version: 66.08
glider: 141
mission: 15
dive: 488
start: 4 24 111 22 58 32
data:
$ID,141
$MISSION,15
$DIVE,488
$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,-40322.797
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,240411,204344,6705.833,-5649.697,0,3123.3,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-71.0
$GPS2,240411,204344,6705.833,-5649.697,0,3123.3,0,-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,204.4,5387,-17.5,-10.000
$D_GRID,439
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-112.62,0.000,2,0.000,0.000,105,2499,3473,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.6,-8.3,20,160,13.38,2.28,-3.17,0.000,4,0.324,0.065,2653,1079,3630,0,0,0,0,0,0
$GC,375,-0.56,-146.0,53.7,-15.4,62,383,0.10,2.25,0.00,0.000,6,0.217,0.057,2677,2487,3631,0,0,0,0,0,0
$GC,720,-0.51,-146.0,103.2,-14.0,121,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2487,3629,0,0,0,0,0,0
$GC,1041,-0.48,-146.0,140.3,-10.5,151,1046,0.12,2.33,0.00,0.000,4,0.221,0.073,2707,3898,3628,0,0,0,0,0,0
$GC,1104,-0.57,-146.0,145.7,-7.6,156,1108,0.00,2.17,0.00,0.000,6,0.000,0.043,2708,2479,3628,0,0,0,0,0,0
$GC,1430,-0.64,-146.0,169.4,-7.0,186,1431,0.15,0.00,0.00,0.000,6,0.116,0.000,2655,2478,3626,0,0,0,0,0,0
$GC,1748,-0.59,-146.0,207.7,-13.7,216,1752,0.00,2.17,0.00,0.000,4,0.000,0.056,2655,1078,3625,0,0,0,0,0,0
$GC,1760,-0.53,-146.0,209.2,-13.6,217,1765,0.15,2.28,0.00,0.000,6,0.200,0.057,2690,2500,3626,0,0,0,0,0,0
$GC,2085,-0.57,-146.0,244.5,-10.4,247,2090,0.00,2.28,0.00,0.000,4,0.000,0.069,2690,3900,3626,0,0,0,0,0,0
$GC,2104,-0.61,-146.0,246.4,-10.1,248,2108,0.00,2.15,0.00,0.000,6,0.000,0.041,2690,2488,3626,0,0,0,0,0,0
$GC,2430,-0.65,-146.0,276.4,-8.1,278,2432,0.12,0.00,0.00,0.000,6,0.125,0.000,2646,2489,3626,0,0,0,0,0,0
$GC,2750,-0.59,-146.0,312.3,-11.1,308,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2488,3627,0,0,0,0,0,0
$GC,3068,-0.53,-146.0,346.3,-10.2,338,3070,0.17,0.00,0.00,0.000,6,0.197,0.000,2689,2488,3628,0,0,0,0,0,0
$GC,3385,-0.58,-146.0,370.4,-7.7,368,3389,0.00,2.28,0.00,0.000,4,0.000,0.065,2690,3900,3628,0,0,0,0,0,0
$GC,3419,-0.66,-146.0,373.0,-8.0,370,3426,0.12,2.15,0.00,0.000,6,0.117,0.038,2645,2483,3628,0,0,0,0,0,0
$GC,3744,-0.60,-146.0,408.2,-11.7,401,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2483,3629,0,0,0,0,0,0
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4024,-0.12,0.0,439.6,11.6,427,4155,0.60,0.00,120.25,1.147,6,0.190,0.000,2813,2259,3030,0,0,0,0,0,0
$STATE,4156,end apogee,CONTROL_FINISHED_OK
$STATE,4156,begin climb
