version: 66.08
glider: 141
mission: 15
dive: 424
start: 4 18 111 16 25 40
data:
$ID,141
$MISSION,15
$DIVE,424
$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,400
$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,-38475.41
$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,24
$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
$GPS1,180411,124344,6721.060,-5812.151,0,3137.0,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.24
$_SM_ANGLEo,0.2
$GPS2,180411,124344,6721.060,-5812.151,0,3137.0,0,-38.9
$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,157.7,69365,-17.5,-10.000
$D_GRID,1024
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,2,0.000,0.000,2885,2275,3093,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.4,-0.0,1,51,0.62,2.70,-15.93,0.000,4,0.104,0.087,2666,3906,3627,0,0,0,0,0,0
$GC,59,-0.64,-146.0,11.1,-9.0,6,65,0.00,2.22,0.00,0.000,6,0.000,0.046,2666,2473,3629,0,0,0,0,0,0
$GC,404,-0.54,-146.0,65.9,-16.2,67,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2473,3630,0,0,0,0,0,0
$GC,747,-0.45,-146.0,120.8,-15.5,117,748,0.20,0.00,0.00,0.000,6,0.211,0.000,2715,2473,3629,0,0,0,0,0,0
$GC,1066,-0.51,-146.0,152.4,-9.8,147,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2472,3628,0,0,0,0,0,0
$GC,1385,-0.59,-146.0,182.7,-8.5,177,1387,0.12,0.00,0.00,0.000,6,0.135,0.000,2674,2472,3627,0,0,0,0,0,0
$GC,1702,-0.56,-146.0,217.4,-10.6,207,1706,0.00,2.38,0.00,0.000,4,0.000,0.075,2674,3905,3626,0,0,0,0,0,0
$GC,1757,-0.56,-146.0,223.4,-10.3,211,1764,0.00,2.17,0.00,0.000,6,0.000,0.046,2674,2491,3626,0,0,0,0,0,0
$GC,2083,-0.56,-146.0,256.8,-10.2,242,2087,0.00,2.30,0.00,0.000,4,0.000,0.073,2673,3897,3625,0,0,0,0,0,0
$GC,2111,-0.56,-146.0,259.8,-10.2,244,2115,0.00,2.17,0.00,0.000,6,0.000,0.045,2674,2487,3625,0,0,0,0,0,0
$GC,2436,-0.56,-146.0,290.8,-9.4,274,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2487,3626,0,0,0,0,0,0
$GC,2758,-0.56,-146.0,323.1,-9.7,304,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2486,3627,0,0,0,0,0,0
$GC,3084,-0.56,-146.0,354.7,-9.5,335,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2487,3627,0,0,0,0,0,0
$GC,3403,-0.56,-146.0,384.5,-9.1,365,3407,0.00,2.33,0.00,0.000,4,0.000,0.072,2674,3904,3627,0,0,0,0,0,0
$GC,3414,-0.56,-146.0,385.7,-8.5,365,3421,0.00,2.20,0.00,0.000,6,0.000,0.043,2674,2482,3626,0,0,0,0,0,0
$GC,3739,-0.56,-146.0,415.6,-9.3,396,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2482,3627,0,0,0,0,0,0
$GC,4059,-0.56,-146.0,448.0,-10.2,426,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2482,3628,0,0,0,0,0,0
$GC,4377,-0.56,-146.0,480.9,-10.1,456,4381,0.00,2.33,0.00,0.000,4,0.000,0.071,2673,3906,3628,0,0,0,0,0,0
$GC,4406,-0.56,-146.0,484.1,-10.3,458,4410,0.00,2.20,0.00,0.000,6,0.000,0.043,2674,2488,3627,0,0,0,0,0,0
$GC,4732,-0.56,-146.0,517.0,-10.0,488,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2487,3627,0,0,0,0,0,0
