version: 66.08
glider: 141
mission: 15
dive: 216
start: 3 25 111 20 22 50
data:
$ID,141
$MISSION,15
$DIVE,216
$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,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,-30532.186
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,250311,164656,6716.117,-5807.223,0,2099.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-26.1
$GPS2,250311,164656,6716.117,-5807.223,181,99.0,181,-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,151.2,62155,-17.5,-10.000
$D_GRID,987
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-143.10,0.000,2,0.000,0.000,113,2504,3232,0,0,0,0,0,0
$GC,166,-0.62,-146.0,5.5,-4.7,25,196,12.80,2.30,-9.82,0.000,4,0.328,0.074,2654,1067,3630,0,0,0,0,0,0
$GC,283,-0.50,-146.0,29.1,-15.2,45,291,0.17,2.22,0.00,0.000,6,0.213,0.056,2698,2480,3631,0,0,0,0,0,0
$GC,629,-0.47,-146.0,75.0,-13.1,106,636,0.00,2.30,0.00,0.000,4,0.000,0.074,2698,3897,3631,0,0,0,0,0,0
$GC,649,-0.45,-146.0,77.8,-13.4,109,656,0.00,2.20,0.00,0.000,6,0.000,0.044,2698,2470,3631,0,0,0,0,0,0
$GC,990,-0.45,-146.0,124.2,-12.4,154,994,0.00,2.33,0.00,0.000,4,0.000,0.070,2698,3904,3630,0,0,0,0,0,0
$GC,1018,-0.45,-146.0,127.8,-12.7,156,1022,0.00,2.20,0.00,0.000,6,0.000,0.044,2698,2491,3630,0,0,0,0,0,0
$GC,1343,-0.45,-146.0,165.4,-11.9,186,1347,0.00,2.22,0.00,0.000,4,0.000,0.060,2698,1085,3630,0,0,0,0,0,0
$GC,1400,-0.49,-146.0,172.2,-11.8,191,1404,0.00,2.22,0.00,0.000,6,0.000,0.057,2698,2491,3630,0,0,0,0,0,0
$GC,1725,-0.51,-146.0,204.8,-8.1,221,1729,0.00,2.28,0.00,0.000,4,0.000,0.076,2698,3899,3629,0,0,0,0,0,0
$GC,1800,-0.57,-146.0,210.4,-7.2,227,1803,0.00,2.17,0.00,0.000,6,0.000,0.045,2698,2488,3629,0,0,0,0,0,0
$GC,2125,-0.61,-146.0,235.3,-8.2,257,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2488,3629,0,0,0,0,0,0
$GC,2445,-0.66,-146.0,261.6,-8.2,287,2447,0.15,0.00,0.00,0.000,6,0.126,0.000,2649,2488,3629,0,0,0,0,0,0
$GC,2763,-0.58,-146.0,298.9,-12.2,317,2767,0.00,2.20,0.00,0.000,4,0.000,0.059,2649,1086,3631,0,0,0,0,0,0
$GC,2774,-0.50,-146.0,300.7,-12.7,317,2782,0.20,2.22,0.00,0.000,6,0.212,0.057,2698,2497,3630,0,0,0,0,0,0
$GC,3100,-0.56,-146.0,331.1,-9.4,348,3104,0.00,2.28,0.00,0.000,4,0.000,0.072,2698,3905,3631,0,0,0,0,0,0
$GC,3123,-0.61,-146.0,333.3,-9.6,350,3127,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2487,3631,0,0,0,0,0,0
$GC,3449,-0.67,-146.0,365.3,-9.6,380,3451,0.15,0.00,0.00,0.000,6,0.125,0.000,2648,2487,3632,0,0,0,0,0,0
$GC,3767,-0.59,-146.0,407.4,-13.4,410,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2487,3633,0,0,0,0,0,0
$GC,4088,-0.51,-146.0,450.6,-13.5,440,4090,0.17,0.00,0.00,0.000,6,0.207,0.000,2691,2487,3634,0,0,0,0,0,0
$GC,4406,-0.54,-146.0,481.0,-9.4,470,4410,0.00,2.20,0.00,0.000,4,0.000,0.058,2691,1085,3634,0,0,0,0,0,0
$GC,4447,-0.59,-146.0,485.1,-9.8,473,4451,0.00,2.20,0.00,0.000,6,0.000,0.054,2692,2490,3634,0,0,0,0,0,0
$GC,4772,-0.63,-146.0,516.0,-9.5,503,4776,0.00,2.30,0.00,0.000,4,0.000,0.073,2691,3906,3634,0,0,0,0,0,0
$GC,4794,-0.68,-146.0,518.4,-9.8,504,4802,0.15,2.17,0.00,0.000,6,0.116,0.042,2639,2493,3634,0,0,0,0,0,0
$GC,5119,-0.59,-146.0,561.3,-13.0,535,5124,0.12,2.22,0.00,0.000,4,0.220,0.058,2666,1086,3634,0,0,0,0,0,0
$GC,5142,-0.52,-146.0,564.2,-12.5,537,5146,0.00,2.20,0.00,0.000,6,0.000,0.055,2666,2489,3634,0,0,0,0,0,0
$GC,5469,-0.50,-146.0,596.8,-10.0,567,5474,0.12,2.30,0.00,0.000,4,0.215,0.072,2698,3898,3634,0,0,0,0,0,0
$GC,5479,-0.50,-146.0,598.1,-9.9,567,5486,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2479,3634,0,0,0,0,0,0
$GC,5814,-0.57,-146.0,624.5,-7.9,580,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2480,3635,0,0,0,0,0,0
$GC,6122,-0.63,-146.0,648.3,-7.9,590,6124,0.12,0.00,0.00,0.000,6,0.132,0.000,2655,2479,3634,0,0,0,0,0,0
$STATE,6271,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6271,begin apogee
$GC,6276,-0.12,0.0,665.0,11.2,595,6406,0.55,0.00,122.88,1.331,6,0.192,0.000,2812,2266,3029,0,0,0,0,0,0
