version: 66.08
glider: 141
mission: 15
dive: 725
start: 6 1 111 16 45 8
data:
$ID,141
$MISSION,15
$DIVE,725
$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,-51952.242
$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,31
$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
$GPS1,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-73.3
$GPS2,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6
$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,155.4,34175,-17.5,-10.000
$D_GRID,710
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-160.90,0.000,2,0.000,0.000,106,2502,3249,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.9,-8.7,28,215,13.07,2.38,-8.40,0.000,4,0.316,0.095,2651,3886,3630,0,0,0,0,0,0
$GC,391,-0.52,-146.0,48.4,-15.8,64,398,0.15,2.25,0.00,0.000,6,0.194,0.053,2689,2481,3631,0,0,0,0,0,0
$GC,738,-0.48,-146.0,94.9,-13.2,125,744,0.00,2.28,0.00,0.000,4,0.000,0.070,2689,1074,3632,0,0,0,0,0,0
$GC,786,-0.48,-146.0,101.5,-12.5,132,790,0.00,2.30,0.00,0.000,6,0.000,0.066,2689,2483,3631,0,0,0,0,0,0
$GC,1113,-0.48,-146.0,142.0,-12.7,162,1117,0.00,2.35,0.00,0.000,4,0.000,0.080,2689,3899,3630,0,0,0,0,0,0
$GC,1153,-0.51,-146.0,147.2,-12.9,165,1157,0.00,2.25,0.00,0.000,6,0.000,0.053,2689,2488,3629,0,0,0,0,0,0
$GC,1479,-0.51,-146.0,188.4,-12.4,195,1483,0.00,2.28,0.00,0.000,4,0.000,0.068,2689,1080,3629,0,0,0,0,0,0
$GC,1495,-0.51,-146.0,190.7,-12.8,196,1502,0.00,2.33,0.00,0.000,6,0.000,0.066,2689,2497,3629,0,0,0,0,0,0
$GC,1823,-0.51,-146.0,226.6,-10.4,227,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2497,3630,0,0,0,0,0,0
$GC,2150,-0.51,-146.0,258.9,-10.2,258,2154,0.00,2.28,0.00,0.000,4,0.000,0.063,2689,1080,3631,0,0,0,0,0,0
$GC,2168,-0.51,-146.0,261.0,-10.1,259,2173,0.00,2.28,0.00,0.000,6,0.000,0.062,2689,2493,3631,0,0,0,0,0,0
$GC,2494,-0.51,-146.0,292.0,-9.7,289,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2493,3632,0,0,0,0,0,0
$GC,2817,-0.51,-146.0,324.6,-10.7,319,2821,0.00,2.33,0.00,0.000,4,0.000,0.076,2689,3906,3633,0,0,0,0,0,0
$GC,2827,-0.53,-146.0,326.3,-10.7,319,2834,0.00,2.22,0.00,0.000,6,0.000,0.046,2689,2475,3633,0,0,0,0,0,0
$GC,3153,-0.56,-146.0,359.5,-9.6,350,3157,0.00,2.22,0.00,0.000,4,0.000,0.061,2689,1084,3634,0,0,0,0,0,0
$GC,3173,-0.58,-146.0,361.3,-9.6,351,3177,0.00,2.28,0.00,0.000,6,0.000,0.060,2690,2497,3634,0,0,0,0,0,0
$GC,3505,-0.61,-146.0,394.4,-9.6,382,3509,0.00,2.30,0.00,0.000,4,0.000,0.074,2689,3903,3635,0,0,0,0,0,0
$GC,3517,-0.64,-146.0,395.8,-10.1,382,3524,0.00,2.22,0.00,0.000,6,0.000,0.044,2690,2480,3635,0,0,0,0,0,0
$GC,3843,-0.68,-146.0,425.4,-8.9,413,3848,0.12,2.22,0.00,0.000,4,0.118,0.060,2644,1083,3636,0,0,0,0,0,0
$GC,3876,-0.62,-146.0,429.2,-12.2,415,3883,0.00,2.25,0.00,0.000,6,0.000,0.058,2644,2489,3636,0,0,0,0,0,0
