version: 66.08
glider: 141
mission: 15
dive: 280
start: 4 1 111 17 0 31
data:
$ID,141
$MISSION,15
$DIVE,280
$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,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-34783.074
$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,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
$GPS1,010411,163928,6655.293,-5738.714,0,4105.8,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.20
$_SM_ANGLEo,0.0
$GPS2,010411,163928,6655.293,-5738.714,0,4105.8,0,-37.5
$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,297.8,124154,-17.5,-10.000
$D_GRID,803
$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,-6.43,0.000,2,0.000,0.000,2884,2266,3113,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.5,-0.0,1,46,0.60,2.78,-13.27,0.000,4,0.104,0.083,2671,3903,3629,0,0,0,0,0,0
$GC,75,-0.55,-146.0,16.0,-12.0,9,82,0.00,2.20,0.00,0.000,6,0.000,0.047,2671,2482,3631,0,0,0,0,0,0
$GC,420,-0.46,-146.0,71.2,-16.1,70,427,0.15,0.00,0.00,0.000,6,0.225,0.000,2706,2482,3631,0,0,0,0,0,0
$GC,764,-0.46,-146.0,113.8,-11.5,121,768,0.00,2.33,0.00,0.000,4,0.000,0.073,2706,3902,3630,0,0,0,0,0,0
$GC,826,-0.51,-146.0,120.5,-11.3,126,830,0.00,2.20,0.00,0.000,6,0.000,0.046,2706,2482,3630,0,0,0,0,0,0
$GC,1151,-0.54,-146.0,154.5,-10.1,156,1155,0.00,2.20,0.00,0.000,4,0.000,0.061,2706,1083,3629,0,0,0,0,0,0
$GC,1207,-0.59,-146.0,160.3,-9.8,160,1214,0.00,2.28,0.00,0.000,6,0.000,0.060,2706,2495,3629,0,0,0,0,0,0
$GC,1533,-0.63,-146.0,191.7,-9.3,191,1535,0.15,0.00,0.00,0.000,6,0.117,0.000,2654,2495,3628,0,0,0,0,0,0
$GC,1851,-0.55,-146.0,233.8,-13.1,221,1855,0.12,2.35,0.00,0.000,4,0.210,0.077,2682,3905,3628,0,0,0,0,0,0
$GC,1902,-0.58,-146.0,239.6,-10.7,225,1906,0.00,2.20,0.00,0.000,6,0.000,0.047,2682,2492,3628,0,0,0,0,0,0
$GC,2231,-0.58,-146.0,273.5,-10.2,256,2235,0.00,2.22,0.00,0.000,4,0.000,0.060,2682,1074,3628,0,0,0,0,0,0
$GC,2283,-0.61,-146.0,278.5,-9.5,260,2287,0.00,2.28,0.00,0.000,6,0.000,0.060,2682,2489,3628,0,0,0,0,0,0
$GC,2608,-0.61,-146.0,309.7,-9.2,290,2612,0.00,2.30,0.00,0.000,4,0.000,0.076,2682,3904,3628,0,0,0,0,0,0
$GC,2698,-0.64,-146.0,318.0,-9.3,297,2704,0.00,2.22,0.00,0.000,6,0.000,0.047,2682,2483,3628,0,0,0,0,0,0
$GC,3023,-0.64,-146.0,347.7,-9.5,328,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2483,3628,0,0,0,0,0,0
$GC,3342,-0.64,-146.0,377.5,-9.2,358,3347,0.00,2.33,0.00,0.000,4,0.000,0.073,2681,3899,3628,0,0,0,0,0,0
$GC,3364,-0.64,-146.0,379.7,-9.2,359,3371,0.00,2.20,0.00,0.000,6,0.000,0.047,2682,2490,3628,0,0,0,0,0,0
