version: 66.08
glider: 141
mission: 15
dive: 462
start: 4 22 111 9 18 56
data:
$ID,141
$MISSION,15
$DIVE,462
$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,-40320.289
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,220411,084322,6713.305,-5709.168,0,3112.3,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.15
$_SM_ANGLEo,1.3
$GPS2,220411,084322,6713.305,-5709.168,0,3112.3,0,-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,180.2,24452,-17.5,-10.000
$D_GRID,410
$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,-6.35,0.000,2,0.000,0.000,2882,3682,3171,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.3,-0.0,1,47,0.60,4.12,-10.70,0.000,4,0.111,0.056,2673,1080,3629,0,0,0,0,0,0
$GC,110,-0.58,-146.0,20.4,-12.4,15,117,0.00,2.25,0.00,0.000,6,0.000,0.055,2673,2496,3630,0,0,0,0,0,0
$GC,456,-0.50,-146.0,69.8,-14.2,76,463,0.00,2.25,0.00,0.000,4,0.000,0.070,2673,3897,3629,0,0,0,0,0,0
$GC,477,-0.43,-146.0,72.6,-13.6,79,484,0.17,2.17,0.00,0.000,6,0.199,0.042,2717,2486,3629,0,0,0,0,0,0
$GC,824,-0.48,-146.0,108.2,-10.4,134,828,0.00,2.20,0.00,0.000,4,0.000,0.060,2717,1078,3628,0,0,0,0,0,0
$GC,841,-0.54,-146.0,110.2,-10.5,135,845,0.00,2.25,0.00,0.000,6,0.000,0.056,2717,2490,3628,0,0,0,0,0,0
$GC,1169,-0.62,-146.0,138.0,-8.1,165,1176,0.15,0.00,0.00,0.000,6,0.113,0.000,2664,2490,3626,0,0,0,0,0,0
$GC,1495,-0.57,-146.0,177.4,-12.1,196,1499,0.00,2.30,0.00,0.000,4,0.000,0.071,2664,3899,3624,0,0,0,0,0,0
$GC,1512,-0.53,-146.0,179.4,-11.9,197,1516,0.00,2.17,0.00,0.000,6,0.000,0.043,2664,2482,3625,0,0,0,0,0,0
$GC,1837,-0.50,-146.0,217.7,-10.9,227,1839,0.15,0.00,0.00,0.000,6,0.212,0.000,2700,2481,3623,0,0,0,0,0,0
$GC,2156,-0.56,-146.0,244.0,-8.0,257,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2481,3623,0,0,0,0,0,0
$GC,2478,-0.63,-146.0,270.0,-8.1,287,2485,0.12,0.00,0.00,0.000,6,0.131,0.000,2657,2481,3624,0,0,0,0,0,0
$GC,2803,-0.60,-146.0,304.8,-9.9,318,2807,0.00,2.28,0.00,0.000,4,0.000,0.066,2657,3899,3624,0,0,0,0,0,0
$GC,2833,-0.56,-146.0,307.8,-9.9,320,2837,0.00,2.17,0.00,0.000,6,0.000,0.041,2657,2484,3624,0,0,0,0,0,0
$GC,3159,-0.53,-146.0,341.1,-10.0,350,3163,0.12,2.20,0.00,0.000,4,0.204,0.055,2686,1085,3625,0,0,0,0,0,0
$GC,3171,-0.50,-146.0,342.3,-9.8,351,3175,0.00,2.20,0.00,0.000,6,0.000,0.052,2686,2490,3625,0,0,0,0,0,0
$GC,3497,-0.55,-146.0,369.0,-8.2,381,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2490,3626,0,0,0,0,0,0
$STATE,3643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3643,begin apogee
$GC,3649,-0.12,0.0,381.1,8.3,395,3773,0.43,0.00,118.20,1.123,6,0.183,0.000,2812,2261,3030,0,0,0,0,0,0
$STATE,3774,end apogee,CONTROL_FINISHED_OK
$STATE,3774,begin climb
$GC,3776,0.62,146.0,384.9,0.0,406,3908,0.77,2.42,123.15,1.073,4,0.135,0.060,3063,884,2433,0,0,0,0,0,0
