version: 66.08
glider: 141
mission: 15
dive: 139
start: 3 11 111 10 47 15
data:
$ID,141
$MISSION,15
$DIVE,139
$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,-27951.119
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,110311,084240,6720.910,-5802.659,0,3125.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.45
$_SM_ANGLEo,1.2
$GPS2,110311,084240,6720.910,-5802.659,0,3125.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$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,227.4,46740,-17.5,-10.000
$D_GRID,890
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.62,0.000,2,0.000,0.000,2883,2264,3101,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.9,-0.0,1,51,0.62,2.70,-15.12,0.000,4,0.109,0.080,2665,3893,3628,0,0,0,0,0,0
$GC,103,-0.53,-146.0,17.7,-16.5,14,110,0.00,2.20,0.00,0.000,6,0.000,0.042,2665,2483,3630,0,0,0,0,0,0
$GC,448,-0.43,-146.0,73.5,-15.8,75,455,0.22,2.28,0.00,0.000,4,0.217,0.067,2720,3890,3629,0,0,0,0,0,0
$GC,531,-0.47,-146.0,82.8,-10.3,89,538,0.00,2.17,0.00,0.000,6,0.000,0.043,2720,2489,3629,0,0,0,0,0,0
$GC,867,-0.53,-146.0,118.2,-9.9,134,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2489,3629,0,0,0,0,0,0
$GC,1186,-0.60,-146.0,144.3,-7.2,164,1188,0.15,0.00,0.00,0.000,6,0.118,0.000,2669,2489,3628,0,0,0,0,0,0
$GC,1503,-0.55,-146.0,181.6,-13.1,194,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2489,3627,0,0,0,0,0,0
$GC,1824,-0.51,-146.0,221.1,-11.7,224,1831,0.12,0.00,0.00,0.000,6,0.213,0.000,2697,2489,3627,0,0,0,0,0,0
$GC,2150,-0.55,-146.0,253.1,-9.6,255,2154,0.00,2.28,0.00,0.000,4,0.000,0.069,2697,3899,3625,0,0,0,0,0,0
$GC,2190,-0.61,-146.0,257.0,-9.5,258,2194,0.00,2.17,0.00,0.000,6,0.000,0.041,2697,2482,3625,0,0,0,0,0,0
$GC,2517,-0.65,-146.0,286.3,-9.0,288,2519,0.15,0.00,0.00,0.000,6,0.121,0.000,2647,2481,3626,0,0,0,0,0,0
$GC,2834,-0.58,-146.0,326.3,-12.8,318,2838,0.00,2.25,0.00,0.000,4,0.000,0.068,2647,3896,3626,0,0,0,0,0,0
$GC,2885,-0.53,-146.0,332.6,-11.7,322,2890,0.17,2.15,0.00,0.000,6,0.207,0.041,2690,2489,3626,0,0,0,0,0,0
$GC,3211,-0.56,-146.0,363.0,-9.1,352,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2488,3627,0,0,0,0,0,0
$GC,3530,-0.59,-146.0,395.9,-10.0,382,3534,0.00,2.25,0.00,0.000,4,0.000,0.066,2690,3894,3627,0,0,0,0,0,0
$GC,3552,-0.63,-146.0,398.3,-9.7,383,3559,0.00,2.15,0.00,0.000,6,0.000,0.040,2690,2483,3627,0,0,0,0,0,0
$GC,3878,-0.66,-146.0,430.0,-9.8,414,3880,0.12,0.00,0.00,0.000,6,0.125,0.000,2648,2483,3628,0,0,0,0,0,0
$GC,4196,-0.59,-146.0,470.3,-12.0,444,4200,0.00,2.25,0.00,0.000,4,0.000,0.066,2647,3893,3628,0,0,0,0,0,0
$GC,4235,-0.54,-146.0,475.1,-12.1,447,4240,0.15,2.15,0.00,0.000,6,0.207,0.041,2684,2481,3628,0,0,0,0,0,0
$GC,4561,-0.56,-146.0,508.8,-10.4,477,4565,0.00,2.25,0.00,0.000,4,0.000,0.066,2684,3893,3629,0,0,0,0,0,0
$GC,4589,-0.60,-146.0,512.0,-11.4,479,4594,0.00,2.12,0.00,0.000,6,0.000,0.040,2684,2483,3629,0,0,0,0,0,0
$GC,4916,-0.62,-146.0,545.4,-10.1,509,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2482,3629,0,0,0,0,0,0
$GC,5234,-0.65,-146.0,577.1,-9.6,539,5238,0.00,2.25,0.00,0.000,4,0.000,0.067,2684,3892,3629,0,0,0,0,0,0
$GC,5267,-0.69,-146.0,580.6,-9.7,541,5275,0.12,2.15,0.00,0.000,6,0.126,0.041,2642,2480,3629,0,0,0,0,0,0
