version: 66.08
glider: 141
mission: 15
dive: 174
start: 3 18 111 15 17 34
data:
$ID,141
$MISSION,15
$DIVE,174
$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,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,-28688.277
$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,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
$GPS1,180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.37
$_SM_ANGLEo,-2.3
$GPS2,180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2
$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,258.4,28666,-17.5,-10.000
$D_GRID,774
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.93,0.000,2,0.000,0.000,2900,3693,3008,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.3,-0.0,1,52,0.65,4.22,-14.90,0.000,4,0.105,0.061,2670,1070,3629,0,0,0,0,0,0
$GC,251,-0.51,-146.0,52.2,-18.2,40,258,0.00,2.28,0.00,0.000,6,0.000,0.060,2670,2488,3630,0,0,0,0,0,0
$GC,597,-0.38,-146.0,117.9,-17.2,93,602,0.25,2.33,0.00,0.000,4,0.229,0.073,2736,3908,3630,0,0,0,0,0,0
$GC,659,-0.48,-146.0,125.7,-10.2,98,664,0.00,2.22,0.00,0.000,6,0.000,0.045,2736,2483,3630,0,0,0,0,0,0
$GC,985,-0.54,-146.0,157.5,-8.9,128,990,0.15,2.25,0.00,0.000,4,0.123,0.065,2686,1083,3629,0,0,0,0,0,0
$GC,1025,-0.50,-146.0,162.3,-13.1,131,1029,0.00,2.25,0.00,0.000,6,0.000,0.059,2685,2490,3629,0,0,0,0,0,0
$GC,1351,-0.45,-146.0,204.3,-12.6,161,1356,0.12,2.33,0.00,0.000,4,0.235,0.076,2713,3904,3629,0,0,0,0,0,0
$GC,1407,-0.51,-146.0,210.4,-9.3,165,1414,0.00,2.20,0.00,0.000,6,0.000,0.046,2713,2489,3629,0,0,0,0,0,0
$GC,1734,-0.55,-146.0,241.3,-9.8,196,1738,0.00,2.30,0.00,0.000,4,0.000,0.073,2713,3907,3629,0,0,0,0,0,0
$GC,1755,-0.59,-146.0,243.7,-10.1,197,1763,0.12,2.20,0.00,0.000,6,0.128,0.045,2671,2481,3629,0,0,0,0,0,0
$GC,2082,-0.53,-146.0,283.9,-12.2,228,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2481,3628,0,0,0,0,0,0
$GC,2400,-0.47,-146.0,322.6,-11.4,258,2405,0.15,2.22,0.00,0.000,4,0.220,0.064,2706,1086,3628,0,0,0,0,0,0
$GC,2441,-0.52,-146.0,326.4,-8.5,261,2445,0.00,2.25,0.00,0.000,6,0.000,0.060,2706,2495,3628,0,0,0,0,0,0
$GC,2766,-0.55,-146.0,351.5,-7.2,291,2770,0.00,2.28,0.00,0.000,4,0.000,0.075,2706,3899,3628,0,0,0,0,0,0
$GC,2796,-0.60,-146.0,353.7,-7.6,293,2801,0.12,2.17,0.00,0.000,6,0.133,0.046,2665,2487,3628,0,0,0,0,0,0
$GC,3121,-0.54,-146.0,389.5,-11.2,323,3125,0.00,2.20,0.00,0.000,4,0.000,0.062,2665,1077,3628,0,0,0,0,0,0
$GC,3184,-0.52,-146.0,396.8,-11.4,328,3189,0.12,2.25,0.00,0.000,6,0.223,0.059,2693,2500,3628,0,0,0,0,0,0
$GC,3510,-0.52,-146.0,425.5,-8.8,358,3514,0.00,2.28,0.00,0.000,4,0.000,0.076,2692,3900,3628,0,0,0,0,0,0
$GC,3538,-0.54,-146.0,427.9,-8.6,360,3542,0.00,2.17,0.00,0.000,6,0.000,0.046,2692,2486,3629,0,0,0,0,0,0
$GC,3864,-0.56,-146.0,457.0,-8.9,390,3868,0.00,2.20,0.00,0.000,4,0.000,0.060,2693,1084,3629,0,0,0,0,0,0
