version: 66.08
glider: 141
mission: 15
dive: 58
start: 2 28 111 23 46 46
data:
$ID,141
$MISSION,15
$DIVE,58
$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,100
$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,-22775.168
$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,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
$GPS1,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.44
$_SM_ANGLEo,-5.6
$GPS2,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$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,230.3,10211,-17.5,-10.000
$D_GRID,543
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.35,0.000,2,0.000,0.000,2904,2269,2953,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.5,-0.0,1,52,0.68,1.98,-19.17,0.000,4,0.103,0.083,2665,1072,3628,0,0,0,0,0,0
$GC,65,-0.48,-146.0,13.5,-12.4,7,72,0.17,2.30,0.00,0.000,6,0.249,0.062,2703,2490,3630,0,0,0,0,0,0
$GC,410,-0.37,-146.0,76.2,-17.8,68,418,0.15,2.30,0.00,0.000,4,0.246,0.069,2739,1071,3630,0,0,0,0,0,0
$GC,453,-0.37,-146.0,83.2,-14.8,75,460,0.00,2.30,0.00,0.000,6,0.000,0.060,2739,2499,3630,0,0,0,0,0,0
$GC,786,-0.40,-146.0,123.1,-10.2,117,790,0.00,2.30,0.00,0.000,4,0.000,0.067,2739,1075,3630,0,0,0,0,0,0
$GC,815,-0.44,-146.0,126.0,-10.3,119,819,0.00,2.28,0.00,0.000,6,0.000,0.060,2739,2490,3630,0,0,0,0,0,0
$GC,1141,-0.50,-146.0,154.6,-8.5,149,1143,0.12,0.00,0.00,0.000,6,0.138,0.000,2698,2490,3629,0,0,0,0,0,0
$GC,1459,-0.47,-146.0,192.0,-12.2,179,1463,0.00,2.30,0.00,0.000,4,0.000,0.069,2698,1078,3629,0,0,0,0,0,0
$GC,1491,-0.44,-146.0,196.4,-13.2,181,1498,0.00,2.28,0.00,0.000,6,0.000,0.062,2697,2497,3629,0,0,0,0,0,0
$GC,1818,-0.41,-146.0,235.6,-11.8,212,1824,0.12,2.28,0.00,0.000,4,0.230,0.067,2725,1083,3629,0,0,0,0,0,0
$GC,1854,-0.46,-146.0,239.7,-10.5,215,1858,0.00,2.28,0.00,0.000,6,0.000,0.062,2725,2501,3629,0,0,0,0,0,0
$GC,2180,-0.53,-146.0,268.8,-8.3,245,2185,0.00,2.28,0.00,0.000,4,0.000,0.076,2725,3902,3628,0,0,0,0,0,0
$GC,2210,-0.63,-146.0,271.3,-8.0,247,2215,0.20,2.20,0.00,0.000,6,0.112,0.048,2656,2485,3628,0,0,0,0,0,0
$GC,2540,-0.54,-146.0,316.7,-13.7,278,2545,0.12,2.25,0.00,0.000,4,0.229,0.068,2683,1081,3628,0,0,0,0,0,0
$GC,2572,-0.50,-146.0,321.2,-12.9,280,2580,0.00,2.25,0.00,0.000,6,0.000,0.060,2683,2490,3628,0,0,0,0,0,0
$GC,2898,-0.47,-146.0,357.5,-10.1,311,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2490,3628,0,0,0,0,0,0
$GC,3218,-0.47,-146.0,389.6,-10.5,341,3222,0.00,2.28,0.00,0.000,4,0.000,0.065,2684,1073,3628,0,0,0,0,0,0
$GC,3266,-0.47,-146.0,395.0,-10.4,345,3273,0.00,2.28,0.00,0.000,6,0.000,0.061,2683,2489,3628,0,0,0,0,0,0
$GC,3591,-0.47,-146.0,428.1,-10.4,376,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2489,3628,0,0,0,0,0,0
$GC,3910,-0.47,-146.0,461.0,-8.9,406,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2489,3628,0,0,0,0,0,0
$GC,4232,-0.47,-146.0,492.4,-9.9,436,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2489,3629,0,0,0,0,0,0
$GC,4558,-0.47,-146.0,524.7,-10.0,467,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2489,3629,0,0,0,0,0,0
$STATE,4746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4752,-0.12,0.0,544.0,10.9,485,4883,0.45,0.00,121.25,1.272,6,0.193,0.000,2816,2264,3029,0,0,0,0,0,0
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4884,begin climb
$GC,4886,0.62,146.0,547.4,0.0,497,5015,0.77,0.00,124.50,1.217,6,0.136,0.000,3053,2264,2434,0,0,0,0,0,0
$GC,5333,0.54,146.0,499.4,12.8,540,5337,0.00,2.42,0.00,0.000,4,0.000,0.070,3053,3695,2425,0,0,0,0,0,0
$GC,5439,0.41,146.0,484.3,14.8,549,5447,0.25,2.33,0.00,0.000,6,0.200,0.054,3002,2283,2424,0,0,0,0,0,0
$GC,5765,0.43,163.4,454.0,9.2,580,5785,0.00,0.00,14.77,1.091,6,0.000,0.000,3002,2283,2363,0,0,0,0,0,0
