version: 66.08
glider: 141
mission: 15
dive: 259
start: 3 29 111 23 59 48
data:
$ID,141
$MISSION,15
$DIVE,259
$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,-33675.066
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,290311,204656,6709.638,-5656.386,0,2084.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.63
$_SM_ANGLEo,2.6
$GPS2,290311,204656,6709.638,-5656.386,0,2084.0,0,-37.7
$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,191.5,13703,-17.5,-10.000
$D_GRID,408
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.50,0.000,2,0.000,0.000,2884,869,3174,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.6,-0.0,1,46,0.62,4.82,-10.70,0.000,4,0.110,0.060,2665,3894,3628,0,0,0,0,0,0
$GC,181,-0.58,-146.0,30.4,-13.6,28,188,0.00,2.15,0.00,0.000,6,0.000,0.037,2664,2480,3630,0,0,0,0,0,0
$GC,526,-0.49,-146.0,80.5,-14.4,89,533,0.15,0.00,0.00,0.000,6,0.218,0.000,2701,2480,3629,0,0,0,0,0,0
$GC,861,-0.49,-146.0,116.5,-10.3,135,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2480,3627,0,0,0,0,0,0
$GC,1182,-0.53,-146.0,150.6,-10.6,165,1186,0.00,2.15,0.00,0.000,4,0.000,0.055,2701,1083,3625,0,0,0,0,0,0
$GC,1210,-0.57,-146.0,153.6,-10.4,167,1214,0.00,2.17,0.00,0.000,6,0.000,0.049,2701,2489,3624,0,0,0,0,0,0
$GC,1536,-0.62,-146.0,182.3,-8.4,197,1538,0.12,0.00,0.00,0.000,6,0.123,0.000,2656,2489,3623,0,0,0,0,0,0
$GC,1856,-0.58,-146.0,219.7,-12.8,227,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2489,3623,0,0,0,0,0,0
$GC,2172,-0.53,-146.0,258.5,-12.0,257,2177,0.12,2.28,0.00,0.000,4,0.210,0.065,2685,3899,3623,0,0,0,0,0,0
$GC,2250,-0.58,-146.0,266.1,-9.1,263,2257,0.00,2.15,0.00,0.000,6,0.000,0.037,2686,2480,3623,0,0,0,0,0,0
$GC,2576,-0.62,-146.0,293.2,-8.1,294,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2479,3623,0,0,0,0,0,0
$GC,2894,-0.65,-146.0,319.8,-8.8,324,2898,0.00,2.12,0.00,0.000,4,0.000,0.050,2685,1081,3623,0,0,0,0,0,0
$GC,2907,-0.68,-146.0,320.9,-8.4,325,2912,0.12,2.17,0.00,0.000,6,0.126,0.047,2643,2498,3623,0,0,0,0,0,0
$GC,3232,-0.61,-146.0,358.9,-12.2,355,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2498,3624,0,0,0,0,0,0
$GC,3552,-0.55,-146.0,395.4,-10.9,385,3557,0.15,2.22,0.00,0.000,4,0.212,0.063,2678,3903,3625,0,0,0,0,0,0
$GC,3597,-0.60,-146.0,400.1,-8.9,388,3604,0.00,2.10,0.00,0.000,6,0.000,0.034,2679,2487,3625,0,0,0,0,0,0
$STATE,3686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3692,-0.12,0.0,408.1,8.8,397,3816,0.45,0.00,116.78,1.123,6,0.182,0.000,2813,2252,3030,0,0,0,0,0,0
$STATE,3817,end apogee,CONTROL_FINISHED_OK
$STATE,3817,begin climb
$GC,3819,0.62,146.0,411.3,0.0,408,3945,0.77,0.00,120.20,1.078,6,0.138,0.000,3053,2250,2434,0,0,0,0,0,0
$GC,4261,0.56,146.0,364.0,12.2,450,4265,0.00,2.33,0.00,0.000,4,0.000,0.054,3053,3683,2428,0,0,0,0,0,0
$GC,4364,0.46,146.0,350.0,13.8,459,4369,0.20,2.17,0.00,0.000,6,0.184,0.040,3013,2293,2427,0,0,0,0,0,0
