version: 66.08
glider: 141
mission: 15
dive: 59
start: 3 1 111 2 37 33
data:
$ID,141
$MISSION,15
$DIVE,59
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.17
$_SM_ANGLEo,-4.6
$GPS2,010311,002120,6648.956,-6020.924,0,4110.8,0,-38.0
$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,118.4,155947,-17.5,-10.000
$D_GRID,552
$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,-7.57,0.000,2,0.000,0.000,2904,861,2986,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.1,-0.0,1,53,0.68,5.07,-16.38,0.000,4,0.099,0.076,2666,3898,3629,0,0,0,0,0,0
$GC,82,-0.43,-146.0,19.3,-19.1,10,90,0.22,2.25,0.00,0.000,6,0.217,0.050,2720,2486,3631,0,0,0,0,0,0
$GC,428,-0.37,-146.0,76.5,-15.9,71,435,0.00,2.30,0.00,0.000,4,0.000,0.073,2720,3896,3630,0,0,0,0,0,0
$GC,595,-0.39,-146.0,99.6,-12.2,100,602,0.00,2.22,0.00,0.000,6,0.000,0.049,2720,2487,3630,0,0,0,0,0,0
$GC,920,-0.39,-146.0,142.7,-11.4,131,924,0.00,2.25,0.00,0.000,4,0.000,0.068,2720,1086,3629,0,0,0,0,0,0
$GC,993,-0.42,-146.0,150.9,-10.6,137,997,0.00,2.28,0.00,0.000,6,0.000,0.062,2720,2494,3630,0,0,0,0,0,0
$GC,1319,-0.45,-146.0,185.1,-9.8,167,1323,0.00,2.25,0.00,0.000,4,0.000,0.067,2720,1085,3629,0,0,0,0,0,0
$GC,1368,-0.49,-146.0,190.3,-9.8,171,1375,0.00,2.28,0.00,0.000,6,0.000,0.061,2720,2499,3629,0,0,0,0,0,0
$GC,1694,-0.53,-146.0,219.1,-8.6,202,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2499,3629,0,0,0,0,0,0
$GC,2014,-0.57,-146.0,249.0,-9.3,232,2016,0.12,0.00,0.00,0.000,6,0.135,0.000,2679,2499,3629,0,0,0,0,0,0
$GC,2332,-0.52,-146.0,284.6,-10.1,262,2336,0.00,2.25,0.00,0.000,4,0.000,0.068,2679,1085,3628,0,0,0,0,0,0
$GC,2375,-0.49,-146.0,289.8,-11.0,265,2382,0.00,2.25,0.00,0.000,6,0.000,0.062,2678,2494,3628,0,0,0,0,0,0
$GC,2702,-0.44,-146.0,328.2,-12.9,296,2707,0.15,2.30,0.00,0.000,4,0.216,0.078,2714,3899,3628,0,0,0,0,0,0
$GC,2719,-0.44,-146.0,330.4,-12.0,297,2723,0.00,2.20,0.00,0.000,6,0.000,0.047,2715,2487,3628,0,0,0,0,0,0
$GC,3045,-0.50,-146.0,359.8,-8.9,327,3049,0.00,2.20,0.00,0.000,4,0.000,0.067,2715,1086,3628,0,0,0,0,0,0
$GC,3145,-0.58,-146.0,369.1,-9.0,335,3152,0.12,2.25,0.00,0.000,6,0.134,0.061,2674,2494,3628,0,0,0,0,0,0
$GC,3470,-0.54,-146.0,406.8,-11.7,366,3474,0.00,2.28,0.00,0.000,4,0.000,0.076,2674,3899,3628,0,0,0,0,0,0
$GC,3500,-0.50,-146.0,410.2,-12.1,368,3504,0.00,2.20,0.00,0.000,6,0.000,0.047,2674,2481,3628,0,0,0,0,0,0
$GC,3831,-0.47,-146.0,447.8,-10.8,399,3835,0.15,2.20,0.00,0.000,4,0.216,0.067,2710,1087,3628,0,0,0,0,0,0