$GC,3894,-0.59,-146.0,459.9,-9.3,392,3898,0.00,2.25,0.00,0.000,6,0.000,0.057,2693,2501,3629,0,0,0,0,0,0
$GC,4219,-0.61,-146.0,489.5,-8.6,422,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2501,3629,0,0,0,0,0,0
$GC,4541,-0.64,-146.0,517.5,-9.2,452,4547,0.10,0.00,0.00,0.000,6,0.142,0.000,2658,2501,3629,0,0,0,0,0,0
$GC,4866,-0.58,-146.0,556.5,-12.3,483,4870,0.00,2.25,0.00,0.000,4,0.000,0.060,2657,1079,3629,0,0,0,0,0,0
$GC,4898,-0.52,-146.0,560.8,-13.0,485,4906,0.15,2.25,0.00,0.000,6,0.209,0.060,2693,2495,3629,0,0,0,0,0,0
$GC,5224,-0.55,-146.0,590.0,-8.6,516,5228,0.00,2.25,0.00,0.000,4,0.000,0.074,2693,3899,3629,0,0,0,0,0,0
$GC,5256,-0.60,-146.0,593.0,-8.8,518,5263,0.00,2.20,0.00,0.000,6,0.000,0.045,2693,2478,3629,0,0,0,0,0,0
$GC,5584,-0.64,-146.0,620.8,-8.4,534,5586,0.12,0.00,0.00,0.000,6,0.135,0.000,2651,2478,3629,0,0,0,0,0,0
$GC,5889,-0.57,-146.0,656.7,-12.0,544,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2478,3629,0,0,0,0,0,0
$STATE,6132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6132,begin apogee
$GC,6137,-0.12,0.0,685.3,11.7,552,6266,0.57,0.00,122.20,1.354,6,0.200,0.000,2814,2264,3030,0,0,0,0,0,0
$STATE,6267,end apogee,CONTROL_FINISHED_OK
$STATE,6267,begin climb
$GC,6269,0.62,146.0,688.2,0.0,556,6405,0.77,2.50,126.95,1.308,4,0.134,0.063,3064,884,2432,0,0,0,0,0,0
$GC,6433,0.62,146.0,675.8,23240.8,561,6437,0.00,2.42,0.00,0.000,6,0.000,0.051,3064,2275,2429,0,0,0,0,0,0
$GC,6763,0.62,146.0,633.9,23240.8,572,6767,0.00,2.35,0.00,0.000,4,0.000,0.067,3064,3688,2425,0,0,0,0,0,0
$GC,6941,0.62,146.0,607.9,23240.8,577,6945,0.00,2.30,0.00,0.000,6,0.000,0.050,3074,2283,2424,0,0,0,0,0,0
$GC,7265,0.62,146.0,566.9,23240.8,603,7269,0.00,2.33,0.00,0.000,4,0.000,0.066,3074,3692,2423,0,0,0,0,0,0
$GC,7298,0.62,146.0,562.1,23240.8,605,7305,0.00,2.28,0.00,0.000,6,0.000,0.050,3085,2274,2423,0,0,0,0,0,0
$GC,7625,0.62,146.0,520.3,23240.8,636,7629,0.00,2.30,0.00,0.000,4,0.000,0.064,3084,3697,2422,0,0,0,0,0,0
$GC,7646,0.62,146.0,517.0,23240.8,637,7654,0.12,2.28,0.00,0.000,6,0.216,0.051,3067,2272,2423,0,0,0,0,0,0
$GC,7973,0.62,146.0,477.7,23240.8,668,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2271,2422,0,0,0,0,0,0
$GC,8291,0.62,146.0,438.2,23240.8,698,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2271,2422,0,0,0,0,0,0
$GC,8610,0.62,146.0,400.8,23240.8,728,8614,0.00,2.30,0.00,0.000,4,0.000,0.065,3065,3692,2422,0,0,0,0,0,0
$GC,8653,0.62,146.0,394.9,23240.8,731,8660,0.00,2.25,0.00,0.000,6,0.000,0.051,3074,2272,2422,0,0,0,0,0,0
$GC,8980,0.62,146.0,356.2,23240.8,762,8984,0.00,2.25,0.00,0.000,4,0.000,0.064,3084,867,2422,0,0,0,0,0,0
$GC,9024,0.62,146.0,350.5,23240.8,765,9031,0.00,2.22,0.00,0.000,6,0.000,0.053,3084,2280,2421,0,0,0,0,0,0
