0,0,0,0,0
$FREEZE,8.57,-1.754,-1.777,2,47,0
$STATE,13805,end climb,FINISH_DEPTH_REACHED
$STATE,13806,begin subsurface finish
$FINISH1,8.6,1.026014,73
$GC,13812,0.09,72.9,8.6,-9.2,1226,13854,0.60,2.30,-32.05,0.000,4,0.155,0.081,2899,3675,2735,0,0,0,0,0,0
$FINISH2,7.3
$STATE,13855,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13855,begin surface
$RAFOS_CLK,756
$RAFOS,6,1300438144,8.833333,8.817778,151,63,58,58,52,52,743,205,214,184,135,1509
$RAFOS,5,1300437666,8.700000,8.685000,60,56,54,52,52,50,174,196,186,147,209,92
$RAFOS,4,1300437189,8.566667,8.552500,91,66,62,58,56,55,665,179,197,220,211,167
$RAFOS,3,1300436711,8.433333,8.419723,58,58,52,52,50,49,181,212,165,224,122,155
$RAFOS,2,1300436229,8.300000,8.285833,86,62,55,54,54,53,673,193,152,219,161,170
$RAFOS,1,1300435749,8.166667,8.152500,189,56,54,54,53,53,557,196,222,154,164,121
$RAFOS,0,1300435266,8.033334,8.018333,69,62,60,58,55,55,667,214,203,227,113,185
$RAFOS_FIX,6655.023438,-5959.104492,180311,080819,5,117,0.13
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.9
$ALTIM_BOTTOM_PING,751.1,19.9
$24V_AH,22.7,25.228
$10V_AH,10.2,13.991
$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,4.525,109.500,367.075,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3034.610,8240.295,430.160,2026.617,196.625,0.000,1510.039,0.000,2014.437,2520.000,23.001,0.000
$DEVICE_MAMPS,244.800,149.940,1399.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.085,952.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,46648,1233
$CAP_FILE_SIZE,144233,0
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$GPS,180311,082419,6655.023,-5959.104,0,5117.2,0,-38.2