$GC,3981,0.56,146.0,368.1,11.7,424,3989,0.00,2.33,0.00,0.000,6,0.000,0.045,3063,2278,2429,0,0,0,0,0,0
$GC,4308,0.49,146.0,332.4,11.1,455,4313,0.15,2.30,0.00,0.000,4,0.180,0.063,3024,3694,2427,0,0,0,0,0,0
$GC,4417,0.45,146.0,320.8,10.8,464,4421,0.00,2.20,0.00,0.000,6,0.000,0.044,3032,2282,2427,0,0,0,0,0,0
$GC,4743,0.45,148.7,289.6,9.9,494,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2282,2427,0,0,0,0,0,0
$GC,5061,0.45,148.7,258.9,10.1,524,5065,0.00,2.25,0.00,0.000,4,0.000,0.060,3032,3687,2427,0,0,0,0,0,0
$GC,5140,0.38,148.7,249.8,10.9,530,5148,0.20,2.17,0.00,0.000,6,0.188,0.043,2991,2277,2427,0,0,0,0,0,0
$GC,5465,0.51,188.6,223.7,8.2,561,5510,0.12,2.30,35.67,0.989,4,0.102,0.060,3063,874,2259,0,0,0,0,0,0
$GC,5551,0.51,188.6,214.0,12.0,568,5559,0.12,2.20,0.00,0.000,6,0.174,0.046,3032,2280,2256,0,0,0,0,0,0
$GC,5877,0.55,193.8,181.2,9.8,599,5890,0.00,2.22,5.07,0.703,4,0.000,0.059,3032,3687,2239,0,0,0,0,0,0
$GC,5969,0.55,193.8,170.8,12.1,607,5973,0.00,2.17,0.00,0.000,6,0.000,0.043,3040,2274,2240,0,0,0,0,0,0
$GC,6296,0.60,231.9,140.3,8.2,637,6340,0.00,2.33,33.88,0.937,4,0.000,0.059,3046,862,2083,0,0,0,0,0,0
$GC,6399,0.72,275.5,132.0,8.0,646,6444,0.15,2.20,38.85,0.922,6,0.093,0.044,3111,2277,1906,0,0,0,0,0,0
$GC,6769,0.69,275.5,78.7,14.2,693,6776,0.00,2.22,0.00,0.000,4,0.000,0.060,3111,3689,1899,0,0,0,0,0,0
$GC,6884,0.63,275.5,60.3,16.0,713,6892,0.20,2.20,0.00,0.000,6,0.181,0.044,3069,2266,1897,0,0,0,0,0,0
$GC,7230,0.71,275.5,24.1,10.1,774,7237,0.00,2.22,0.00,0.000,4,0.000,0.061,3073,869,1896,0,0,0,0,0,0
$GC,7301,0.83,288.3,17.2,9.4,786,7315,0.17,2.20,5.80,0.740,6,0.091,0.047,3145,2276,1854,0,0,0,0,0,0
$FREEZE,8.25,-1.708,-1.837,3,63,0
$STATE,7366,end climb,FINISH_DEPTH_REACHED
$STATE,7366,begin subsurface finish
$FINISH1,8.3,1.026875,31
$GC,7372,0.04,30.6,8.3,-15.1,797,7420,0.88,2.30,-38.62,0.000,4,0.174,0.079,2886,3691,2907,0,0,0,0,0,0
$FINISH2,5.7
$STATE,7421,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7421,begin surface
$RAFOS_CLK,386
$RAFOS_FIX,6713.305176,-5709.167969,220411,080822,3,112,0.08
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,350.5,44.9
$24V_AH,22.6,61.263
$10V_AH,10.1,31.354
$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,4.525,67.150,360.625,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1906.136,3744.325,398.644,1293.173,135.711,0.000,1109.364,0.000,1285.949,0.000,13.802,0.000
$DEVICE_MAMPS,211.905,78.795,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.273,605.070,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30069,805
$CAP_FILE_SIZE,89120,0
$CFSIZE,260165632,223686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,220411,084322,6713.305,-5709.168,0,3112.3,0,-38.9