version: 66.08
glider: 141
mission: 15
dive: 193
start: 3 21 111 2 14 28
data:
$ID,141
$MISSION,15
$DIVE,193
$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,-29425.438
$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
$GPS1,210311,002701,6652.782,-5952.935,0,6116.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,27.87
$_SM_ANGLEo,-1.5
$GPS2,210311,002701,6652.782,-5952.935,0,6116.0,0,-38.2
$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,120.1,134884,-17.5,-10.000
$D_GRID,821
$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
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.90,0.000,2,0.000,0.000,2898,858,3235,0,0,0,0,0,0
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$GC,541,-0.35,-146.0,116.6,-16.3,82,545,0.12,2.25,0.00,0.000,6,0.235,0.057,2745,2488,3632,0,0,0,0,0,0
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$GC,2625,-0.63,-146.0,330.4,-9.2,275,2630,0.12,2.28,0.00,0.000,4,0.130,0.073,2657,3899,3630,0,0,0,0,0,0
$GC,2646,-0.63,-146.0,333.0,-10.5,276,2653,0.00,2.20,0.00,0.000,6,0.000,0.045,2657,2497,3630,0,0,0,0,0,0
$GC,2972,-0.57,-146.0,374.9,-12.9,307,2975,0.00,2.20,0.00,0.000,4,0.000,0.060,2657,1083,3629,0,0,0,0,0,0
$GC,3018,-0.54,-146.0,381.0,-13.4,311,3022,0.12,2.25,0.00,0.000,6,0.218,0.057,2686,2497,3630,0,0,0,0,0,0
$GC,3343,-0.56,-146.0,413.0,-9.3,341,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2497,3629,0,0,0,0,0,0
$GC,3665,-0.58,-146.0,441.8,-8.7,371,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2497,3630,0,0,0,0,0,0
$GC,3992,-0.61,-146.0,470.7,-8.7,402,3996,0.00,2.25,0.00,0.000,4,0.000,0.074,2686,3899,3630,0,0,0,0,0,0
$GC,4009,-0.63,-146.0,472.4,-8.7,403,4013,0.00,2.20,0.00,0.000,6,0.000,0.046,2685,2483,3630,0,0,0,0,0,0
$GC,4341,-0.66,-146.0,499.4,-8.3,434,4348,0.12,2.20,0.00,0.000,4,0.134,0.061,2645,1082,3630,0,0,0,0,0,0
$GC,4378,-0.60,-146.0,503.5,-11.2,437,4382,0.00,2.22,0.00,0.000,6,0.000,0.058,2645,2489,3630,0,0,0,0,0,0
$GC,4708,-0.53,-146.0,543.3,-12.0,468,4713,0.17,2.28,0.00,0.000,4,0.218,0.073,2687,3899,3630,0,0,0,0,0,0
$GC,4741,-0.56,-146.0,546.8,-9.5,470,4748,0.00,2.20,0.00,0.000,6,0.000,0.045,2686,2480,3630,0,0,0,0,0,0
$GC,5068,-0.60,-146.0,575.6,-9.0,501,5072,0.00,2.17,0.00,0.000,4,0.000,0.061,2687,1080,3631,0,0,0,0,0,0
$GC,5106,-0.65,-146.0,579.6,-9.8,504,5113,0.00,2.25,0.00,0.000,6,0.000,0.057,2687,2497,3630,0,0,0,0,0,0
$GC,5431,-0.69,-146.0,609.2,-9.4,529,5436,0.15,2.30,0.00,0.000,4,0.119,0.073,2635,3905,3630,0,0,0,0,0,0
$GC,5452,-0.66,-146.0,612.0,-10.3,529,5460,0.00,2.20,0.00,0.000,6,0.000,0.045,2636,2483,3630,0,0,0,0,0,0
$GC,5769,-0.58,-146.0,652.2,-12.8,540,5773,0.15,2.22,0.00,0.000,4,0.220,0.060,2670,1078,3631,0,0,0,0,0,0
$GC,5797,-0.55,-146.0,656.1,-11.9,541,5801,0.00,2.25,0.00,0.000,6,0.000,0.058,2670,2499,3631,0,0,0,0,0,0
$GC,6138,-0.55,-146.0,688.7,-9.4,552,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2499,3631,0,0,0,0,0,0