$GC,3689,-0.64,-146.0,410.8,-9.6,390,3693,0.00,2.20,0.00,0.000,4,0.000,0.060,2682,1083,3628,0,0,0,0,0,0
$GC,3734,-0.68,-146.0,415.4,-9.9,393,3742,0.12,2.28,0.00,0.000,6,0.134,0.058,2642,2500,3628,0,0,0,0,0,0
$GC,4059,-0.60,-146.0,455.9,-12.6,424,4063,0.00,2.28,0.00,0.000,4,0.000,0.076,2641,3899,3628,0,0,0,0,0,0
$GC,4126,-0.56,-146.0,464.4,-12.1,429,4134,0.15,2.20,0.00,0.000,6,0.204,0.047,2676,2486,3628,0,0,0,0,0,0
$GC,4452,-0.56,-146.0,495.9,-9.8,460,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3629,0,0,0,0,0,0
$GC,4772,-0.56,-146.0,526.3,-9.3,490,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3629,0,0,0,0,0,0
$GC,5091,-0.56,-146.0,557.2,-9.7,520,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3629,0,0,0,0,0,0
$GC,5418,-0.56,-146.0,588.2,-9.3,551,5422,0.00,2.20,0.00,0.000,4,0.000,0.060,2677,1082,3629,0,0,0,0,0,0
$GC,5469,-0.59,-146.0,593.2,-9.7,555,5474,0.00,2.25,0.00,0.000,6,0.000,0.058,2677,2494,3630,0,0,0,0,0,0
$GC,5791,-0.59,-146.0,623.1,-9.5,570,5795,0.00,2.28,0.00,0.000,4,0.000,0.075,2677,3897,3629,0,0,0,0,0,0
$GC,5824,-0.61,-146.0,626.5,-9.9,571,5828,0.00,2.20,0.00,0.000,6,0.000,0.047,2677,2490,3629,0,0,0,0,0,0
$GC,6154,-0.61,-146.0,656.0,-8.9,582,6158,0.00,2.25,0.00,0.000,4,0.000,0.060,2677,1072,3630,0,0,0,0,0,0
$GC,6209,-0.65,-146.0,661.4,-9.3,583,6213,0.00,2.28,0.00,0.000,6,0.000,0.057,2677,2495,3630,0,0,0,0,0,0
$GC,6522,-0.67,-146.0,689.1,-8.9,593,6526,0.00,2.28,0.00,0.000,4,0.000,0.075,2677,3898,3630,0,0,0,0,0,0
$GC,6561,-0.72,-146.0,692.8,-9.7,594,6565,0.15,2.20,0.00,0.000,6,0.117,0.047,2626,2490,3629,0,0,0,0,0,0
$GC,6884,-0.61,-146.0,733.4,-13.0,605,6889,0.15,2.22,0.00,0.000,4,0.225,0.060,2660,1084,3629,0,0,0,0,0,0
$GC,6928,-0.61,-146.0,738.5,-9.9,606,6932,0.00,2.25,0.00,0.000,6,0.000,0.058,2660,2488,3630,0,0,0,0,0,0
$GC,7246,-0.59,-146.0,769.9,-9.9,617,7250,0.00,2.30,0.00,0.000,4,0.000,0.075,2659,3905,3630,0,0,0,0,0,0
$GC,7313,-0.59,-146.0,776.6,-9.5,619,7317,0.00,2.20,0.00,0.000,6,0.000,0.047,2659,2490,3629,0,0,0,0,0,0
$STATE,7402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7402,begin apogee
$GC,7407,-0.12,0.0,785.5,9.8,622,7538,0.55,0.00,125.00,1.415,6,0.197,0.000,2812,2265,3030,0,0,0,0,0,0
$STATE,7539,end apogee,CONTROL_FINISHED_OK
$STATE,7539,begin climb
$GC,7541,0.62,146.0,788.6,0.0,626,7678,0.80,0.00,130.27,1.372,6,0.139,0.000,3053,2265,2434,0,0,0,0,0,0
$GC,7992,0.55,146.0,742.8,11.7,641,7996,0.00,2.42,0.00,0.000,4,0.000,0.066,3053,3688,2426,0,0,0,0,0,0
$GC,8054,0.44,146.0,734.3,14.1,643,8059,0.22,2.35,0.00,0.000,6,0.190,0.053,3009,2278,2425,0,0,0,0,0,0