$GC,3871,-0.53,-146.0,451.9,-8.9,402,3875,0.00,2.22,0.00,0.000,6,0.000,0.062,2711,2496,3628,0,0,0,0,0,0
$GC,4202,-0.59,-146.0,477.6,-8.0,433,4206,0.12,2.25,0.00,0.000,4,0.130,0.065,2668,1077,3629,0,0,0,0,0,0
$GC,4219,-0.63,-146.0,479.2,-8.0,434,4223,0.00,2.25,0.00,0.000,6,0.000,0.061,2668,2490,3629,0,0,0,0,0,0
$GC,4544,-0.57,-146.0,514.5,-11.4,464,4548,0.00,2.25,0.00,0.000,4,0.000,0.066,2668,1077,3629,0,0,0,0,0,0
$GC,4562,-0.53,-146.0,516.6,-11.7,465,4566,0.00,2.25,0.00,0.000,6,0.000,0.061,2668,2491,3629,0,0,0,0,0,0
$STATE,4874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4874,begin apogee
$GC,4879,-0.12,0.0,552.0,11.2,494,5013,0.50,0.00,121.40,1.277,6,0.195,0.000,2813,2266,3030,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5014,begin climb
$GC,5016,0.62,146.0,556.3,0.0,506,5144,0.80,0.00,124.68,1.225,6,0.148,0.000,3052,2266,2434,0,0,0,0,0,0
$GC,5461,0.55,146.0,512.1,10.3,549,5465,0.00,2.40,0.00,0.000,4,0.000,0.069,3052,3684,2425,0,0,0,0,0,0
$GC,5544,0.41,146.0,501.6,13.5,556,5552,0.25,2.33,0.00,0.000,6,0.193,0.053,3000,2282,2424,0,0,0,0,0,0
$GC,5871,0.48,176.7,473.9,8.6,587,5900,0.00,0.00,26.33,1.154,6,0.000,0.000,3000,2282,2308,0,0,0,0,0,0
$GC,6219,0.54,195.4,443.6,9.1,620,6243,0.12,2.45,17.30,1.115,4,0.109,0.068,3051,3692,2233,0,0,0,0,0,0
$GC,6278,0.46,195.4,436.1,14.5,625,6283,0.20,2.35,0.00,0.000,6,0.191,0.052,3012,2266,2231,0,0,0,0,0,0
$GC,6603,0.49,195.4,402.2,10.1,655,6607,0.00,2.33,0.00,0.000,4,0.000,0.068,3012,3685,2229,0,0,0,0,0,0
$GC,6643,0.49,195.4,397.8,11.5,658,6647,0.00,2.30,0.00,0.000,6,0.000,0.053,3018,2266,2228,0,0,0,0,0,0
$GC,6968,0.54,214.9,366.6,9.1,688,6992,0.00,2.42,18.15,1.094,4,0.000,0.067,3019,3685,2153,0,0,0,0,0,0
$GC,7027,0.54,214.9,361.2,10.5,693,7031,0.00,2.30,0.00,0.000,6,0.000,0.053,3028,2276,2152,0,0,0,0,0,0
$GC,7354,0.57,219.9,330.1,9.8,723,7362,0.00,0.00,5.53,0.861,6,0.000,0.000,3028,2276,2133,0,0,0,0,0,0
$GC,7680,0.60,219.9,295.6,10.9,754,7684,0.00,2.33,0.00,0.000,4,0.000,0.068,3028,3691,2131,0,0,0,0,0,0
$GC,7724,0.60,219.9,290.2,12.4,757,7731,0.00,2.28,0.00,0.000,6,0.000,0.052,3039,2267,2131,0,0,0,0,0,0
$GC,8050,0.62,219.9,255.5,10.2,788,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2267,2131,0,0,0,0,0,0
$GC,8370,0.64,219.9,221.5,10.6,818,8374,0.00,2.28,0.00,0.000,4,0.000,0.067,3039,3687,2131,0,0,0,0,0,0
$GC,8409,0.64,219.9,216.8,11.9,821,8413,0.00,2.25,0.00,0.000,6,0.000,0.052,3047,2271,2131,0,0,0,0,0,0