$GC,6445,-0.55,-146.0,717.5,-9.3,562,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2499,3631,0,0,0,0,0,0
$GC,6750,-0.55,-146.0,746.3,-9.5,572,6754,0.00,2.28,0.00,0.000,4,0.000,0.075,2670,3903,3632,0,0,0,0,0,0
$GC,6780,-0.57,-146.0,749.1,-9.9,573,6784,0.00,2.17,0.00,0.000,6,0.000,0.045,2670,2475,3631,0,0,0,0,0,0
$GC,7120,-0.57,-146.0,779.8,-8.9,584,7124,0.00,2.17,0.00,0.000,4,0.000,0.060,2671,1074,3631,0,0,0,0,0,0
$GC,7131,-0.57,-146.0,780.8,-8.8,584,7135,0.00,2.25,0.00,0.000,6,0.000,0.058,2671,2491,3631,0,0,0,0,0,0
$GC,7455,-0.57,-146.0,809.7,-9.0,595,7459,0.00,2.25,0.00,0.000,4,0.000,0.073,2670,3899,3632,0,0,0,0,0,0
$GC,7488,-0.60,-146.0,813.0,-9.1,596,7492,0.00,2.17,0.00,0.000,6,0.000,0.044,2670,2489,3631,0,0,0,0,0,0
$STATE,7601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7607,-0.12,0.0,822.8,8.7,600,7737,0.47,0.00,124.25,1.444,6,0.182,0.000,2813,2263,3029,0,0,0,0,0,0
$STATE,7738,end apogee,CONTROL_FINISHED_OK
$STATE,7738,begin climb
$GC,7740,0.62,146.0,826.2,0.0,604,7879,0.77,2.55,130.00,1.396,4,0.129,0.067,3063,890,2433,0,0,0,0,0,0
$GC,7926,0.62,146.0,810.5,26833.6,610,7930,0.00,2.40,0.00,0.000,6,0.000,0.054,3063,2275,2428,0,0,0,0,0,0
$GC,8261,0.62,146.0,767.0,26833.6,621,8265,0.00,2.38,0.00,0.000,4,0.000,0.069,3063,3696,2424,0,0,0,0,0,0
$GC,8384,0.62,146.0,748.8,26833.6,624,8391,0.00,2.30,0.00,0.000,6,0.000,0.050,3073,2288,2424,0,0,0,0,0,0
$GC,8698,0.62,146.0,707.3,26833.6,635,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2288,2423,0,0,0,0,0,0
$GC,9003,0.62,146.0,666.2,26833.6,645,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2288,2423,0,0,0,0,0,0
$GC,9309,0.62,146.0,624.8,26833.6,655,9313,0.00,2.28,0.00,0.000,4,0.000,0.066,3073,3693,2422,0,0,0,0,0,0
$GC,9393,0.62,146.0,612.1,26833.6,657,9397,0.00,2.28,0.00,0.000,6,0.000,0.050,3083,2264,2422,0,0,0,0,0,0
$GC,9721,0.62,146.0,566.1,26833.6,682,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2264,2422,0,0,0,0,0,0
$GC,10040,0.62,146.0,521.7,26833.6,712,10044,0.00,2.30,0.00,0.000,4,0.000,0.063,3083,3696,2422,0,0,0,0,0,0
$GC,10113,0.62,146.0,510.3,26833.6,718,10117,0.00,2.25,0.00,0.000,6,0.000,0.050,3093,2275,2421,0,0,0,0,0,0
$GC,10438,0.62,146.0,462.6,26833.6,748,10440,0.12,0.00,0.00,0.000,6,0.212,0.000,3065,2275,2421,0,0,0,0,0,0
$GC,10758,0.62,146.0,421.8,26833.6,778,10763,0.00,2.28,0.00,0.000,4,0.000,0.064,3064,3696,2421,0,0,0,0,0,0
$GC,10810,0.62,146.0,414.5,26833.6,782,10814,0.00,2.25,0.00,0.000,6,0.000,0.050,3072,2272,2421,0,0,0,0,0,0
$GC,11136,0.62,146.0,372.3,26833.6,812,11140,0.00,2.28,0.00,0.000,4,0.000,0.064,3073,3691,2421,0,0,0,0,0,0
$GC,11182,0.62,146.0,365.8,26833.6,816,11186,0.00,2.25,0.00,0.000,6,0.000,0.050,3083,2264,2421,0,0,0,0,0,0
$GC,11507,0.62,146.0,323.8,26833.6,846,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2421,0,0,0,0,0,0
$GC,11827,0.62,146.0,284.3,26833.6,876,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2421,0,0,0,0,0,0