$GC,8389,0.45,154.1,701.2,9.6,654,8398,0.00,0.00,7.10,1.066,6,0.000,0.000,3009,2277,2401,0,0,0,0,0,0
$GC,8696,0.46,166.3,671.4,9.4,664,8715,0.00,2.40,12.18,1.201,4,0.000,0.069,3016,863,2351,0,0,0,0,0,0
$GC,8728,0.49,190.4,668.4,8.9,665,8761,0.00,2.30,23.33,1.256,6,0.000,0.054,3016,2281,2252,0,0,0,0,0,0
$GC,9068,0.53,199.8,634.9,9.6,676,9082,0.00,2.35,9.12,1.121,4,0.000,0.070,3016,3700,2215,0,0,0,0,0,0
$GC,9121,0.53,199.8,628.9,11.0,677,9125,0.00,2.35,0.00,0.000,6,0.000,0.052,3026,2269,2214,0,0,0,0,0,0
$GC,9441,0.53,199.8,596.2,10.4,690,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2268,2212,0,0,0,0,0,0
$GC,9762,0.54,209.0,564.4,9.6,720,9777,0.00,2.33,9.10,1.109,4,0.000,0.067,3037,865,2178,0,0,0,0,0,0
$GC,9818,0.57,209.0,558.7,10.2,725,9822,0.00,2.28,0.00,0.000,6,0.000,0.054,3037,2283,2177,0,0,0,0,0,0
$GC,10148,0.57,209.0,525.7,10.2,756,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2283,2176,0,0,0,0,0,0
$GC,10468,0.57,209.0,491.9,10.8,786,10472,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3696,2175,0,0,0,0,0,0
$GC,10489,0.57,209.0,489.0,11.5,787,10496,0.00,2.30,0.00,0.000,6,0.000,0.051,3047,2270,2175,0,0,0,0,0,0
$GC,10814,0.57,209.0,451.1,11.8,818,10818,0.00,2.25,0.00,0.000,4,0.000,0.064,3058,856,2175,0,0,0,0,0,0
$GC,10836,0.57,209.0,448.4,12.0,819,10843,0.00,2.28,0.00,0.000,6,0.000,0.053,3057,2284,2175,0,0,0,0,0,0
$GC,11162,0.54,209.0,409.0,12.4,850,11166,0.00,2.28,0.00,0.000,4,0.000,0.068,3058,3690,2175,0,0,0,0,0,0
$GC,11229,0.47,209.0,399.3,15.1,855,11236,0.17,2.25,0.00,0.000,6,0.183,0.052,3023,2274,2175,0,0,0,0,0,0
$GC,11554,0.51,209.0,364.2,10.3,886,11558,0.00,2.28,0.00,0.000,4,0.000,0.065,3029,859,2175,0,0,0,0,0,0
$GC,11583,0.56,209.0,361.2,10.0,888,11587,0.00,2.25,0.00,0.000,6,0.000,0.054,3029,2281,2174,0,0,0,0,0,0
$GC,11908,0.60,213.8,327.7,9.8,918,11921,0.00,2.25,5.68,0.887,4,0.000,0.067,3029,3688,2157,0,0,0,0,0,0
$GC,11956,0.60,213.8,322.5,11.2,922,11960,0.00,2.25,0.00,0.000,6,0.000,0.051,3039,2273,2157,0,0,0,0,0,0
$GC,12284,0.61,220.7,288.7,9.7,952,12297,0.00,2.33,8.10,0.970,4,0.000,0.065,3048,862,2130,0,0,0,0,0,0
$GC,12336,0.64,220.7,283.0,10.2,956,12343,0.00,2.22,0.00,0.000,6,0.000,0.051,3048,2278,2127,0,0,0,0,0,0
$GC,12663,0.64,220.7,248.7,10.7,987,12667,0.00,2.28,0.00,0.000,4,0.000,0.067,3048,3692,2128,0,0,0,0,0,0
$GC,12680,0.64,220.7,246.5,10.8,988,12684,0.00,2.25,0.00,0.000,6,0.000,0.052,3057,2273,2127,0,0,0,0,0,0
$GC,13004,0.64,220.7,208.8,10.7,1018,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2273,2127,0,0,0,0,0,0
