version: 66.08
glider: 141
mission: 15
dive: 398
start: 4 13 111 9 9 46
data:
$ID,141
$MISSION,15
$DIVE,398
$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,-38474.059
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.01
$_SM_ANGLEo,-3.3
$GPS2,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$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,20.3,8031828,-17.5,-10.000
$D_GRID,250
$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,-7.03,0.000,2,0.000,0.000,2902,2274,2963,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.9,-0.0,1,53,0.68,2.83,-18.80,0.000,4,0.103,0.093,2665,3905,3628,0,0,0,0,0,0
$GC,157,-0.52,-146.0,30.1,-18.1,23,164,0.12,2.28,0.00,0.000,6,0.231,0.057,2692,2480,3630,0,0,0,0,0,0
$GC,503,-0.46,-146.0,85.9,-14.1,84,509,0.00,2.28,0.00,0.000,4,0.000,0.073,2692,1081,3631,0,0,0,0,0,0
$GC,573,-0.46,-146.0,96.3,-14.3,96,580,0.00,2.30,0.00,0.000,6,0.000,0.070,2692,2492,3630,0,0,0,0,0,0
$GC,901,-0.44,-146.0,139.5,-12.3,129,906,0.10,2.40,0.00,0.000,4,0.242,0.087,2715,3909,3630,0,0,0,0,0,0
$GC,975,-0.51,-146.0,147.1,-9.1,135,979,0.00,2.25,0.00,0.000,6,0.000,0.056,2714,2489,3630,0,0,0,0,0,0
$GC,1302,-0.56,-146.0,178.6,-9.3,165,1306,0.00,2.28,0.00,0.000,4,0.000,0.073,2715,1073,3630,0,0,0,0,0,0
$GC,1387,-0.64,-146.0,187.0,-9.2,172,1394,0.17,2.33,0.00,0.000,6,0.119,0.070,2656,2490,3629,0,0,0,0,0,0
$GC,1712,-0.57,-146.0,230.2,-12.9,203,1716,0.00,2.35,0.00,0.000,4,0.000,0.086,2655,3900,3629,0,0,0,0,0,0
$GC,1823,-0.53,-146.0,244.1,-11.5,212,1831,0.15,2.25,0.00,0.000,6,0.203,0.056,2690,2478,3628,0,0,0,0,0,0
$STATE,1881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1881,begin apogee
$GC,1887,-0.12,0.0,250.1,9.7,218,2017,0.43,0.00,120.45,1.121,6,0.200,0.000,2812,2268,3030,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2020,0.62,146.0,254.5,0.0,230,2152,0.82,0.00,125.20,1.061,6,0.161,0.000,3049,2268,2434,0,0,0,0,0,0
$GC,2468,0.63,157.6,221.3,9.5,272,2483,0.00,2.47,10.35,0.928,4,0.000,0.075,3049,3687,2387,0,0,0,0,0,0
$GC,2511,0.59,157.6,216.9,10.9,275,2518,0.00,2.38,0.00,0.000,6,0.000,0.063,3059,2284,2386,0,0,0,0,0,0
$GC,2838,0.63,187.5,186.8,8.6,306,2872,0.00,2.40,26.55,1.003,4,0.000,0.075,3059,3689,2266,0,0,0,0,0,0
$GC,2885,0.64,214.0,182.5,8.8,310,2919,0.00,2.35,24.90,0.983,6,0.000,0.062,3070,2275,2157,0,0,0,0,0,0
$GC,3237,0.64,215.9,147.6,9.9,343,3241,0.00,2.35,0.00,0.000,4,0.000,0.080,3080,865,2153,0,0,0,0,0,0
$GC,3283,0.66,215.9,142.8,10.6,347,3287,0.00,2.30,0.00,0.000,6,0.000,0.063,3080,2276,2151,0,0,0,0,0,0
$GC,3609,0.69,240.9,111.4,8.8,377,3642,0.00,2.40,24.38,0.978,4,0.000,0.079,3080,3680,2046,0,0,0,0,0,0
$GC,3700,0.69,240.9,101.5,11.8,385,3704,0.00,2.30,0.00,0.000,6,0.000,0.063,3090,2275,2044,0,0,0,0,0,0
$GC,4043,0.73,254.2,67.8,9.4,444,4062,0.00,2.42,12.95,0.929,4,0.000,0.079,3098,858,1991,0,0,0,0,0,0
$GC,4103,0.82,281.0,62.4,8.8,454,4139,0.00,2.35,25.88,0.955,6,0.000,0.063,3099,2285,1883,0,0,0,0,0,0
$GC,4477,0.93,313.6,29.2,8.5,520,4503,0.17,2.42,20.27,0.985,4,0.093,0.077,3169,3696,1750,0,0,0,0,0,0
$GC,4528,0.85,313.6,22.8,14.3,528,4535,0.17,2.35,0.00,0.000,6,0.216,0.063,3138,2267,1746,0,0,0,0,0,0
$FREEZE,8.42,-1.732,-1.774,2,124,0
$STATE,4648,end climb,FINISH_DEPTH_REACHED
$STATE,4648,begin subsurface finish
$FINISH1,8.4,1.025972,75
$GC,4655,0.09,74.9,8.4,-10.3,549,4703,0.80,2.38,-38.05,0.000,4,0.177,0.090,2901,841,2727,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4703,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4703,begin surface
$RAFOS_CLK,275
$RAFOS_FIX,6720.216309,29946.160156,130411,080828,2,80,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,22.2,53.147
$10V_AH,10.1,27.085
$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,3.625,54.725,390.925,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1285.595,2062.814,414.107,914.230,81.432,0.000,944.148,0.000,910.709,0.000,2.613,0.000
$DEVICE_MAMPS,241.740,93.330,1120.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.085,410.204,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,20174,557
$CAP_FILE_SIZE,61881,0
$CFSIZE,260165632,227831808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5