$GC,5606,-0.62,-146.0,624.1,-13.1,562,5610,0.00,2.25,0.00,0.000,4,0.000,0.068,2641,3892,3629,0,0,0,0,0,0
$GC,5634,-0.55,-146.0,628.0,-13.1,562,5641,0.17,2.15,0.00,0.000,6,0.203,0.041,2685,2483,3629,0,0,0,0,0,0
$GC,5947,-0.59,-146.0,658.0,-9.5,573,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2483,3629,0,0,0,0,0,0
$GC,6255,-0.62,-146.0,685.8,-8.9,583,6259,0.00,2.28,0.00,0.000,4,0.000,0.068,2685,3899,3629,0,0,0,0,0,0
$GC,6271,-0.65,-146.0,687.6,-9.2,583,6275,0.00,2.12,0.00,0.000,6,0.000,0.041,2685,2492,3628,0,0,0,0,0,0
$GC,6589,-0.69,-146.0,715.1,-8.6,594,6591,0.15,0.00,0.00,0.000,6,0.120,0.000,2635,2492,3629,0,0,0,0,0,0
$GC,6898,-0.61,-146.0,752.3,-12.3,604,6903,0.12,2.28,0.00,0.000,4,0.224,0.070,2662,3897,3628,0,0,0,0,0,0
$GC,6930,-0.61,-146.0,756.3,-10.2,605,6935,0.00,2.17,0.00,0.000,6,0.000,0.043,2662,2494,3628,0,0,0,0,0,0
$STATE,7204,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7204,begin apogee
$GC,7210,-0.12,0.0,783.6,9.9,614,7339,0.50,0.00,122.80,1.409,6,0.185,0.000,2813,2255,3029,0,0,0,0,0,0
$STATE,7340,end apogee,CONTROL_FINISHED_OK
$STATE,7340,begin climb
$GC,7342,0.62,146.0,787.0,0.0,618,7477,0.77,2.47,126.35,1.369,4,0.133,0.067,3062,886,2433,0,0,0,0,0,0
$GC,7539,0.62,146.0,770.7,27073.1,624,7543,0.00,2.35,0.00,0.000,6,0.000,0.050,3062,2267,2428,0,0,0,0,0,0
$GC,7869,0.62,146.0,727.4,27073.1,635,7873,0.00,2.35,0.00,0.000,4,0.000,0.066,3062,3685,2424,0,0,0,0,0,0
$GC,8009,0.62,146.0,706.4,27073.1,639,8013,0.00,2.28,0.00,0.000,6,0.000,0.050,3072,2286,2423,0,0,0,0,0,0
$GC,8338,0.62,146.0,662.8,27073.1,650,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2286,2422,0,0,0,0,0,0
$GC,8644,0.62,146.0,623.0,27073.1,660,8648,0.00,2.30,0.00,0.000,4,0.000,0.064,3072,3698,2422,0,0,0,0,0,0
$GC,8727,0.62,146.0,610.4,27073.1,662,8731,0.00,2.28,0.00,0.000,6,0.000,0.050,3082,2267,2422,0,0,0,0,0,0
$GC,9050,0.62,146.0,567.5,27073.1,686,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2267,2422,0,0,0,0,0,0
$GC,9370,0.62,146.0,525.9,27073.1,716,9374,0.00,2.28,0.00,0.000,4,0.000,0.063,3082,3695,2422,0,0,0,0,0,0
$GC,9459,0.62,146.0,512.0,27073.1,723,9466,0.00,2.25,0.00,0.000,6,0.000,0.050,3092,2273,2421,0,0,0,0,0,0
$GC,9785,0.62,146.0,467.3,27073.1,754,9789,0.00,2.28,0.00,0.000,4,0.000,0.063,3092,3691,2421,0,0,0,0,0,0
$GC,9841,0.62,146.0,458.5,27073.1,759,9846,0.15,2.22,0.00,0.000,6,0.212,0.050,3067,2274,2420,0,0,0,0,0,0
$GC,10167,0.62,146.0,417.4,27073.1,789,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2273,2420,0,0,0,0,0,0
$GC,10488,0.62,146.0,377.5,27073.1,819,10492,0.00,2.28,0.00,0.000,4,0.000,0.062,3067,3698,2420,0,0,0,0,0,0
$GC,10528,0.62,146.0,371.8,27073.1,822,10532,0.00,2.25,0.00,0.000,6,0.000,0.050,3076,2263,2420,0,0,0,0,0,0
$GC,10853,0.62,146.0,328.5,27073.1,852,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2263,2420,0,0,0,0,0,0
$GC,11174,0.62,146.0,286.0,27073.1,882,11178,0.00,2.28,0.00,0.000,4,0.000,0.062,3075,3692,2420,0,0,0,0,0,0
$GC,11242,0.62,146.0,275.7,27073.1,888,11246,0.00,2.22,0.00,0.000,6,0.000,0.049,3085,2268,2420,0,0,0,0,0,0
$GC,11569,0.62,146.0,234.7,27073.1,918,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2268,2420,0,0,0,0,0,0