$GC,9350,0.62,146.0,311.4,23240.8,796,9354,0.00,2.25,0.00,0.000,4,0.000,0.067,3084,3698,2421,0,0,0,0,0,0
$GC,9440,0.62,146.0,299.5,23240.8,804,9445,0.12,2.25,0.00,0.000,6,0.215,0.050,3066,2269,2422,0,0,0,0,0,0
$GC,9765,0.62,146.0,265.3,23240.8,834,9769,0.00,2.28,0.00,0.000,4,0.000,0.063,3065,3686,2422,0,0,0,0,0,0
$GC,9821,0.62,146.0,258.7,23240.8,838,9828,0.00,2.22,0.00,0.000,6,0.000,0.050,3074,2276,2422,0,0,0,0,0,0
$GC,10146,0.62,146.0,223.2,23240.8,869,10150,0.00,2.28,0.00,0.000,4,0.000,0.064,3073,3692,2422,0,0,0,0,0,0
$GC,10266,0.62,146.0,208.7,23240.8,879,10271,0.00,2.22,0.00,0.000,6,0.000,0.050,3083,2275,2422,0,0,0,0,0,0
$GC,10592,0.62,146.0,174.9,23240.8,909,10596,0.00,2.25,0.00,0.000,4,0.000,0.064,3083,3688,2422,0,0,0,0,0,0
$GC,10676,0.62,146.0,166.0,23240.8,916,10683,0.00,2.22,0.00,0.000,6,0.000,0.049,3094,2270,2422,0,0,0,0,0,0
$GC,11002,0.62,146.0,135.0,23240.8,947,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2270,2422,0,0,0,0,0,0
$GC,11322,0.62,146.0,106.4,23240.8,977,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2270,2422,0,0,0,0,0,0
$STATE,11576,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11577,begin subsurface finish
$FINISH1,86.4,1.026405,54
$GC,11582,0.07,53.7,86.4,-23240.8,1016,11596,0.68,2.35,-2.80,0.000,4,0.179,0.080,2894,3690,2823,0,0,0,0,0,0
$FINISH2,85.4
$STATE,11597,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$RAFOS_CLK,637
$RAFOS,6,1300466942,16.833334,16.817223,160,59,55,55,53,51,774,223,193,213,146,179
$RAFOS,5,1300466463,16.700001,16.684166,63,60,58,55,54,53,215,203,181,139,194,719
$RAFOS,4,1300465989,16.566668,16.552500,138,65,57,55,55,54,683,193,169,153,134,235
$RAFOS,3,1300465511,16.433332,16.419722,65,61,59,57,53,49,177,199,209,166,125,107
$RAFOS,2,1300465028,16.299999,16.285555,59,57,52,52,51,51,215,173,190,109,119,226
$RAFOS,1,1300464541,16.166666,16.150278,121,63,61,53,53,48,606,221,188,138,197,172
$RAFOS,0,1300464069,16.033333,16.019167,63,63,56,56,55,52,191,218,209,110,641,126
$RAFOS_FIX,6656.417480,-6004.600098,180311,161642,3,140,0.21
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,48.11
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,23.1,23.6
$ALTIM_BOTTOM_PING,87.2,22.9
$24V_AH,22.6,25.464
$10V_AH,10.2,14.129
$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,4.350,104.200,249.150,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2564.435,6905.816,304.841,1730.726,155.297,0.000,1219.026,0.000,1716.926,2520.000,17.910,0.000
$DEVICE_MAMPS,234.855,79.560,1354.050,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.825,789.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,39981,1018
$CAP_FILE_SIZE,122536,0
$CFSIZE,260165632,240242688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.9
$GPS,180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2