version: 66.08
glider: 141
mission: 15
dive: 185
start: 3 20 111 0 5 25
data:
$ID,141
$MISSION,15
$DIVE,185
$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,-29056.855
$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,22
$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
$GPS1,190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.43
$_SM_ANGLEo,-3.3
$GPS2,190311,202913,6648.042,-6022.675,0,5087.2,0,-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,118.1,157483,-17.5,-10.000
$D_GRID,542
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.82,0.000,2,0.000,0.000,2903,862,2973,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.8,-0.0,1,57,0.68,5.05,-17.10,0.000,4,0.102,0.078,2665,3898,3628,0,0,0,0,0,0
$GC,243,-0.54,-146.0,46.5,-16.8,39,249,0.00,2.25,0.00,0.000,6,0.000,0.055,2665,2483,3630,0,0,0,0,0,0
$GC,591,-0.42,-146.0,113.8,-17.2,94,595,0.22,2.25,0.00,0.000,4,0.220,0.068,2720,1077,3629,0,0,0,0,0,0
$GC,646,-0.46,-146.0,121.6,-11.8,98,653,0.00,2.30,0.00,0.000,6,0.000,0.064,2720,2493,3629,0,0,0,0,0,0
$GC,973,-0.50,-146.0,154.3,-10.1,129,977,0.00,2.35,0.00,0.000,4,0.000,0.083,2720,3907,3628,0,0,0,0,0,0
$GC,1006,-0.58,-146.0,157.7,-9.9,131,1013,0.12,2.25,0.00,0.000,6,0.130,0.054,2678,2477,3628,0,0,0,0,0,0
$GC,1331,-0.53,-146.0,198.9,-12.4,162,1335,0.00,2.22,0.00,0.000,4,0.000,0.068,2678,1078,3628,0,0,0,0,0,0
$GC,1365,-0.50,-146.0,203.3,-12.3,165,1369,0.00,2.28,0.00,0.000,6,0.000,0.067,2678,2489,3628,0,0,0,0,0,0
$GC,1696,-0.46,-146.0,243.1,-11.9,196,1698,0.12,0.00,0.00,0.000,6,0.229,0.000,2705,2489,3627,0,0,0,0,0,0
$GC,2015,-0.51,-146.0,272.2,-9.2,226,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3628,0,0,0,0,0,0
$GC,2336,-0.56,-146.0,300.6,-8.8,256,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3627,0,0,0,0,0,0
$GC,2662,-0.62,-146.0,330.0,-9.0,287,2666,0.12,2.35,0.00,0.000,4,0.129,0.083,2663,3902,3627,0,0,0,0,0,0
$GC,2701,-0.62,-146.0,334.3,-11.1,290,2705,0.00,2.22,0.00,0.000,6,0.000,0.056,2662,2489,3627,0,0,0,0,0,0
$GC,3027,-0.58,-146.0,372.1,-11.8,320,3031,0.00,2.22,0.00,0.000,4,0.000,0.068,2663,1079,3627,0,0,0,0,0,0
$GC,3048,-0.54,-146.0,375.0,-12.3,321,3055,0.00,2.30,0.00,0.000,6,0.000,0.067,2663,2496,3627,0,0,0,0,0,0
$GC,3374,-0.51,-146.0,411.7,-11.2,352,3376,0.12,0.00,0.00,0.000,6,0.223,0.000,2691,2496,3628,0,0,0,0,0,0
$GC,3692,-0.55,-146.0,438.2,-7.6,382,3696,0.00,2.30,0.00,0.000,4,0.000,0.082,2691,3906,3627,0,0,0,0,0,0
$GC,3736,-0.63,-146.0,441.6,-7.5,385,3744,0.00,2.25,0.00,0.000,6,0.000,0.054,2692,2477,3627,0,0,0,0,0,0
$GC,4062,-0.68,-146.0,467.3,-8.1,416,4067,0.15,2.22,0.00,0.000,4,0.119,0.067,2640,1073,3628,0,0,0,0,0,0
$GC,4074,-0.70,-146.0,468.4,-8.8,416,4081,0.00,2.30,0.00,0.000,6,0.000,0.067,2640,2493,3627,0,0,0,0,0,0
$GC,4399,-0.63,-146.0,511.0,-13.2,447,4403,0.00,2.33,0.00,0.000,4,0.000,0.082,2640,3906,3628,0,0,0,0,0,0
