version: 66.08
glider: 141
mission: 15
dive: 511
start: 4 27 111 16 3 18
data:
$ID,141
$MISSION,15
$DIVE,511
$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,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,-44746.707
$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,25
$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
$GPS1,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,7.0
$GPS2,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6
$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,294.0,153348,-17.5,-10.000
$D_GRID,656
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,139,0.00,0.35,-116.78,0.000,6,0.000,0.172,3093,2495,3627,0,0,0,0,0,0
$GC,141,-0.62,-146.0,5.5,-10.8,21,149,1.42,2.30,0.00,0.000,4,0.171,0.066,2676,1078,3629,0,0,0,0,0,0
$GC,402,-0.62,-146.0,40.0,-13.2,67,409,0.00,2.30,0.00,0.000,6,0.000,0.067,2676,2484,3628,0,0,0,0,0,0
$GC,748,-0.58,-146.0,86.1,-13.7,128,755,0.00,2.30,0.00,0.000,4,0.000,0.071,2676,1082,3628,0,0,0,0,0,0
$GC,858,-0.58,-146.0,100.5,-12.6,147,865,0.00,2.33,0.00,0.000,6,0.000,0.069,2676,2495,3627,0,0,0,0,0,0
$GC,1184,-0.58,-146.0,141.7,-12.5,178,1189,0.00,2.35,0.00,0.000,4,0.000,0.085,2676,3901,3626,0,0,0,0,0,0
$GC,1229,-0.62,-146.0,147.4,-12.0,181,1235,0.00,2.25,0.00,0.000,6,0.000,0.056,2676,2483,3626,0,0,0,0,0,0
$GC,1554,-0.62,-146.0,186.3,-11.1,212,1558,0.00,2.28,0.00,0.000,4,0.000,0.072,2676,1076,3625,0,0,0,0,0,0
$GC,1622,-0.66,-146.0,193.7,-10.5,218,1626,0.00,2.33,0.00,0.000,6,0.000,0.069,2676,2497,3625,0,0,0,0,0,0
$GC,1947,-0.66,-146.0,223.0,-8.4,248,1952,0.00,2.35,0.00,0.000,4,0.000,0.083,2676,3909,3625,0,0,0,0,0,0
$GC,2037,-0.69,-146.0,230.6,-8.8,255,2044,0.00,2.25,0.00,0.000,6,0.000,0.053,2676,2481,3625,0,0,0,0,0,0
$GC,2362,-0.69,-146.0,260.0,-9.1,286,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2481,3626,0,0,0,0,0,0
$GC,2683,-0.69,-146.0,289.5,-9.4,316,2687,0.00,2.25,0.00,0.000,4,0.000,0.068,2676,1075,3625,0,0,0,0,0,0
$GC,2715,-0.69,-146.0,293.0,-10.4,318,2722,0.00,2.33,0.00,0.000,6,0.000,0.066,2676,2497,3626,0,0,0,0,0,0
$GC,3041,-0.71,-146.0,325.0,-10.2,349,3046,0.12,2.35,0.00,0.000,4,0.123,0.082,2633,3902,3625,0,0,0,0,0,0
$GC,3092,-0.66,-146.0,331.5,-13.3,353,3096,0.00,2.25,0.00,0.000,6,0.000,0.052,2633,2487,3625,0,0,0,0,0,0
$GC,3423,-0.58,-146.0,377.0,-14.1,384,3428,0.17,2.28,0.00,0.000,4,0.206,0.067,2676,1082,3626,0,0,0,0,0,0
$GC,3480,-0.63,-146.0,383.7,-10.7,388,3487,0.00,2.33,0.00,0.000,6,0.000,0.067,2676,2498,3626,0,0,0,0,0,0
$GC,3805,-0.66,-146.0,417.8,-10.4,419,3809,0.00,2.35,0.00,0.000,4,0.000,0.081,2676,3903,3625,0,0,0,0,0,0
$GC,3844,-0.72,-146.0,422.1,-10.9,422,3852,0.15,2.22,0.00,0.000,6,0.116,0.051,2625,2489,3625,0,0,0,0,0,0
$GC,4170,-0.64,-146.0,465.8,-13.1,453,4175,0.12,2.30,0.00,0.000,4,0.222,0.067,2652,1081,3625,0,0,0,0,0,0
$GC,4232,-0.64,-146.0,473.4,-11.5,458,4236,0.00,2.30,0.00,0.000,6,0.000,0.066,2653,2491,3625,0,0,0,0,0,0
