version: 66.08
glider: 141
mission: 15
dive: 311
start: 4 8 111 0 11 22
data:
$ID,141
$MISSION,15
$DIVE,311
$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,1
$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,-35151.645
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,070411,202328,6655.995,-6005.287,0,4098.2,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,88.84
$_SM_ANGLEo,2.8
$GPS2,070411,202328,6655.995,-6005.287,0,4098.2,0,-37.5
$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,251.8,26890,-17.5,-10.000
$D_GRID,722
$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,-146.0,0.0,0.0,0,25,0.00,1.10,-5.60,0.000,3,0.000,0.078,2894,3000,3637,0,0,0,0,0,0
$GC,27,-0.62,-146.0,90.4,-0.0,1,35,0.70,3.08,0.00,0.000,4,0.138,0.060,2668,1074,3639,0,0,0,0,0,0
$GC,127,-0.56,-146.0,103.1,-14.4,17,131,0.00,2.33,0.00,0.000,6,0.000,0.066,2668,2497,3639,0,0,0,0,0,0
$GC,452,-0.46,-146.0,156.1,-15.2,47,457,0.17,2.38,0.00,0.000,4,0.226,0.081,2710,3909,3639,0,0,0,0,0,0
$GC,508,-0.52,-146.0,163.0,-10.3,51,515,0.00,2.25,0.00,0.000,6,0.000,0.050,2710,2476,3639,0,0,0,0,0,0
$GC,833,-0.54,-146.0,195.2,-9.5,82,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2476,3639,0,0,0,0,0,0
$GC,1154,-0.57,-146.0,223.6,-9.1,112,1158,0.00,2.38,0.00,0.000,4,0.000,0.078,2710,3906,3637,0,0,0,0,0,0
$GC,1177,-0.61,-146.0,226.1,-9.7,114,1182,0.15,2.25,0.00,0.000,6,0.117,0.050,2659,2482,3637,0,0,0,0,0,0
$GC,1502,-0.53,-146.0,269.1,-12.9,144,1507,0.12,2.28,0.00,0.000,4,0.223,0.067,2687,1076,3637,0,0,0,0,0,0
$GC,1525,-0.48,-146.0,271.7,-12.1,146,1529,0.00,2.33,0.00,0.000,6,0.000,0.067,2687,2494,3637,0,0,0,0,0,0
$GC,1850,-0.48,-146.0,303.7,-10.0,176,1854,0.00,2.33,0.00,0.000,4,0.000,0.081,2687,3900,3637,0,0,0,0,0,0
$GC,1879,-0.48,-146.0,306.5,-10.5,178,1883,0.00,2.25,0.00,0.000,6,0.000,0.051,2687,2481,3636,0,0,0,0,0,0
$GC,2205,-0.48,-146.0,338.2,-9.4,208,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2481,3636,0,0,0,0,0,0
$GC,2523,-0.48,-146.0,367.5,-9.4,238,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2482,3636,0,0,0,0,0,0
$GC,2843,-0.48,-146.0,397.6,-9.2,268,2847,0.00,2.22,0.00,0.000,4,0.000,0.067,2687,1083,3636,0,0,0,0,0,0
$GC,2866,-0.48,-146.0,400.2,-10.2,269,2873,0.00,2.30,0.00,0.000,6,0.000,0.065,2687,2490,3636,0,0,0,0,0,0
$GC,3191,-0.51,-146.0,431.4,-9.6,300,3196,0.00,2.35,0.00,0.000,4,0.000,0.080,2687,3900,3636,0,0,0,0,0,0
$GC,3220,-0.54,-146.0,434.3,-10.7,302,3224,0.00,2.22,0.00,0.000,6,0.000,0.049,2687,2488,3636,0,0,0,0,0,0
$GC,3548,-0.56,-146.0,464.2,-8.7,332,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2489,3637,0,0,0,0,0,0
$GC,3865,-0.59,-146.0,492.3,-9.3,362,3869,0.00,2.25,0.00,0.000,4,0.000,0.063,2687,1082,3637,0,0,0,0,0,0
$GC,3888,-0.61,-146.0,494.7,-9.5,363,3895,0.00,2.28,0.00,0.000,6,0.000,0.063,2687,2496,3637,0,0,0,0,0,0
$GC,4213,-0.64,-146.0,523.2,-8.7,394,4217,0.00,2.30,0.00,0.000,4,0.000,0.079,2687,3897,3637,0,0,0,0,0,0