$GC,4462,-0.58,-146.0,518.0,-11.8,452,4466,0.12,2.25,0.00,0.000,6,0.208,0.054,2668,2483,3628,0,0,0,0,0,0
$STATE,4706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4706,begin apogee
$GC,4711,-0.12,0.0,542.8,11.4,475,4843,0.50,0.00,120.93,1.270,6,0.186,0.000,2818,2267,3030,0,0,0,0,0,0
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4846,0.62,146.0,547.2,0.0,487,4976,0.75,0.00,125.53,1.218,6,0.129,0.000,3051,2267,2433,0,0,0,0,0,0
$GC,5293,0.52,146.0,504.4,11.5,530,5297,0.00,2.42,0.00,0.000,4,0.000,0.073,3051,3685,2426,0,0,0,0,0,0
$GC,5373,0.39,146.0,493.2,13.7,537,5378,0.28,2.35,0.00,0.000,6,0.204,0.057,2995,2275,2425,0,0,0,0,0,0
$GC,5698,0.44,174.7,464.9,8.7,567,5729,0.00,0.00,24.73,1.145,6,0.000,0.000,2995,2275,2317,0,0,0,0,0,0
$GC,6048,0.51,194.1,433.6,9.1,600,6068,0.00,0.00,17.92,1.115,6,0.000,0.000,2995,2274,2237,0,0,0,0,0,0
$GC,6388,0.59,210.7,402.0,9.2,632,6407,0.17,0.00,15.80,1.090,6,0.087,0.000,3066,2275,2170,0,0,0,0,0,0
$GC,6725,0.54,210.7,355.4,13.8,664,6729,0.00,2.38,0.00,0.000,4,0.000,0.073,3066,3692,2167,0,0,0,0,0,0
$GC,6785,0.43,210.7,345.4,16.5,669,6793,0.28,2.30,0.00,0.000,6,0.190,0.057,3004,2274,2166,0,0,0,0,0,0
$GC,7113,0.51,234.5,314.3,8.9,700,7140,0.00,2.35,22.23,1.087,4,0.000,0.069,3013,860,2072,0,0,0,0,0,0
$GC,7168,0.64,258.7,309.0,8.9,704,7198,0.15,2.35,22.95,1.066,6,0.102,0.059,3075,2283,1975,0,0,0,0,0,0
$GC,7515,0.59,258.7,260.2,13.8,737,7519,0.00,2.30,0.00,0.000,4,0.000,0.073,3075,3687,1968,0,0,0,0,0,0
$GC,7587,0.53,258.7,249.2,15.0,743,7594,0.17,2.30,0.00,0.000,6,0.184,0.059,3040,2275,1967,0,0,0,0,0,0
$GC,7914,0.56,258.7,215.1,10.1,774,7918,0.00,2.28,0.00,0.000,4,0.000,0.071,3042,865,1965,0,0,0,0,0,0
$GC,7947,0.63,263.6,211.5,9.8,776,7958,0.00,2.28,4.25,0.708,6,0.000,0.057,3042,2277,1955,0,0,0,0,0,0
$GC,8284,0.71,278.7,178.4,9.3,808,8308,0.15,2.33,15.82,0.996,4,0.101,0.071,3103,3694,1893,0,0,0,0,0,0
$GC,8358,0.62,278.7,167.6,15.4,814,8366,0.17,2.30,0.00,0.000,6,0.202,0.058,3071,2270,1891,0,0,0,0,0,0
$GC,8684,0.64,278.7,129.8,11.5,845,8688,0.00,2.28,0.00,0.000,4,0.000,0.070,3080,860,1890,0,0,0,0,0,0
$GC,8735,0.68,278.7,123.8,12.0,849,8739,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2276,1888,0,0,0,0,0,0
$GC,9066,0.74,302.8,89.2,8.9,889,9096,0.00,2.35,22.77,0.978,4,0.000,0.073,3080,3685,1794,0,0,0,0,0,0
$GC,9104,0.81,319.6,85.8,9.2,895,9129,0.10,2.33,16.62,0.940,6,0.124,0.057,3125,2265,1725,0,0,0,0,0,0
$GC,9466,0.81,319.6,41.5,12.7,959,9473,0.00,2.35,0.00,0.000,4,0.000,0.069,3125,3687,1719,0,0,0,0,0,0
$GC,9564,0.75,319.6,27.7,15.1,976,9571,0.00,2.30,0.00,0.000,6,0.000,0.059,3136,2274,1717,0,0,0,0,0,0
$FREEZE,8.94,-1.753,-1.772,3,60,2
$FREEZE,8.17,-1.753,-1.771,3,60,2
$FREEZE,7.56,-1.753,-1.771,3,60,2
$FREEZE,6.87,-1.753,-1.770,3,60,2
$FREEZE,6.19,-1.754,-1.770,3,60,2