$GC,4557,-0.64,-146.0,509.0,-10.9,488,4561,0.00,2.35,0.00,0.000,4,0.000,0.080,2652,3900,3625,0,0,0,0,0,0
$GC,4589,-0.64,-146.0,512.7,-10.8,490,4596,0.00,2.22,0.00,0.000,6,0.000,0.050,2652,2488,3625,0,0,0,0,0,0
$GC,4916,-0.64,-146.0,546.7,-10.3,521,4920,0.00,2.28,0.00,0.000,4,0.000,0.067,2653,1076,3626,0,0,0,0,0,0
$GC,4946,-0.64,-146.0,550.0,-11.2,523,4951,0.00,2.33,0.00,0.000,6,0.000,0.065,2652,2497,3626,0,0,0,0,0,0
$GC,5271,-0.64,-146.0,585.4,-10.8,553,5276,0.00,2.35,0.00,0.000,4,0.000,0.080,2653,3903,3626,0,0,0,0,0,0
$GC,5328,-0.64,-146.0,591.5,-10.4,557,5335,0.00,2.22,0.00,0.000,6,0.000,0.050,2652,2484,3626,0,0,0,0,0,0
$GC,5664,-0.64,-146.0,625.6,-10.1,574,5668,0.00,2.25,0.00,0.000,4,0.000,0.066,2652,1074,3627,0,0,0,0,0,0
$GC,5694,-0.64,-146.0,628.5,-10.3,575,5698,0.00,2.33,0.00,0.000,6,0.000,0.065,2653,2495,3626,0,0,0,0,0,0
$STATE,5965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5965,begin apogee
$GC,5971,-0.12,0.0,656.2,10.3,584,6102,0.55,0.00,124.60,1.332,6,0.185,0.000,2811,2260,3030,0,0,0,0,0,0
$STATE,6102,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6105,0.62,146.0,660.4,0.0,588,6245,0.80,2.50,132.00,1.283,4,0.136,0.071,3061,875,2434,0,0,0,0,0,0
$GC,6296,0.57,146.0,646.7,11.7,594,6300,0.00,2.47,0.00,0.000,6,0.000,0.058,3061,2273,2429,0,0,0,0,0,0
$GC,6619,0.51,146.0,609.4,11.4,605,6624,0.12,2.40,0.00,0.000,4,0.184,0.075,3031,3696,2427,0,0,0,0,0,0
$GC,6687,0.45,146.0,601.5,11.9,607,6691,0.00,2.33,0.00,0.000,6,0.000,0.057,3039,2282,2426,0,0,0,0,0,0
$GC,7018,0.43,146.0,567.5,10.2,637,7023,0.12,2.33,0.00,0.000,4,0.183,0.073,3009,3697,2425,0,0,0,0,0,0
$GC,7036,0.43,148.2,565.8,9.9,638,7040,0.00,2.30,0.00,0.000,6,0.000,0.057,3016,2274,2425,0,0,0,0,0,0
$GC,7361,0.48,171.6,537.2,8.9,668,7391,0.00,0.00,22.50,1.187,6,0.000,0.000,3016,2274,2329,0,0,0,0,0,0
$GC,7711,0.56,204.7,506.8,8.5,701,7748,0.00,2.42,30.17,1.193,4,0.000,0.072,3016,3686,2195,0,0,0,0,0,0
$GC,7767,0.62,217.5,501.7,9.4,706,7790,0.10,2.30,13.23,1.112,6,0.115,0.057,3069,2275,2142,0,0,0,0,0,0
$GC,8108,0.59,217.5,459.4,12.5,738,8112,0.00,2.30,0.00,0.000,4,0.000,0.073,3080,865,2138,0,0,0,0,0,0
$GC,8146,0.59,217.5,454.5,12.7,741,8153,0.00,2.30,0.00,0.000,6,0.000,0.060,3080,2279,2136,0,0,0,0,0,0
$GC,8471,0.55,217.5,412.3,13.2,772,8476,0.15,2.33,0.00,0.000,4,0.183,0.073,3041,3694,2136,0,0,0,0,0,0
$GC,8523,0.55,217.5,405.9,12.0,776,8527,0.00,2.30,0.00,0.000,6,0.000,0.058,3048,2267,2136,0,0,0,0,0,0
$GC,8853,0.57,217.5,370.3,10.2,807,8858,0.00,2.28,0.00,0.000,4,0.000,0.073,3058,863,2135,0,0,0,0,0,0
$GC,8886,0.60,217.5,366.7,10.6,809,8893,0.00,2.25,0.00,0.000,6,0.000,0.059,3058,2275,2134,0,0,0,0,0,0
$GC,9212,0.60,217.5,330.9,10.9,840,9216,0.00,2.30,0.00,0.000,4,0.000,0.074,3058,3686,2134,0,0,0,0,0,0
$GC,9252,0.58,217.5,325.9,13.2,843,9258,0.00,2.28,0.00,0.000,6,0.000,0.058,3068,2275,2134,0,0,0,0,0,0
$GC,9577,0.58,217.5,287.7,11.9,874,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2275,2134,0,0,0,0,0,0