$GC,12145,0.62,146.0,246.8,26833.6,906,12149,0.00,2.30,0.00,0.000,4,0.000,0.064,3083,3700,2421,0,0,0,0,0,0
$GC,12247,0.62,146.0,232.8,26833.6,915,12252,0.00,2.25,0.00,0.000,6,0.000,0.050,3093,2268,2421,0,0,0,0,0,0
$GC,12573,0.62,146.0,192.7,26833.6,945,12577,0.00,2.28,0.00,0.000,4,0.000,0.064,3093,3698,2421,0,0,0,0,0,0
$GC,12715,0.62,146.0,174.2,26833.6,957,12720,0.15,2.22,0.00,0.000,6,0.210,0.050,3067,2276,2421,0,0,0,0,0,0
$GC,13045,0.62,146.0,144.0,26833.6,988,13049,0.00,2.25,0.00,0.000,4,0.000,0.063,3067,3691,2421,0,0,0,0,0,0
$GC,13097,0.62,146.0,139.4,26833.6,992,13101,0.00,2.22,0.00,0.000,6,0.000,0.049,3076,2270,2421,0,0,0,0,0,0
$GC,13427,0.62,146.0,110.4,26833.6,1023,13431,0.00,2.28,0.00,0.000,4,0.000,0.064,3076,3695,2421,0,0,0,0,0,0
$GC,13552,0.62,146.0,98.7,37.2,1034,13559,0.00,2.22,0.00,0.000,6,0.000,0.050,3085,2277,2421,0,0,0,0,0,0
$GC,13899,0.61,206.5,72.6,7.2,1095,13964,0.00,2.40,55.33,0.957,4,0.000,0.065,3085,3687,2186,0,0,0,0,0,0
$GC,14000,0.54,206.5,63.7,10.7,1112,14007,0.22,2.30,0.00,0.000,6,0.182,0.050,3036,2273,2183,0,0,0,0,0,0
$GC,14347,0.73,297.8,42.4,5.8,1173,14431,0.17,2.45,76.95,0.972,4,0.092,0.067,3117,867,1815,0,0,0,0,0,0
$STATE,14482,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14482,begin subsurface finish
$FINISH1,28.1,1.026058,71
$GC,14491,0.09,70.7,28.1,-11.7,1196,14516,0.75,2.40,-14.77,0.000,4,0.167,0.080,2900,3687,2747,0,0,0,0,0,0
$FINISH2,26.0
$STATE,14517,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14517,begin surface
$RAFOS_CLK,798
$RAFOS,6,1300682944,4.833333,4.817778,150,62,61,55,55,53,698,201,212,180,126,169
$RAFOS,5,1300682485,4.700000,4.690278,56,55,54,53,53,51,189,217,143,198,168,839
$RAFOS,4,1300681982,4.566667,4.550556,105,67,62,57,56,54,666,204,139,183,195,161
$RAFOS,3,1300681505,4.433333,4.418056,62,59,58,58,56,49,194,152,171,210,228,138
$RAFOS,2,1300681030,4.300000,4.286111,62,60,51,49,48,47,181,211,137,118,171,152
$RAFOS,1,1300680571,4.166667,4.158611,113,58,57,55,55,53,458,187,118,212,129,196
$RAFOS,0,1300680079,4.033333,4.021945,59,57,54,53,50,49,190,224,206,114,154,129
$RAFOS_FIX,6656.507324,-5946.772461,210311,040404,3,123,0.56
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.77
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,23.5,23.9
$ALTIM_BOTTOM_PING,23.5,23.7
$24V_AH,22.5,27.915
$10V_AH,10.2,15.399
$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,4.875,136.750,386.525,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3007.696,8893.226,431.467,2047.304,201.204,0.000,1537.511,0.000,2028.505,2520.000,20.422,0.000
$DEVICE_MAMPS,234.855,79.560,1443.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.361,924.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46678,1200
$CAP_FILE_SIZE,149710,0
$CFSIZE,260165632,238985216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,210311,043304,6656.507,-5946.772,0,3122.7,0,-38.2