$GC,4689,0.51,185.0,320.2,8.2,489,4726,0.00,2.30,32.67,1.016,4,0.000,0.054,3022,872,2274,0,0,0,0,0,0
$GC,4778,0.59,202.1,312.5,9.2,496,4799,0.00,2.22,15.68,0.962,6,0.000,0.041,3021,2287,2205,0,0,0,0,0,0
$GC,5126,0.62,206.9,278.9,9.8,529,5139,0.12,2.22,5.07,0.720,4,0.103,0.055,3078,3697,2185,0,0,0,0,0,0
$GC,5231,0.54,206.9,263.1,16.6,538,5236,0.17,2.20,0.00,0.000,6,0.181,0.041,3043,2275,2185,0,0,0,0,0,0
$GC,5561,0.54,206.9,223.4,11.3,569,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2274,2184,0,0,0,0,0,0
$GC,5881,0.54,206.9,187.2,11.1,599,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2274,2183,0,0,0,0,0,0
$GC,6200,0.54,206.9,151.1,11.7,629,6204,0.00,2.20,0.00,0.000,4,0.000,0.054,3051,864,2183,0,0,0,0,0,0
$GC,6239,0.57,206.9,146.4,11.1,632,6246,0.00,2.15,0.00,0.000,6,0.000,0.041,3051,2281,2182,0,0,0,0,0,0
$GC,6565,0.57,206.9,110.2,10.6,663,6569,0.00,2.20,0.00,0.000,4,0.000,0.055,3051,3690,2182,0,0,0,0,0,0
$GC,6648,0.55,206.9,100.0,12.5,670,6655,0.00,2.17,0.00,0.000,6,0.000,0.040,3061,2267,2182,0,0,0,0,0,0
$GC,6993,0.55,206.9,62.5,10.2,731,7000,0.00,2.17,0.00,0.000,4,0.000,0.054,3071,865,2182,0,0,0,0,0,0
$GC,7035,0.55,206.9,58.2,10.6,738,7042,0.12,2.15,0.00,0.000,6,0.172,0.041,3039,2277,2181,0,0,0,0,0,0
$GC,7382,0.69,269.0,31.2,7.1,799,7425,0.12,2.25,33.80,0.950,4,0.102,0.057,3092,3690,1931,0,0,0,0,0,0
$FREEZE,8.82,-1.770,-1.836,2,8,0
$STATE,7555,end climb,FINISH_DEPTH_REACHED
$STATE,7555,begin subsurface finish
$FINISH1,8.8,1.026855,32
$GC,7564,0.04,31.6,8.8,-13.3,829,7606,0.75,2.17,-34.17,0.000,4,0.168,0.061,2880,870,2903,0,0,0,0,0,0
$FINISH2,5.6
$STATE,7607,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7607,begin surface
$RAFOS_CLK,392
$RAFOS,6,1301446142,0.833333,0.817222,94,60,58,55,54,52,853,187,222,211,131,153
$RAFOS,5,1301445666,0.700000,0.685000,130,64,62,55,53,52,663,204,189,214,167,136
$RAFOS,4,1301445188,0.566667,0.552222,66,58,57,56,53,53,192,203,871,156,174,220
$RAFOS,3,1301444711,0.433333,0.419722,72,62,55,54,52,52,211,193,168,137,114,179
$RAFOS,2,1301444228,0.300000,0.285556,70,63,57,56,56,55,206,122,171,197,131,158
$RAFOS,1,1301443742,0.166667,0.150556,62,58,54,54,53,51,187,206,140,153,122,168
$RAFOS,0,1301443261,0.033333,0.016944,60,58,57,56,56,49,213,148,223,133,190,166
$RAFOS_FIX,6708.154297,-5652.364746,300311,000056,2,112,0.28
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.0
$24V_AH,23.1,36.059
$10V_AH,10.2,19.719
$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,4.025,57.825,324.200,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1997.201,3883.240,353.552,1322.126,115.920,0.000,1057.325,0.000,1317.144,2520.000,7.923,0.000
$DEVICE_MAMPS,218.025,65.025,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.807,625.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30064,836
$CAP_FILE_SIZE,87245,0
$CFSIZE,260165632,234995712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,300311,004656,6708.154,-5652.365,0,2112.0,0,-37.7