$STATE,6407,end apogee,CONTROL_FINISHED_OK
$STATE,6407,begin climb
$GC,6408,0.62,146.0,668.2,0.0,599,6541,0.80,0.00,126.62,1.278,6,0.136,0.000,3056,2265,2434,0,0,0,0,0,0
$GC,6834,0.62,146.0,620.0,24596.4,613,6838,0.00,2.40,0.00,0.000,4,0.000,0.063,3056,3684,2425,0,0,0,0,0,0
$GC,6938,0.62,146.0,604.4,24596.4,616,6942,0.00,2.28,0.00,0.000,6,0.000,0.048,3066,2284,2424,0,0,0,0,0,0
$GC,7262,0.62,146.0,559.8,24596.4,643,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2284,2424,0,0,0,0,0,0
$GC,7583,0.62,146.0,517.3,24596.4,673,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2284,2423,0,0,0,0,0,0
$GC,7901,0.62,146.0,476.3,24596.4,703,7905,0.00,2.28,0.00,0.000,4,0.000,0.063,3066,3697,2423,0,0,0,0,0,0
$GC,7963,0.62,146.0,467.4,24596.4,708,7967,0.00,2.25,0.00,0.000,6,0.000,0.048,3076,2267,2423,0,0,0,0,0,0
$GC,8288,0.62,146.0,423.4,24596.4,738,8292,0.00,2.22,0.00,0.000,4,0.000,0.060,3086,860,2423,0,0,0,0,0,0
$GC,8329,0.62,146.0,417.9,24596.4,741,8333,0.00,2.25,0.00,0.000,6,0.000,0.050,3086,2278,2422,0,0,0,0,0,0
$GC,8656,0.62,146.0,371.7,24596.4,771,8660,0.00,2.22,0.00,0.000,4,0.000,0.063,3086,3684,2422,0,0,0,0,0,0
$GC,8756,0.62,146.0,355.5,24596.4,779,8764,0.12,2.22,0.00,0.000,6,0.220,0.047,3069,2272,2422,0,0,0,0,0,0
$GC,9081,0.62,146.0,314.2,24596.4,810,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2272,2422,0,0,0,0,0,0
$GC,9403,0.62,146.0,273.5,24596.4,840,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2272,2422,0,0,0,0,0,0
$GC,9730,0.62,146.0,234.1,24596.4,871,9734,0.00,2.28,0.00,0.000,4,0.000,0.061,3066,3691,2421,0,0,0,0,0,0
$GC,9807,0.62,146.0,223.7,24596.4,877,9814,0.00,2.22,0.00,0.000,6,0.000,0.048,3076,2275,2421,0,0,0,0,0,0
$GC,10132,0.62,146.0,183.9,24596.4,908,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2275,2421,0,0,0,0,0,0
$GC,10454,0.62,146.0,145.7,24596.4,938,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2274,2422,0,0,0,0,0,0
$GC,10781,0.62,146.0,110.6,24596.4,969,10785,0.00,2.20,0.00,0.000,4,0.000,0.060,3086,867,2422,0,0,0,0,0,0
$GC,10877,0.62,146.0,100.1,24596.4,977,10881,0.00,2.22,0.00,0.000,6,0.000,0.049,3086,2284,2422,0,0,0,0,0,0
$GC,11221,0.62,146.0,65.8,24596.4,1037,11228,0.00,2.22,0.00,0.000,4,0.000,0.063,3086,3694,2423,0,0,0,0,0,0
$GC,11379,0.62,146.0,49.2,24596.4,1064,11386,0.12,2.22,0.00,0.000,6,0.211,0.047,3068,2267,2423,0,0,0,0,0,0
$STATE,11564,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11564,begin subsurface finish
$FINISH1,32.8,1.026809,34
$GC,11570,0.04,33.8,32.8,-24596.4,1097,11584,0.60,2.20,-6.03,0.000,4,0.175,0.073,2886,870,2896,0,0,0,0,0,0
$FINISH2,31.7
$STATE,11585,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11585,begin surface
$RAFOS_CLK,658
$RAFOS,6,1301086144,20.833334,20.817778,96,63,61,58,56,51,646,205,177,163,127,145
$RAFOS,5,1301085666,20.700001,20.684999,117,70,58,56,55,52,670,205,192,121,151,218
$RAFOS,4,1301085185,20.566668,20.551390,60,59,58,55,54,52,169,213,187,237,139,151
$RAFOS,3,1301084706,20.433332,20.418333,65,63,59,52,50,49,177,219,143,126,351,157
$RAFOS,0,1301083263,20.033333,20.017500,67,66,59,52,52,51,205,118,162,130,150,176
$RAFOS_FIX,6718.357422,-5805.202148,250311,202000,2,106,0.30
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.29
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.2,19.9
$ALTIM_BOTTOM_PING,33.7,20.4
$24V_AH,22.6,31.497
$10V_AH,10.2,17.361
$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,16.375,83.100,249.500,0.000,0.000,100.197,17.402,0.000,2.500,0.000,183.294,2636.618,6789.526,400.540,2082.906,388.935,0.000,1349.506,0.000,1762.995,1440.000,21.810,0.000
$DEVICE_MAMPS,328.185,75.735,1331.100,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.274,842.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150460
$DATA_FILE_SIZE,43360,1099
$CAP_FILE_SIZE,126902,0
$CFSIZE,260165632,237170688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2