version: 66.08
glider: 141
mission: 15
dive: 175
start: 3 18 111 18 32 52
data:
$ID,141
$MISSION,15
$DIVE,175
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,86.91
$_SM_ANGLEo,5.6
$GPS2,180311,163242,6656.417,-6004.600,0,3139.7,0,-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,252.4,27821,-17.5,-10.000
$D_GRID,737
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.82,-5.55,0.000,3,0.000,0.084,2894,3140,3637,0,0,0,0,0,0
$GC,27,-0.62,-146.0,88.0,-0.0,1,34,0.68,3.22,0.00,0.000,4,0.132,0.051,2668,1071,3639,0,0,0,0,0,0
$GC,92,-0.53,-146.0,95.3,-13.2,12,99,0.00,2.25,0.00,0.000,6,0.000,0.059,2668,2489,3638,0,0,0,0,0,0
$GC,425,-0.41,-146.0,150.1,-16.3,46,427,0.22,0.00,0.00,0.000,6,0.223,0.000,2723,2489,3638,0,0,0,0,0,0
$GC,746,-0.45,-146.0,184.9,-10.5,76,750,0.00,2.28,0.00,0.000,4,0.000,0.073,2723,3899,3638,0,0,0,0,0,0
$GC,775,-0.51,-146.0,188.0,-10.5,78,779,0.00,2.20,0.00,0.000,6,0.000,0.044,2724,2477,3637,0,0,0,0,0,0
$GC,1100,-0.57,-146.0,218.9,-9.1,108,1102,0.12,0.00,0.00,0.000,6,0.132,0.000,2681,2476,3637,0,0,0,0,0,0
$GC,1420,-0.52,-146.0,258.9,-12.4,138,1424,0.00,2.30,0.00,0.000,4,0.000,0.070,2681,3907,3636,0,0,0,0,0,0
$GC,1459,-0.52,-146.0,263.9,-11.8,141,1463,0.00,2.20,0.00,0.000,6,0.000,0.045,2681,2486,3636,0,0,0,0,0,0
$GC,1784,-0.49,-146.0,302.3,-11.4,171,1788,0.00,2.20,0.00,0.000,4,0.000,0.060,2681,1081,3636,0,0,0,0,0,0
$GC,1828,-0.49,-146.0,307.6,-11.3,174,1835,0.00,2.25,0.00,0.000,6,0.000,0.057,2682,2485,3636,0,0,0,0,0,0
$GC,2155,-0.46,-146.0,346.2,-11.9,205,2160,0.12,2.28,0.00,0.000,4,0.221,0.073,2710,3899,3635,0,0,0,0,0,0
$GC,2176,-0.46,-146.0,349.0,-11.6,206,2183,0.00,2.20,0.00,0.000,6,0.000,0.044,2710,2495,3636,0,0,0,0,0,0
$GC,2502,-0.51,-146.0,378.0,-8.6,237,2506,0.00,2.22,0.00,0.000,4,0.000,0.059,2710,1073,3636,0,0,0,0,0,0
$GC,2559,-0.59,-146.0,383.3,-8.9,241,2567,0.12,2.25,0.00,0.000,6,0.135,0.057,2668,2490,3636,0,0,0,0,0,0
$GC,2884,-0.54,-146.0,420.4,-11.6,272,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2491,3635,0,0,0,0,0,0
$GC,3205,-0.50,-146.0,459.6,-12.9,302,3207,0.12,0.00,0.00,0.000,6,0.217,0.000,2696,2491,3636,0,0,0,0,0,0
$GC,3522,-0.53,-146.0,491.2,-9.7,332,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2490,3636,0,0,0,0,0,0
$GC,3842,-0.57,-146.0,520.3,-9.4,362,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2491,3636,0,0,0,0,0,0
$GC,4160,-0.61,-146.0,549.1,-8.8,392,4164,0.00,2.28,0.00,0.000,4,0.000,0.074,2696,3899,3636,0,0,0,0,0,0
$GC,4186,-0.66,-146.0,551.8,-8.6,394,4194,0.15,2.17,0.00,0.000,6,0.119,0.045,2645,2486,3636,0,0,0,0,0,0
$GC,4512,-0.57,-146.0,592.5,-12.5,425,4514,0.12,0.00,0.00,0.000,6,0.226,0.000,2672,2486,3637,0,0,0,0,0,0
$GC,4830,-0.57,-146.0,628.5,-11.0,440,4834,0.00,2.30,0.00,0.000,4,0.000,0.072,2672,3902,3636,0,0,0,0,0,0
$GC,4859,-0.57,-146.0,631.6,-11.9,441,4863,0.00,2.15,0.00,0.000,6,0.000,0.043,2672,2486,3636,0,0,0,0,0,0