$GC,8735,0.64,219.9,181.7,11.1,851,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2271,2130,0,0,0,0,0,0
$GC,9054,0.68,222.0,149.1,9.9,881,9059,0.10,2.28,0.00,0.000,4,0.126,0.069,3095,865,2131,0,0,0,0,0,0
$GC,9094,0.65,222.0,144.4,12.3,884,9099,0.00,2.22,0.00,0.000,6,0.000,0.056,3095,2279,2130,0,0,0,0,0,0
$GC,9420,0.62,233.7,108.8,9.5,914,9443,0.00,2.28,15.10,0.913,4,0.000,0.070,3095,3684,2076,0,0,0,0,0,0
$GC,9525,0.56,233.7,97.2,12.0,925,9532,0.22,2.25,0.00,0.000,6,0.187,0.054,3046,2274,2076,0,0,0,0,0,0
$GC,9871,0.78,327.9,75.4,5.7,986,9966,0.20,2.47,86.88,0.972,4,0.091,0.067,3124,3682,1691,0,0,0,0,0,0
$GC,9997,0.75,327.9,62.6,12.3,1007,10004,0.00,2.35,0.00,0.000,6,0.000,0.053,3133,2275,1687,0,0,0,0,0,0
$GC,10342,0.75,327.9,20.8,11.4,1068,10348,0.00,2.30,0.00,0.000,4,0.000,0.071,3142,867,1680,0,0,0,0,0,0
$GC,10373,0.78,327.9,17.1,12.1,1073,10379,0.00,2.30,0.00,0.000,6,0.000,0.056,3142,2282,1678,0,0,0,0,0,0
$FREEZE,8.65,-1.748,-1.767,3,36,0
$STATE,10436,end climb,FINISH_DEPTH_REACHED
$STATE,10436,begin subsurface finish
$FINISH1,8.6,1.025877,80
$GC,10442,0.10,79.6,8.6,-14.8,1084,10490,0.80,2.30,-39.45,0.000,4,0.166,0.086,2899,3685,2708,0,0,0,0,0,0
$FINISH2,7.0
$STATE,10491,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10491,begin surface
$RAFOS_CLK,585
$RAFOS,6,1298954941,4.833333,4.816945,100,59,58,57,57,51,823,172,211,146,195,159
$RAFOS,5,1298954466,4.700000,4.685000,61,57,53,53,51,50,192,176,137,213,153,121
$RAFOS,4,1298953987,4.566667,4.551944,124,57,56,52,51,48,720,220,189,162,238,207
$RAFOS,3,1298953505,4.433333,4.418056,116,61,59,58,55,51,807,193,157,210,220,115
$RAFOS,2,1298953025,4.300000,4.284722,98,57,57,54,52,51,671,200,124,182,156,222
$RAFOS,1,1298952547,4.166667,4.151945,140,65,60,58,52,50,559,211,194,161,230,116
$RAFOS,0,1298952061,4.033333,4.016944,57,57,56,54,48,45,145,216,191,161,126,243
$RAFOS_FIX,6650.101562,-6017.190918,010311,040448,5,116,0.23
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,15.4
$24V_AH,23.1,11.602
$10V_AH,10.3,5.636
$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,4.775,101.350,415.350,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2615.252,5592.948,484.603,1724.118,148.687,0.000,1406.277,0.000,1711.317,2520.000,15.753,0.000
$DEVICE_MAMPS,217.260,86.445,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.721,829.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,43249,1092
$CAP_FILE_SIZE,120235,0
$CFSIZE,260165632,248004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0