$GC,13323,0.65,226.3,175.8,9.7,1048,13334,0.00,0.00,6.47,0.869,6,0.000,0.000,3057,2273,2106,0,0,0,0,0,0
$GC,13652,0.65,226.3,142.7,10.8,1079,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2273,2105,0,0,0,0,0,0
$GC,13972,0.69,239.5,109.0,9.4,1109,13995,0.00,2.33,13.27,0.961,4,0.000,0.067,3066,858,2052,0,0,0,0,0,0
$GC,14012,0.79,268.5,105.0,8.7,1112,14046,0.15,2.25,27.77,0.982,6,0.103,0.054,3125,2275,1935,0,0,0,0,0,0
$GC,14380,0.73,268.5,55.4,13.8,1174,14387,0.00,2.33,0.00,0.000,4,0.000,0.068,3126,3694,1928,0,0,0,0,0,0
$GC,14439,0.65,268.5,46.8,15.1,1184,14446,0.22,2.28,0.00,0.000,6,0.197,0.052,3080,2266,1927,0,0,0,0,0,0
$GC,14786,0.69,270.0,10.0,9.9,1245,14793,0.00,2.25,0.00,0.000,4,0.000,0.068,3084,868,1925,0,0,0,0,0,0
$FREEZE,8.61,-1.744,-1.823,2,6,0
$STATE,14799,end climb,FINISH_DEPTH_REACHED
$STATE,14799,begin subsurface finish
$FINISH1,8.6,1.026680,40
$GC,14808,0.05,40.2,8.6,-9.5,1247,14851,0.65,2.38,-36.47,0.000,4,0.156,0.077,2883,855,2869,0,0,0,0,0,0
$FINISH2,6.8
$STATE,14852,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$RAFOS_CLK,806
$RAFOS,6,1301690945,20.833334,20.818056,143,63,56,56,52,46,730,217,180,196,148,126
$RAFOS,5,1301690467,20.700001,20.685278,143,66,61,56,54,50,529,209,196,173,132,122
$RAFOS,4,1301689989,20.566668,20.552500,100,65,55,54,53,50,728,200,222,110,170,142
$RAFOS,3,1301689510,20.433332,20.419445,149,61,61,57,57,55,834,170,146,218,194,182
$RAFOS,2,1301689030,20.299999,20.286112,77,63,58,56,56,54,189,160,210,136,89,147
$RAFOS,1,1301688549,20.166666,20.152500,68,64,63,54,53,51,184,210,648,156,144,200
$RAFOS,0,1301688065,20.033333,20.018055,61,61,59,59,59,55,182,197,149,206,219,113
$RAFOS_FIX,6656.107422,-5742.222168,010411,202028,4,134,0.21
$IRIDIUM_FIX,6625.71,-5727.10,310311,212104
$TT8_MAMPS,0.026215
$HUMID,46.92
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.7
$ALTIM_BOTTOM_PING,751.7,47.0
$24V_AH,22.4,38.309
$10V_AH,10.2,21.213
$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,4.375,134.825,377.400,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3103.553,9028.784,455.871,2123.619,210.758,0.000,1598.384,0.000,2106.040,2520.000,23.071,0.000
$DEVICE_MAMPS,224.910,83.385,1415.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.255,970.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,49968,1254
$CAP_FILE_SIZE,155095,0
$CFSIZE,260165632,233578496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,010411,203928,6656.107,-5742.222,0,4133.8,0,-37.5