$STATE,5043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5043,begin apogee
$GC,5048,-0.12,0.0,650.4,10.3,447,5177,0.47,0.00,123.45,1.329,6,0.195,0.000,2810,2258,3030,0,0,0,0,0,0
$STATE,5178,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5180,0.62,146.0,655.4,0.0,451,5315,0.80,2.42,127.00,1.281,4,0.145,0.068,3062,892,2433,0,0,0,0,0,0
$GC,5382,0.62,146.0,636.7,18739.6,457,5387,0.00,2.40,0.00,0.000,6,0.000,0.054,3063,2274,2427,0,0,0,0,0,0
$GC,5703,0.62,146.0,595.3,18739.6,470,5707,0.00,2.35,0.00,0.000,4,0.000,0.067,3063,3690,2425,0,0,0,0,0,0
$GC,5780,0.62,146.0,584.2,18739.6,476,5787,0.00,2.30,0.00,0.000,6,0.000,0.049,3072,2282,2425,0,0,0,0,0,0
$GC,6105,0.62,146.0,542.2,18739.6,507,6109,0.00,2.33,0.00,0.000,4,0.000,0.065,3072,3691,2423,0,0,0,0,0,0
$GC,6171,0.62,146.0,532.7,18739.6,512,6178,0.00,2.28,0.00,0.000,6,0.000,0.050,3082,2277,2423,0,0,0,0,0,0
$GC,6497,0.62,146.0,490.4,18739.6,543,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2276,2422,0,0,0,0,0,0
$GC,6815,0.62,146.0,449.3,18739.6,573,6819,0.00,2.30,0.00,0.000,4,0.000,0.063,3082,3693,2422,0,0,0,0,0,0
$GC,6855,0.62,146.0,443.7,18739.6,576,6860,0.00,2.28,0.00,0.000,6,0.000,0.050,3092,2265,2422,0,0,0,0,0,0
$GC,7181,0.62,146.0,399.2,18739.6,606,7185,0.00,2.33,0.00,0.000,4,0.000,0.063,3092,3700,2422,0,0,0,0,0,0
$GC,7221,0.62,146.0,393.3,18739.6,609,7226,0.15,2.25,0.00,0.000,6,0.210,0.050,3068,2270,2422,0,0,0,0,0,0
$GC,7546,0.62,146.0,354.9,18739.6,639,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2270,2422,0,0,0,0,0,0
$GC,7864,0.62,146.0,318.2,18739.6,669,7869,0.00,2.30,0.00,0.000,4,0.000,0.063,3067,3692,2422,0,0,0,0,0,0
$GC,7916,0.62,146.0,311.7,18739.6,673,7920,0.00,2.22,0.00,0.000,6,0.000,0.050,3076,2273,2422,0,0,0,0,0,0
$GC,8247,0.62,146.0,272.1,18739.6,704,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2273,2422,0,0,0,0,0,0
$GC,8569,0.62,146.0,235.6,18739.6,734,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2273,2422,0,0,0,0,0,0
$GC,8895,0.62,146.0,199.9,18739.6,765,8899,0.00,2.30,0.00,0.000,4,0.000,0.063,3076,3703,2422,0,0,0,0,0,0
$GC,9002,0.62,146.0,187.4,18739.6,774,9006,0.00,2.25,0.00,0.000,6,0.000,0.050,3086,2273,2423,0,0,0,0,0,0
$GC,9334,0.62,146.0,153.7,18739.6,805,9338,0.00,2.28,0.00,0.000,4,0.000,0.063,3086,3693,2422,0,0,0,0,0,0
$GC,9419,0.62,146.0,144.5,18739.6,812,9423,0.12,2.22,0.00,0.000,6,0.213,0.049,3067,2274,2422,0,0,0,0,0,0
$GC,9744,0.62,146.0,117.0,18739.6,842,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2274,2422,0,0,0,0,0,0
$GC,10068,0.62,146.0,94.4,18739.6,879,10075,0.00,2.28,0.00,0.000,4,0.000,0.064,3067,3704,2422,0,0,0,0,0,0
$GC,10239,0.62,146.0,81.8,18739.6,909,10246,0.00,2.25,0.00,0.000,6,0.000,0.049,3077,2266,2421,0,0,0,0,0,0
$GC,10585,0.62,146.0,64.4,18739.6,970,10591,0.00,2.30,0.00,0.000,4,0.000,0.065,3076,3698,2421,0,0,0,0,0,0