$GC,5052,-0.56,-146.0,549.4,-9.9,518,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2487,3628,0,0,0,0,0,0
$GC,5370,-0.56,-146.0,582.4,-10.0,548,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2487,3628,0,0,0,0,0,0
$GC,5681,-0.56,-146.0,611.9,-9.1,570,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2487,3628,0,0,0,0,0,0
$GC,5987,-0.56,-146.0,642.0,-10.1,580,5991,0.00,2.20,0.00,0.000,4,0.000,0.060,2674,1082,3628,0,0,0,0,0,0
$GC,5998,-0.56,-146.0,643.1,-10.3,580,6003,0.00,2.22,0.00,0.000,6,0.000,0.057,2673,2488,3628,0,0,0,0,0,0
$GC,6317,-0.56,-146.0,672.2,-8.9,591,6321,0.00,2.30,0.00,0.000,4,0.000,0.075,2674,3904,3628,0,0,0,0,0,0
$GC,6327,-0.56,-146.0,673.1,-8.8,591,6331,0.00,2.17,0.00,0.000,6,0.000,0.043,2673,2483,3627,0,0,0,0,0,0
$GC,6649,-0.59,-146.0,701.5,-8.8,602,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2483,3627,0,0,0,0,0,0
$STATE,6949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6949,begin apogee
$GC,6955,-0.12,0.0,728.5,8.4,612,7085,0.47,0.00,124.47,1.377,6,0.181,0.000,2810,2248,3030,0,0,0,0,0,0
$STATE,7086,end apogee,CONTROL_FINISHED_OK
$STATE,7086,begin climb
$GC,7088,0.62,146.0,732.6,0.0,616,7227,0.80,2.47,131.38,1.330,4,0.137,0.067,3061,893,2433,0,0,0,0,0,0
$GC,7301,0.55,146.0,715.5,11.2,622,7305,0.00,2.40,0.00,0.000,6,0.000,0.053,3061,2274,2428,0,0,0,0,0,0
$GC,7630,0.47,146.0,675.2,12.3,633,7635,0.17,2.35,0.00,0.000,4,0.185,0.069,3013,3694,2426,0,0,0,0,0,0
$GC,7719,0.44,146.0,665.4,10.2,635,7726,0.00,2.25,0.00,0.000,6,0.000,0.051,3021,2293,2425,0,0,0,0,0,0
$GC,8032,0.45,158.2,636.3,9.4,646,8048,0.00,2.33,10.70,1.150,4,0.000,0.067,3031,862,2384,0,0,0,0,0,0
$GC,8104,0.45,158.2,629.2,10.4,648,8108,0.00,2.28,0.00,0.000,6,0.000,0.054,3031,2278,2382,0,0,0,0,0,0
$GC,8427,0.46,168.1,597.8,9.5,659,8442,0.00,2.33,10.20,1.147,4,0.000,0.070,3031,3689,2344,0,0,0,0,0,0
$GC,8498,0.40,168.1,589.8,11.9,665,8505,0.17,2.25,0.00,0.000,6,0.190,0.051,2999,2268,2342,0,0,0,0,0,0
$GC,8823,0.50,206.5,563.3,8.2,696,8868,0.00,2.35,35.05,1.234,4,0.000,0.067,3006,869,2186,0,0,0,0,0,0
$GC,8927,0.66,254.3,555.0,7.8,705,8983,0.20,2.25,44.50,1.222,6,0.086,0.052,3091,2275,1992,0,0,0,0,0,0
$GC,9301,0.57,254.3,491.9,17.7,740,9305,0.15,2.30,0.00,0.000,4,0.187,0.067,3053,3695,1983,0,0,0,0,0,0
$GC,9349,0.57,254.3,483.6,15.2,744,9356,0.00,2.30,0.00,0.000,6,0.000,0.052,3060,2281,1982,0,0,0,0,0,0
$GC,9675,0.53,254.3,436.5,14.5,775,9679,0.00,2.28,0.00,0.000,4,0.000,0.066,3071,862,1981,0,0,0,0,0,0
$GC,9760,0.53,254.3,424.7,13.9,782,9767,0.12,2.25,0.00,0.000,6,0.180,0.053,3041,2287,1979,0,0,0,0,0,0
$GC,10085,0.53,254.3,384.0,12.8,813,10089,0.00,2.22,0.00,0.000,4,0.000,0.067,3040,3684,1979,0,0,0,0,0,0
$GC,10129,0.53,254.3,378.2,12.4,816,10136,0.00,2.28,0.00,0.000,6,0.000,0.051,3047,2265,1978,0,0,0,0,0,0