$GC,4202,-0.53,-146.0,470.1,-12.4,446,4207,0.17,2.33,0.00,0.000,4,0.202,0.073,2685,3900,3636,0,0,0,0,0,0
$GC,4236,-0.56,-146.0,473.8,-9.8,448,4243,0.00,2.20,0.00,0.000,6,0.000,0.044,2685,2489,3637,0,0,0,0,0,0
$GC,4564,-0.56,-146.0,502.3,-9.1,479,4568,0.00,2.25,0.00,0.000,4,0.000,0.059,2685,1074,3637,0,0,0,0,0,0
$GC,4594,-0.59,-146.0,505.1,-9.4,481,4598,0.00,2.28,0.00,0.000,6,0.000,0.057,2685,2495,3638,0,0,0,0,0,0
$GC,4926,-0.61,-146.0,535.1,-8.9,512,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2495,3638,0,0,0,0,0,0
$GC,5249,-0.63,-146.0,564.3,-8.9,542,5253,0.00,2.30,0.00,0.000,4,0.000,0.073,2685,3905,3639,0,0,0,0,0,0
$GC,5272,-0.66,-146.0,566.7,-8.3,543,5279,0.10,2.20,0.00,0.000,6,0.131,0.044,2648,2479,3638,0,0,0,0,0,0
$GC,5607,-0.60,-146.0,604.7,-11.6,573,5611,0.00,2.20,0.00,0.000,4,0.000,0.059,2648,1083,3639,0,0,0,0,0,0
$GC,5623,-0.54,-146.0,606.9,-12.2,573,5628,0.17,2.25,0.00,0.000,6,0.202,0.057,2688,2490,3639,0,0,0,0,0,0
$GC,5938,-0.69,-146.0,628.7,-4.2,583,5940,0.15,0.00,0.00,0.000,6,0.108,0.000,2635,2490,3640,0,0,0,0,0,0
$STATE,6117,end dive,NO_VERTICAL_VELOCITY
$STATE,6117,begin apogee
$GC,6124,-0.12,0.0,628.7,0.0,589,6261,0.52,0.00,127.55,1.274,6,0.112,0.000,2814,2265,3030,0,0,0,0,0,0
$STATE,6261,end apogee,CONTROL_FINISHED_OK
$STATE,6261,begin climb
$GC,6264,0.62,146.0,628.7,0.0,593,6403,0.75,2.50,130.32,1.235,4,0.119,0.067,3063,885,2433,0,0,0,0,0,0
$GC,6437,0.57,146.0,619.1,10.2,598,6444,0.00,2.42,0.00,0.000,6,0.000,0.053,3063,2277,2430,0,0,0,0,0,0
$GC,6756,0.50,146.0,582.0,12.2,617,6761,0.15,2.30,0.00,0.000,4,0.178,0.070,3023,3687,2427,0,0,0,0,0,0
$GC,6842,0.47,146.0,572.9,10.2,624,6847,0.00,2.22,0.00,0.000,6,0.000,0.053,3031,2276,2427,0,0,0,0,0,0
$GC,7168,0.49,160.8,542.6,9.3,654,7188,0.00,0.00,12.88,1.093,6,0.000,0.000,3031,2275,2374,0,0,0,0,0,0
$GC,7507,0.49,161.3,509.4,10.0,686,7511,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3699,2372,0,0,0,0,0,0
$GC,7570,0.45,161.3,502.3,11.7,691,7574,0.00,2.25,0.00,0.000,6,0.000,0.052,3041,2268,2372,0,0,0,0,0,0
$GC,7896,0.45,161.3,468.0,10.4,721,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2268,2372,0,0,0,0,0,0
$GC,8216,0.43,161.3,435.4,10.2,751,8223,0.15,0.00,0.00,0.000,6,0.180,0.000,3003,2268,2372,0,0,0,0,0,0
$GC,8542,0.57,217.9,411.0,7.4,782,8601,0.12,2.45,50.65,1.125,4,0.100,0.066,3061,3699,2140,0,0,0,0,0,0
$GC,8654,0.52,217.9,397.1,14.1,792,8659,0.15,2.28,0.00,0.000,6,0.181,0.050,3034,2265,2138,0,0,0,0,0,0
$GC,8980,0.55,217.9,361.5,10.7,822,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2265,2134,0,0,0,0,0,0
$GC,9302,0.59,217.9,328.6,10.0,852,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2265,2133,0,0,0,0,0,0
$GC,9631,0.64,222.9,297.5,9.8,883,9639,0.10,0.00,4.53,0.706,6,0.116,0.000,3085,2265,2121,0,0,0,0,0,0