$FREEZE,5.50,-1.754,-1.769,3,60,2
$FREEZE,4.90,-1.755,-1.769,3,60,2
$FREEZE,4.42,-1.755,-1.769,3,60,2
$FREEZE,4.22,-1.755,-1.768,3,60,2
$FREEZE,3.69,-1.754,-1.768,3,60,2
$FREEZE,3.76,-1.711,-1.765,3,60,2
$FREEZE,3.60,-1.744,-1.767,3,60,2
$FREEZE,3.52,-1.750,-1.768,3,60,2
$FREEZE,3.42,-1.754,-1.768,3,60,2
$FREEZE,3.21,-1.755,-1.768,3,60,2
$FREEZE,3.21,-1.755,-1.768,3,60,2
$FREEZE,3.17,-1.753,-1.768,3,60,2
$FREEZE,3.17,-1.756,-1.768,3,60,2
$FREEZE,3.23,-1.756,-1.768,3,60,2
$FREEZE,3.12,-1.757,-1.768,3,60,2
$FREEZE,3.23,-1.755,-1.768,3,60,2
$FREEZE,3.21,-1.756,-1.768,3,60,2
$FREEZE,3.16,-1.758,-1.768,3,60,2
$FREEZE,3.24,-1.757,-1.768,3,60,2
$FREEZE,3.13,-1.753,-1.767,3,60,2
$FREEZE,3.19,-1.754,-1.768,3,60,2
$FREEZE,3.31,-1.753,-1.768,3,60,2
$FREEZE,3.19,-1.755,-1.768,3,60,2
$FREEZE,3.22,-1.755,-1.768,3,60,2
$FREEZE,3.18,-1.755,-1.768,3,60,2
$FREEZE,3.19,-1.755,-1.768,3,60,2
$FREEZE,3.17,-1.755,-1.768,3,60,2
$FREEZE,3.19,-1.755,-1.768,3,60,2
$FREEZE,3.13,-1.755,-1.768,3,60,2
$FREEZE,3.25,-1.755,-1.768,3,60,2
$FREEZE,3.16,-1.755,-1.768,3,60,2
$FREEZE,3.23,-1.755,-1.768,3,60,2
$FREEZE,3.21,-1.755,-1.768,3,60,2
$FREEZE,3.19,-1.755,-1.768,3,60,2
$FREEZE,3.22,-1.755,-1.768,3,60,2
$FREEZE,3.13,-1.755,-1.768,3,60,2
$GC,9894,1.33,540.1,3.2,-0.2,1037,9926,0.43,0.00,29.17,0.913,2,0.119,0.000,3284,2273,1480,0,0,0,0,0,0
$FREEZE,3.13,-1.755,-1.768,3,60,2
$STATE,9928,end climb,NO_VERTICAL_VELOCITY
$STATE,9928,begin surface
$SM_CCo,9931,85.47,0.874,0,0,750,559.04
$SM_GC,4.11,9.27,0.00,0.00,0.093,0.000,0.000,117,2488,732,-8.56,-0.06,563.70
$RAFOS_CLK,575
$RAFOS,6,1300582142,0.833333,0.817222,89,62,55,55,54,52,815,192,205,149,117,140
$RAFOS,5,1300581665,0.700000,0.684722,60,59,58,56,54,48,226,162,209,183,196,109
$RAFOS,4,1300581187,0.566667,0.551944,74,61,59,56,55,55,209,184,198,150,129,232
$RAFOS,3,1300580705,0.433333,0.418056,63,59,58,57,55,54,162,125,200,183,218,142
$RAFOS,2,1300580229,0.300000,0.285833,66,59,56,56,55,54,198,180,120,140,152,162
$RAFOS,1,1300579743,0.166667,0.150833,121,61,58,55,55,53,579,210,192,223,179,145
$RAFOS,0,1300579264,0.033333,0.017778,90,62,58,55,53,52,610,199,174,141,224,150
$RAFOS_FIX,6648.178223,-6020.435059,200311,000002,3,100,0.12
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.1
$24V_AH,22.7,26.837
$10V_AH,10.2,14.832
$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,14.100,86.200,438.725,85.475,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2555.777,5528.044,565.016,1645.286,144.092,0.000,1456.078,0.000,1630.613,2160.000,14.348,0.000
$DEVICE_MAMPS,228.735,82.620,1269.900,873.630,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.501,788.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40079,1041
$CAP_FILE_SIZE,118233,0
$CFSIZE,260165632,239558656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2