$GC,4236,-0.68,-146.0,525.2,-8.2,395,4243,0.12,2.22,0.00,0.000,6,0.124,0.049,2646,2487,3637,0,0,0,0,0,0
$GC,4562,-0.60,-146.0,563.3,-11.5,426,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2487,3638,0,0,0,0,0,0
$GC,4881,-0.52,-146.0,599.9,-11.7,456,4887,0.17,2.28,0.00,0.000,4,0.206,0.063,2688,1077,3637,0,0,0,0,0,0
$GC,4916,-0.55,-146.0,603.8,-9.8,458,4921,0.00,2.30,0.00,0.000,6,0.000,0.063,2689,2495,3637,0,0,0,0,0,0
$GC,5253,-0.59,-146.0,630.1,-7.8,469,5257,0.00,2.30,0.00,0.000,4,0.000,0.078,2689,3899,3638,0,0,0,0,0,0
$GC,5286,-0.65,-146.0,633.4,-9.2,470,5291,0.12,2.22,0.00,0.000,6,0.124,0.048,2646,2485,3638,0,0,0,0,0,0
$GC,5616,-0.59,-146.0,671.7,-11.9,481,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2484,3638,0,0,0,0,0,0
$GC,5922,-0.69,-146.0,702.1,-8.2,491,5926,0.00,2.25,0.00,0.000,4,0.000,0.065,2646,1082,3638,0,0,0,0,0,0
$STATE,6061,end dive,NO_VERTICAL_VELOCITY
$STATE,6061,begin apogee
$GC,6068,-0.12,0.0,702.1,0.0,495,6199,0.52,0.00,125.10,1.370,6,0.125,0.000,2819,2278,3030,0,0,0,0,0,0
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6201,0.62,146.0,702.1,0.0,499,6341,0.75,2.65,130.18,1.320,4,0.127,0.068,3061,872,2433,0,0,0,0,0,0
$GC,6420,0.55,146.0,683.4,12.6,506,6424,0.00,2.45,0.00,0.000,6,0.000,0.056,3061,2270,2428,0,0,0,0,0,0
$GC,6744,0.46,146.0,646.6,11.7,517,6749,0.17,2.38,0.00,0.000,4,0.184,0.070,3017,3687,2425,0,0,0,0,0,0
$GC,6823,0.41,146.0,637.8,11.1,519,6827,0.00,2.35,0.00,0.000,6,0.000,0.056,3025,2270,2425,0,0,0,0,0,0
$GC,7141,0.40,153.9,607.5,9.6,530,7156,0.12,2.38,6.55,1.003,4,0.184,0.069,3002,864,2402,0,0,0,0,0,0
$GC,7178,0.51,194.5,604.1,8.1,531,7223,0.00,2.33,37.67,1.248,6,0.000,0.057,3002,2285,2236,0,0,0,0,0,0
$GC,7544,0.63,241.3,573.8,7.8,562,7593,0.17,2.38,42.83,1.235,4,0.091,0.069,3074,3684,2045,0,0,0,0,0,0
$GC,7631,0.55,241.3,561.5,16.9,569,7639,0.17,2.38,0.00,0.000,6,0.203,0.057,3043,2268,2041,0,0,0,0,0,0
$GC,7957,0.55,241.3,521.4,12.7,600,7961,0.00,2.30,0.00,0.000,4,0.000,0.070,3051,858,2037,0,0,0,0,0,0
$GC,8008,0.55,241.3,515.2,12.4,604,8012,0.00,2.30,0.00,0.000,6,0.000,0.056,3051,2278,2035,0,0,0,0,0,0
$GC,8338,0.53,241.3,473.7,12.5,635,8343,0.00,2.30,0.00,0.000,4,0.000,0.070,3051,3697,2034,0,0,0,0,0,0
$GC,8382,0.50,241.3,467.6,13.7,638,8390,0.12,2.33,0.00,0.000,6,0.192,0.057,3031,2263,2034,0,0,0,0,0,0
$GC,8707,0.54,241.3,434.0,10.2,669,8712,0.00,2.28,0.00,0.000,4,0.000,0.070,3040,861,2033,0,0,0,0,0,0
$GC,8753,0.59,241.3,429.3,10.5,673,8757,0.00,2.28,0.00,0.000,6,0.000,0.055,3040,2279,2032,0,0,0,0,0,0
$GC,9078,0.61,241.3,393.7,11.1,703,9083,0.00,2.30,0.00,0.000,4,0.000,0.071,3040,3692,2032,0,0,0,0,0,0
$GC,9122,0.61,241.3,387.9,13.3,706,9129,0.00,2.30,0.00,0.000,6,0.000,0.057,3050,2273,2031,0,0,0,0,0,0
$GC,9449,0.61,241.3,348.4,12.0,737,9453,0.00,2.30,0.00,0.000,4,0.000,0.069,3060,858,2031,0,0,0,0,0,0
$GC,9511,0.61,241.3,340.9,11.4,742,9515,0.00,2.28,0.00,0.000,6,0.000,0.056,3060,2279,2030,0,0,0,0,0,0