$GC,9957,0.58,222.9,252.5,14.5,914,9961,0.12,2.33,0.00,0.000,4,0.182,0.065,3053,3697,2121,0,0,0,0,0,0
$GC,10018,0.58,222.9,243.8,13.3,919,10025,0.00,2.22,0.00,0.000,6,0.000,0.049,3061,2271,2120,0,0,0,0,0,0
$GC,10345,0.58,222.9,204.7,12.6,950,10349,0.00,2.22,0.00,0.000,4,0.000,0.065,3072,868,2120,0,0,0,0,0,0
$GC,10398,0.61,222.9,198.2,11.3,954,10403,0.00,2.22,0.00,0.000,6,0.000,0.052,3072,2286,2119,0,0,0,0,0,0
$GC,10724,0.61,222.9,157.3,12.5,984,10728,0.00,2.25,0.00,0.000,4,0.000,0.067,3072,3696,2119,0,0,0,0,0,0
$GC,10849,0.57,222.9,140.4,13.7,994,10857,0.12,2.22,0.00,0.000,6,0.184,0.049,3051,2270,2119,0,0,0,0,0,0
$GC,11175,0.61,224.1,107.8,9.9,1025,11180,0.00,2.25,0.00,0.000,4,0.000,0.066,3059,862,2119,0,0,0,0,0,0
$GC,11246,0.70,240.5,101.2,9.2,1031,11270,0.00,2.22,16.70,0.901,6,0.000,0.051,3060,2284,2049,0,0,0,0,0,0
$GC,11610,0.81,266.8,65.6,8.8,1094,11641,0.17,2.35,24.52,0.902,4,0.084,0.067,3137,3694,1942,0,0,0,0,0,0
$GC,11774,0.72,266.8,41.2,15.3,1122,11781,0.20,2.25,0.00,0.000,6,0.192,0.052,3094,2268,1939,0,0,0,0,0,0
$FREEZE,8.88,-0.664,-1.815,2,88,0
$FREEZE,8.38,-0.681,-1.815,2,88,0
$FREEZE,7.78,-0.690,-1.815,2,88,0
$FREEZE,7.08,-0.680,-1.814,2,88,0
$FREEZE,6.63,-0.674,-1.814,2,88,0
$FREEZE,6.07,-0.666,-1.813,2,88,0
$FREEZE,5.63,-0.660,-1.813,2,88,0
$FREEZE,5.29,-0.661,-1.813,2,88,0
$FREEZE,4.86,-0.661,-1.813,2,88,0
$FREEZE,4.14,-0.664,-1.812,2,88,0
$GC,12122,0.81,299.9,5.3,8.5,1183,12145,0.00,2.28,16.38,0.820,4,0.000,0.066,3102,861,1805,0,0,0,0,0,0
$FREEZE,2.66,-0.666,-1.811,2,88,0
$STATE,12150,end climb,SURFACE_DEPTH_REACHED
$STATE,12151,begin surface coast
$FREEZE,2.14,-0.662,-1.810,2,88,0
$FREEZE,1.94,-0.662,-1.811,2,88,0
$FINISH,1.9,1.026538
$STATE,12164,end surface coast,CONTROL_FINISHED_OK
$STATE,12165,begin surface
$RAFOS_CLK,663
$RAFOS,0,1306958461,20.033333,20.016945,58,58,56,55,54,53,118,209,136,229,160,173
$RAFOS,6,1306946944,16.833334,16.817778,77,63,60,59,59,56,735,123,151,201,178,190
$RAFOS,2,1306945025,16.299999,16.284721,61,59,55,54,51,50,212,190,154,123,223,165
$RAFOS_FIX,6712.733887,-5734.659180,010611,121244,3,93,15.73
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.20
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,21.6,97.959
$10V_AH,9.9,50.666
$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,16.525,102.950,383.525,0.000,0.000,96.132,31.478,0.000,12.500,0.000,183.289,2843.874,6915.653,530.239,2236.989,693.584,0.000,1596.602,0.000,1907.231,720.000,20.767,0.000
$DEVICE_MAMPS,315.945,94.860,1274.490,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.789,899.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,46650,1189
$CAP_FILE_SIZE,140506,0
$CFSIZE,260165632,205434880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.3
$GPS,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6