$GC,11887,0.62,146.0,195.3,27073.1,948,11891,0.00,2.25,0.00,0.000,4,0.000,0.060,3085,3690,2420,0,0,0,0,0,0
$GC,11973,0.62,146.0,182.5,27073.1,955,11978,0.12,2.20,0.00,0.000,6,0.212,0.047,3066,2272,2420,0,0,0,0,0,0
$GC,12298,0.62,146.0,142.6,27073.1,985,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2272,2420,0,0,0,0,0,0
$GC,12619,0.62,146.0,109.3,27073.1,1015,12623,0.00,2.17,0.00,0.000,4,0.000,0.060,3076,865,2422,0,0,0,0,0,0
$GC,12664,0.62,146.0,104.3,27073.1,1018,12671,0.00,2.20,0.00,0.000,6,0.000,0.048,3076,2282,2422,0,0,0,0,0,0
$GC,13005,0.55,146.0,68.9,10.2,1075,13012,0.12,2.20,0.00,0.000,4,0.187,0.063,3043,3692,2422,0,0,0,0,0,0
$GC,13122,0.53,170.8,58.2,8.9,1095,13147,0.00,2.20,19.92,0.914,6,0.000,0.045,3051,2264,2333,0,0,0,0,0,0
$GC,13483,0.53,173.8,28.3,9.9,1159,13490,0.00,2.28,1.38,0.167,4,0.000,0.059,3051,3694,2321,0,0,0,0,0,0
$GC,13560,0.50,180.0,20.5,9.7,1172,13569,0.12,2.20,2.95,0.495,6,0.194,0.045,3030,2273,2295,0,0,0,0,0,0
$FREEZE,8.99,-1.618,-1.827,3,14,0
$FREEZE,8.70,-1.618,-1.827,3,14,0
$FREEZE,8.42,-1.619,-1.827,3,14,0
$FREEZE,8.06,-1.618,-1.827,3,14,0
$FREEZE,7.75,-1.618,-1.826,3,14,0
$FREEZE,7.23,-1.618,-1.826,3,14,0
$FREEZE,6.88,-1.618,-1.826,3,14,0
$FREEZE,6.48,-1.618,-1.825,3,14,0
$FREEZE,6.21,-1.618,-1.825,3,14,0
$FREEZE,5.97,-1.618,-1.825,3,14,0
$FREEZE,5.53,-1.618,-1.825,3,14,0
$FREEZE,5.18,-1.618,-1.824,3,14,0
$FREEZE,4.76,-1.618,-1.824,3,14,0
$FREEZE,4.30,-1.618,-1.824,3,14,0
$FREEZE,3.93,-1.618,-1.823,3,14,0
$FREEZE,3.35,-1.619,-1.823,3,14,0
$FREEZE,2.88,-1.620,-1.823,3,14,0
$STATE,13787,end climb,SURFACE_DEPTH_REACHED
$STATE,13787,begin surface coast
$FREEZE,2.45,-1.628,-1.822,3,14,0
$FINISH,2.5,1.026731
$STATE,13794,end surface coast,FINISH_DEPTH_REACHED
$STATE,13794,begin surface
$SM_CCo,13870,165.20,0.069,0,0,751,559.04
$SM_GC,3.00,0.00,0.00,165.20,0.000,0.000,0.069,109,2495,751,-8.61,0.14,559.04
$RAFOS_CLK,753
$RAFOS,6,1299847741,12.833333,12.816944,62,57,56,55,53,50,131,203,162,176,213,110
$RAFOS,5,1299847267,12.700000,12.685278,131,64,57,55,52,50,665,204,192,223,161,244
$RAFOS,4,1299846807,12.566667,12.557500,120,64,60,60,59,56,657,119,171,162,207,1044
$RAFOS,3,1299846319,12.433333,12.421945,64,59,58,56,56,49,206,177,139,123,225,1395
$RAFOS,2,1299845824,12.300000,12.284445,72,67,59,55,54,54,188,206,147,137,177,847
$RAFOS,1,1299845347,12.166667,12.151944,64,58,54,53,52,49,152,201,226,184,112,137
$RAFOS,0,1299844866,12.033333,12.018333,66,58,57,56,56,51,192,219,209,148,117,181
$RAFOS_FIX,6719.801270,-5801.673828,110311,121228,2,126,0.15
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,752.3,44.6
$24V_AH,22.7,20.278
$10V_AH,10.3,11.191
$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,12.375,99.475,273.400,165.200,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3059.537,8369.144,486.952,2003.374,187.185,0.000,1534.729,0.000,1988.105,2520.000,23.065,0.000
$DEVICE_MAMPS,224.145,79.560,1409.130,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.405,932.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46695,1214
$CAP_FILE_SIZE,144064,0
$CFSIZE,260165632,242991104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,110311,123928,6719.801,-5801.674,0,2125.5,0,-38.2