$GC,6105,0.47,173.4,422.2,9.5,612,6120,0.00,2.40,9.90,1.036,4,0.000,0.069,3002,3708,2323,0,0,0,0,0,0
$GC,6150,0.47,173.4,417.4,10.4,616,6154,0.00,2.35,0.00,0.000,6,0.000,0.053,3009,2270,2323,0,0,0,0,0,0
$GC,6477,0.51,190.2,386.2,9.2,646,6495,0.00,0.00,16.15,1.092,6,0.000,0.000,3009,2270,2254,0,0,0,0,0,0
$GC,6815,0.56,190.2,353.5,10.1,678,6817,0.10,0.00,0.00,0.000,6,0.123,0.000,3050,2270,2251,0,0,0,0,0,0
$GC,7132,0.53,190.2,315.2,12.4,708,7136,0.00,2.30,0.00,0.000,4,0.000,0.067,3050,3688,2250,0,0,0,0,0,0
$GC,7231,0.46,190.2,300.7,14.7,716,7239,0.17,2.28,0.00,0.000,6,0.193,0.053,3017,2264,2250,0,0,0,0,0,0
$GC,7559,0.52,209.5,268.5,9.1,747,7579,0.00,0.00,17.80,1.053,6,0.000,0.000,3016,2264,2174,0,0,0,0,0,0
$GC,7898,0.63,249.5,240.2,8.2,779,7943,0.15,2.42,36.33,1.058,4,0.103,0.069,3076,3695,2012,0,0,0,0,0,0
$GC,8016,0.58,249.5,223.5,16.1,789,8023,0.12,2.35,0.00,0.000,6,0.193,0.054,3056,2266,2009,0,0,0,0,0,0
$GC,8343,0.60,249.5,187.1,10.6,820,8347,0.00,2.28,0.00,0.000,4,0.000,0.070,3059,868,2006,0,0,0,0,0,0
$GC,8386,0.66,249.5,182.1,10.4,823,8394,0.00,2.28,0.00,0.000,6,0.000,0.055,3059,2279,2004,0,0,0,0,0,0
$GC,8712,0.72,275.6,148.9,8.8,854,8746,0.10,2.40,23.42,1.015,4,0.122,0.070,3099,3694,1905,0,0,0,0,0,0
$GC,8841,0.65,275.6,131.8,13.4,865,8849,0.15,2.30,0.00,0.000,6,0.194,0.054,3074,2275,1904,0,0,0,0,0,0
$GC,9167,0.70,275.6,98.2,11.0,897,9174,0.00,2.30,0.00,0.000,4,0.000,0.071,3076,868,1901,0,0,0,0,0,0
$GC,9209,0.78,275.6,93.7,10.4,904,9216,0.12,2.28,0.00,0.000,6,0.116,0.054,3123,2284,1899,0,0,0,0,0,0
$GC,9553,0.75,275.6,51.8,11.8,965,9560,0.00,2.28,0.00,0.000,4,0.000,0.070,3124,3692,1899,0,0,0,0,0,0
$GC,9640,0.67,275.6,40.7,13.0,980,9647,0.20,2.28,0.00,0.000,6,0.199,0.054,3082,2268,1899,0,0,0,0,0,0
$GC,9986,0.77,310.5,12.1,8.4,1041,10011,0.00,2.35,17.00,0.964,4,0.000,0.066,3082,3692,1762,0,0,0,0,0,0
$FREEZE,8.92,-1.744,-1.767,3,35,1
$FREEZE,8.61,-1.745,-1.767,3,35,1
$FREEZE,8.13,-1.744,-1.767,3,35,1
$FREEZE,7.42,-1.744,-1.766,3,35,1
$FREEZE,6.72,-1.744,-1.766,3,35,1
$GC,10035,0.87,341.2,8.1,8.6,1049,10053,0.17,2.28,12.25,0.894,2,0.103,0.052,3146,2276,1663,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10054,begin subsurface finish
$FINISH1,6.7,1.025876,80
$GC,10060,0.10,79.6,6.7,-9.1,1051,10119,0.82,2.30,-51.17,0.000,4,0.174,0.078,2903,861,2706,0,0,0,0,0,0
$FINISH2,5.2
$STATE,10120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$RAFOS_CLK,566
$RAFOS,6,1298940544,0.833333,0.817778,117,63,61,56,55,52,819,136,195,206,124,153
$RAFOS,5,1298940067,0.700000,0.685278,61,60,53,53,52,52,186,198,129,143,219,228
$RAFOS,4,1298939585,0.566667,0.551389,59,56,55,53,52,49,197,211,132,230,164,153
$RAFOS,3,1298939110,0.433333,0.419444,61,56,55,52,51,50,194,169,127,210,152,113
$RAFOS,2,1298938628,0.300000,0.285556,106,61,58,56,52,50,657,213,167,192,131,181
$RAFOS,1,1298938146,0.166667,0.151667,86,64,62,61,57,52,574,207,113,227,216,193
$RAFOS,0,1298937668,0.033333,0.018889,134,66,59,55,53,50,582,171,227,191,141,210
$RAFOS_FIX,6648.955566,-6020.924316,010311,000020,4,111,0.12
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.37
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.4
$24V_AH,23.0,11.466
$10V_AH,10.3,5.571
$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,5.175,80.600,393.375,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2529.333,5371.165,486.908,1659.434,142.088,0.000,1367.177,0.000,1647.956,2520.000,14.334,0.000
$DEVICE_MAMPS,248.625,82.620,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.136,804.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,39943,1061
$CAP_FILE_SIZE,112910,0
$CFSIZE,260165632,248078336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$GPS,010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0