$GC,9897,0.58,217.5,251.3,11.7,904,9901,0.00,2.30,0.00,0.000,4,0.000,0.072,3079,865,2134,0,0,0,0,0,0
$GC,9908,0.58,217.5,249.9,11.5,904,9914,0.00,2.25,0.00,0.000,6,0.000,0.057,3079,2280,2133,0,0,0,0,0,0
$GC,10233,0.56,217.5,206.9,13.9,935,10238,0.12,2.30,0.00,0.000,4,0.185,0.075,3047,3692,2133,0,0,0,0,0,0
$GC,10266,0.56,217.5,202.3,13.3,937,10273,0.00,2.30,0.00,0.000,6,0.000,0.058,3055,2264,2133,0,0,0,0,0,0
$GC,10593,0.58,217.5,166.5,10.4,968,10597,0.00,2.33,0.00,0.000,4,0.000,0.073,3055,3685,2133,0,0,0,0,0,0
$GC,10614,0.58,217.5,163.8,10.7,969,10621,0.00,2.28,0.00,0.000,6,0.000,0.057,3066,2271,2133,0,0,0,0,0,0
$GC,10939,0.58,217.5,129.5,10.7,1000,10943,0.00,2.28,0.00,0.000,4,0.000,0.072,3076,860,2133,0,0,0,0,0,0
$GC,10972,0.60,217.5,125.9,10.8,1002,10979,0.00,2.30,0.00,0.000,6,0.000,0.060,3076,2286,2131,0,0,0,0,0,0
$GC,11303,0.60,217.5,90.0,10.7,1041,11310,0.00,2.28,0.00,0.000,4,0.000,0.074,3076,3691,2132,0,0,0,0,0,0
$GC,11357,0.58,217.5,83.9,12.2,1050,11364,0.12,2.28,0.00,0.000,6,0.193,0.057,3055,2270,2132,0,0,0,0,0,0
$GC,11705,0.74,300.5,58.2,6.2,1111,11787,0.15,2.38,72.97,0.955,4,0.100,0.072,3127,866,1802,0,0,0,0,0,0
$GC,11795,0.72,300.5,48.3,12.4,1126,11803,0.12,2.33,0.00,0.000,6,0.197,0.057,3099,2279,1800,0,0,0,0,0,0
$FREEZE,8.97,-1.731,-1.834,2,46,0
$FREEZE,8.03,-1.731,-1.834,2,46,0
$FREEZE,7.23,-1.732,-1.833,2,46,0
$FREEZE,6.53,-1.733,-1.832,2,46,0
$STATE,12141,end climb,FINISH_DEPTH_REACHED
$STATE,12141,begin subsurface finish
$FINISH1,6.5,1.026832,33
$GC,12147,0.04,32.7,6.5,-14.5,1187,12206,0.73,2.35,-49.75,0.000,4,0.171,0.089,2882,3680,2898,0,0,0,0,0,0
$FINISH2,5.0
$STATE,12207,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12207,begin surface
$RAFOS_CLK,652
$RAFOS,6,1303922950,16.833334,16.819445,165,66,60,56,53,53,764,194,167,179,86,117
$RAFOS,5,1303922462,16.700001,16.683889,142,75,66,55,55,53,624,208,175,221,152,196
$RAFOS,4,1303921984,16.566668,16.551111,90,63,59,59,59,57,841,194,141,230,177,152
$RAFOS,3,1303921505,16.433332,16.418056,66,64,59,58,55,55,181,193,202,163,93,222
$RAFOS,2,1303921026,16.299999,16.285000,66,57,56,56,54,52,216,193,205,135,176,144
$RAFOS,1,1303920543,16.166666,16.150833,68,60,59,58,57,52,184,201,171,213,124,139
$RAFOS_FIX,6702.967285,-5710.934082,270411,161622,3,132,0.22
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.08
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,21.9,66.536
$10V_AH,10.1,34.344
$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,5.100,132.325,395.475,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2841.218,6678.788,560.194,1980.163,216.535,0.000,1642.809,0.000,1960.892,2160.000,16.755,0.000
$DEVICE_MAMPS,221.850,172.125,1331.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.203,906.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,46660,1197
$CAP_FILE_SIZE,137128,0
$CFSIZE,260165632,220901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,270411,164322,6702.967,-5710.934,0,3132.3,0,-37.6