$GC,10456,0.53,254.3,334.6,13.4,847,10460,0.00,2.22,0.00,0.000,4,0.000,0.065,3057,859,1978,0,0,0,0,0,0
$GC,10530,0.56,254.3,325.0,12.7,853,10534,0.00,2.25,0.00,0.000,6,0.000,0.052,3057,2282,1976,0,0,0,0,0,0
$GC,10860,0.56,254.3,278.4,13.7,884,10864,0.00,2.22,0.00,0.000,4,0.000,0.065,3057,3689,1976,0,0,0,0,0,0
$GC,10904,0.56,254.3,271.8,14.4,887,10910,0.00,2.25,0.00,0.000,6,0.000,0.050,3067,2262,1976,0,0,0,0,0,0
$GC,11231,0.53,254.3,225.8,13.9,918,11235,0.12,2.22,0.00,0.000,4,0.193,0.063,3044,856,1976,0,0,0,0,0,0
$GC,11298,0.61,257.6,218.1,9.9,923,11305,0.00,2.22,0.00,0.000,6,0.000,0.050,3044,2280,1976,0,0,0,0,0,0
$GC,11623,0.63,257.6,184.8,11.0,954,11627,0.00,2.22,0.00,0.000,4,0.000,0.064,3044,3689,1975,0,0,0,0,0,0
$GC,11666,0.63,257.6,179.4,12.6,957,11673,0.00,2.20,0.00,0.000,6,0.000,0.048,3054,2269,1975,0,0,0,0,0,0
$GC,11993,0.66,257.6,141.3,11.9,988,11997,0.00,2.22,0.00,0.000,4,0.000,0.063,3062,866,1975,0,0,0,0,0,0
$GC,12094,0.72,257.6,129.2,11.4,996,12101,0.00,2.20,0.00,0.000,6,0.000,0.048,3062,2277,1975,0,0,0,0,0,0
$GC,12423,0.78,272.7,93.9,9.3,1032,12449,0.15,2.30,15.07,0.918,4,0.089,0.063,3130,3687,1917,0,0,0,0,0,0
$GC,12490,0.67,272.7,84.4,15.7,1043,12497,0.22,2.22,0.00,0.000,6,0.202,0.050,3083,2270,1916,0,0,0,0,0,0
$GC,12839,0.71,272.7,47.2,10.7,1104,12846,0.00,2.25,0.00,0.000,4,0.000,0.063,3091,858,1916,0,0,0,0,0,0
$GC,12921,0.75,272.7,38.2,10.9,1118,12929,0.00,2.22,0.00,0.000,6,0.000,0.050,3091,2274,1914,0,0,0,0,0,0
$FREEZE,8.80,-1.732,-1.833,3,25,0
$STATE,13187,end climb,FINISH_DEPTH_REACHED
$STATE,13187,begin subsurface finish
$FINISH1,8.8,1.026822,33
$GC,13193,0.04,33.2,8.8,-11.0,1165,13235,0.68,2.28,-33.75,0.000,4,0.158,0.079,2884,3690,2896,0,0,0,0,0,0
$FINISH2,7.1
$STATE,13236,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13236,begin surface
$RAFOS_CLK,706
$RAFOS,6,1303145342,16.833334,16.817223,117,69,52,51,50,50,645,211,117,187,172,145
$RAFOS,5,1303144865,16.700001,16.684723,125,58,56,56,53,51,694,185,209,118,173,234
$RAFOS,4,1303144383,16.566668,16.550833,112,60,59,59,58,57,803,120,222,185,144,194
$RAFOS_FIX,6721.958984,-5810.082031,180411,161640,3,118,0.16
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,45.94
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.3
$ALTIM_BOTTOM_PING,701.5,40.6
$24V_AH,22.0,57.320
$10V_AH,10.2,29.325
$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,4.225,102.625,371.375,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2837.236,7884.328,438.286,1950.749,192.016,0.000,1479.301,0.000,1930.584,1440.000,21.290,0.000
$DEVICE_MAMPS,211.140,87.210,1377.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.434,893.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46655,1172
$CAP_FILE_SIZE,133681,0
$CFSIZE,260165632,225624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,180411,164240,6721.959,-5810.082,0,3118.0,0,-38.9