$GC,10717,0.62,146.0,57.2,18739.6,993,10724,0.00,2.22,0.00,0.000,6,0.000,0.049,3086,2275,2421,0,0,0,0,0,0
$GC,11062,0.62,146.0,39.2,18739.6,1054,11069,0.00,2.28,0.00,0.000,4,0.000,0.065,3086,3692,2421,0,0,0,0,0,0
$GC,11138,0.62,146.0,34.6,18739.6,1067,11145,0.12,2.22,0.00,0.000,6,0.210,0.049,3067,2269,2421,0,0,0,0,0,0
$GC,11485,0.62,146.0,18.4,18739.6,1128,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2269,2420,0,0,0,0,0,0
$FREEZE,8.83,-1.764,-1.776,3,50,2
$FREEZE,8.64,-1.761,-1.776,3,50,2
$FREEZE,8.38,-1.761,-1.776,3,50,2
$FREEZE,8.08,-1.760,-1.776,3,50,2
$FREEZE,7.88,-1.761,-1.775,3,50,2
$FREEZE,7.68,-1.761,-1.775,3,50,2
$FREEZE,7.39,-1.761,-1.775,3,50,2
$FREEZE,7.08,-1.760,-1.775,3,50,2
$FREEZE,6.93,-1.761,-1.775,3,50,2
$FREEZE,6.59,-1.761,-1.774,3,50,2
$FREEZE,6.31,-1.761,-1.774,3,50,2
$FREEZE,6.07,-1.761,-1.774,3,50,2
$FREEZE,5.81,-1.761,-1.774,3,50,2
$FREEZE,5.56,-1.761,-1.774,3,50,2
$FREEZE,5.50,-1.761,-1.774,3,50,2
$FREEZE,5.21,-1.761,-1.773,3,50,2
$FREEZE,4.90,-1.761,-1.773,3,50,2
$FREEZE,4.65,-1.761,-1.773,3,50,2
$FREEZE,4.41,-1.761,-1.773,3,50,2
$GC,11821,0.62,146.0,4.4,18739.6,1189,11827,0.00,2.22,0.00,0.000,4,0.000,0.064,3075,866,2420,0,0,0,0,0,0
$FREEZE,3.71,-1.761,-1.772,3,50,2
$FREEZE,3.40,-1.761,-1.772,3,50,2
$FREEZE,3.18,-1.761,-1.772,3,50,2
$FREEZE,2.95,-1.762,-1.772,3,50,2
$STATE,11848,end climb,SURFACE_DEPTH_REACHED
$STATE,11848,begin surface coast
$FREEZE,2.82,-1.762,-1.772,3,50,2
$FINISH,2.8,1.026005
$STATE,11855,end surface coast,CONTROL_FINISHED_OK
$STATE,11855,begin surface
$SM_CCo,11994,181.88,0.078,0,0,750,559.04
$SM_GC,4.14,0.00,0.00,181.88,0.000,0.000,0.078,106,2509,750,-8.62,0.54,559.04
$RAFOS_CLK,668
$RAFOS,3,1300479911,20.433332,20.419722,62,58,56,55,52,51,209,181,124,191,137,163
$RAFOS,2,1300479422,20.299999,20.283890,64,60,59,59,58,54,209,183,225,701,150,132
$RAFOS,1,1300478946,20.166666,20.151667,144,59,58,58,56,54,563,113,171,145,215,203
$RAFOS,0,1300478464,20.033333,20.017778,82,63,58,56,53,51,647,218,202,173,148,136
$RAFOS_FIX,6652.023438,-6013.063965,180311,202028,2,113,0.79
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.94
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,10677.0,10682.0
$ALTIM_BOTTOM_PING,10632.0,10665.0
$24V_AH,22.6,25.561
$10V_AH,10.2,14.200
$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,11.775,93.100,250.450,181.875,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2959.166,6716.345,481.568,1924.156,164.107,0.000,1477.762,0.000,1903.464,2520.000,17.809,0.000
$DEVICE_MAMPS,225.675,84.150,1328.805,78.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.228,915.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,46639,1195
$CAP_FILE_SIZE,130678,0
$CFSIZE,260165632,240160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$GPS,180311,200728,6652.023,-6013.064,0,2113.0,0,-38.2