$GC,9837,0.61,241.3,301.1,12.3,772,9841,0.00,2.30,0.00,0.000,4,0.000,0.071,3060,3695,2030,0,0,0,0,0,0
$GC,9880,0.58,241.3,295.0,13.6,775,9888,0.00,2.30,0.00,0.000,6,0.000,0.057,3071,2264,2030,0,0,0,0,0,0
$GC,10206,0.58,241.3,253.0,12.6,806,10210,0.00,2.25,0.00,0.000,4,0.000,0.069,3081,861,2030,0,0,0,0,0,0
$GC,10254,0.58,241.3,246.8,12.3,810,10262,0.00,2.28,0.00,0.000,6,0.000,0.056,3081,2270,2029,0,0,0,0,0,0
$GC,10580,0.56,241.3,207.0,11.9,841,10585,0.12,2.30,0.00,0.000,4,0.187,0.070,3049,3685,2030,0,0,0,0,0,0
$GC,10623,0.56,241.3,201.9,10.9,844,10631,0.00,2.30,0.00,0.000,6,0.000,0.055,3056,2267,2029,0,0,0,0,0,0
$GC,10951,0.60,245.8,170.5,9.8,875,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2267,2030,0,0,0,0,0,0
$GC,11269,0.70,283.5,140.9,8.3,905,11314,0.00,2.35,36.78,1.030,4,0.000,0.070,3065,855,1873,0,0,0,0,0,0
$GC,11339,0.85,328.5,135.1,7.9,911,11387,0.20,2.33,41.20,1.000,6,0.090,0.055,3141,2279,1691,0,0,0,0,0,0
$GC,11717,0.80,328.5,77.8,14.6,958,11724,0.00,2.33,0.00,0.000,4,0.000,0.071,3141,3690,1679,0,0,0,0,0,0
$GC,11765,0.74,328.5,70.1,15.9,966,11772,0.20,2.30,0.00,0.000,6,0.201,0.057,3101,2274,1679,0,0,0,0,0,0
$GC,12111,0.80,328.5,34.1,10.4,1027,12118,0.00,2.28,0.00,0.000,4,0.000,0.070,3110,864,1678,0,0,0,0,0,0
$GC,12153,0.87,333.9,29.7,9.8,1034,12161,0.10,2.28,0.00,0.000,6,0.131,0.057,3148,2277,1677,0,0,0,0,0,0
$FREEZE,8.49,-1.769,-1.789,3,37,0
$STATE,12307,end climb,FINISH_DEPTH_REACHED
$STATE,12307,begin subsurface finish
$FINISH1,8.5,1.026191,64
$GC,12313,0.08,64.2,8.5,-14.3,1061,12367,0.85,2.35,-44.92,0.000,4,0.176,0.086,2898,3693,2770,0,0,0,0,0,0
$FINISH2,6.4
$STATE,12367,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12368,begin surface
$RAFOS_CLK,678
$RAFOS,6,1302223748,0.833333,0.818889,147,56,54,53,52,48,736,153,186,140,210,170
$RAFOS,5,1302223266,0.700000,0.685000,70,56,51,50,49,48,171,204,192,116,215,127
$RAFOS,4,1302222791,0.566667,0.553056,99,61,57,57,56,54,669,216,179,203,238,145
$RAFOS,3,1302222302,0.433333,0.417222,67,57,52,50,49,48,202,175,193,150,217,137
$RAFOS,2,1302221825,0.300000,0.284722,76,59,54,53,52,50,209,178,168,151,706,221
$RAFOS,0,1302220866,0.033333,0.018333,93,60,59,56,55,54,659,187,159,136,170,116
$RAFOS_FIX,6655.604004,-6004.218262,080411,000034,3,113,0.07
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.24
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.1
$24V_AH,22.2,43.116
$10V_AH,10.2,23.848
$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,5.100,128.525,420.300,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2691.931,7232.924,477.012,1849.342,182.301,0.000,1485.527,0.000,1829.002,1800.000,21.398,0.000
$DEVICE_MAMPS,225.675,85.680,1370.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.067,823.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,40024,1070
$CAP_FILE_SIZE,136744,0
$CFSIZE,260165632,231092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5