$GC,4158,0.62,146.0,443.7,0.0,439,4291,0.77,0.00,123.57,1.104,6,0.130,0.000,3053,2260,2434,0,0,0,0,0,0
$GC,4611,0.57,146.0,399.4,11.1,481,4615,0.00,2.33,0.00,0.000,4,0.000,0.059,3054,3688,2429,0,0,0,0,0,0
$GC,4685,0.46,146.0,389.3,13.2,487,4690,0.20,2.20,0.00,0.000,6,0.181,0.043,3013,2287,2428,0,0,0,0,0,0
$GC,5016,0.47,156.7,358.2,9.5,518,5027,0.00,0.00,9.45,0.925,6,0.000,0.000,3013,2286,2391,0,0,0,0,0,0
$GC,5345,0.53,182.5,329.0,8.8,549,5375,0.00,0.00,23.48,1.017,6,0.000,0.000,3013,2286,2285,0,0,0,0,0,0
$GC,5694,0.61,209.7,298.1,8.7,582,5724,0.12,0.00,24.38,1.004,6,0.101,0.000,3073,2286,2174,0,0,0,0,0,0
$GC,6043,0.54,209.7,249.8,13.8,615,6048,0.12,2.28,0.00,0.000,4,0.192,0.059,3043,3692,2169,0,0,0,0,0,0
$GC,6088,0.54,209.7,243.7,13.0,619,6092,0.00,2.22,0.00,0.000,6,0.000,0.043,3050,2268,2169,0,0,0,0,0,0
$GC,6415,0.54,209.7,204.7,11.5,649,6419,0.00,2.22,0.00,0.000,4,0.000,0.058,3061,863,2169,0,0,0,0,0,0
$GC,6466,0.54,209.7,198.6,11.2,653,6470,0.00,2.20,0.00,0.000,6,0.000,0.045,3061,2284,2167,0,0,0,0,0,0
$GC,6791,0.52,209.7,159.4,12.0,683,6795,0.00,2.20,0.00,0.000,4,0.000,0.059,3061,3690,2167,0,0,0,0,0,0
$GC,6914,0.48,209.7,143.0,13.3,693,6921,0.17,2.20,0.00,0.000,6,0.177,0.043,3025,2268,2167,0,0,0,0,0,0
$GC,7239,0.59,235.9,114.6,8.8,724,7269,0.00,0.00,22.95,0.911,6,0.000,0.000,3025,2269,2068,0,0,0,0,0,0
$GC,7598,0.73,261.3,84.1,8.8,773,7629,0.20,2.25,23.62,0.893,4,0.082,0.057,3121,865,1962,0,0,0,0,0,0
$GC,7694,0.69,261.3,70.8,15.3,789,7702,0.12,2.20,0.00,0.000,6,0.197,0.044,3092,2276,1959,0,0,0,0,0,0
$GC,8040,0.69,261.3,28.7,11.2,850,8046,0.00,2.22,0.00,0.000,4,0.000,0.059,3092,3691,1958,0,0,0,0,0,0
$GC,8115,0.67,261.3,18.9,13.6,863,8122,0.00,2.20,0.00,0.000,6,0.000,0.043,3100,2279,1957,0,0,0,0,0,0
$FREEZE,8.99,-1.709,-1.838,3,23,0
$STATE,8196,end climb,FINISH_DEPTH_REACHED
$STATE,8196,begin subsurface finish
$FINISH1,9.0,1.026886,30
$GC,8202,0.04,30.1,9.0,-12.0,877,8239,0.70,2.22,-29.15,0.000,4,0.158,0.067,2886,863,2906,0,0,0,0,0,0
$FINISH2,7.4
$STATE,8240,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8240,begin surface
$RAFOS_CLK,424
$RAFOS,6,1303692541,0.833333,0.816944,175,60,57,57,55,55,861,206,230,193,157,215
$RAFOS,5,1303692068,0.700000,0.685556,150,62,59,56,56,53,643,139,186,153,174,214
$RAFOS,4,1303691582,0.566667,0.550556,132,59,57,56,52,48,905,157,198,180,218,208
$RAFOS,3,1303691105,0.433333,0.418056,65,61,57,56,53,52,222,167,191,203,130,178
$RAFOS,2,1303690628,0.300000,0.285556,65,62,61,54,53,53,204,192,171,124,141,228
$RAFOS,1,1303690145,0.166667,0.151389,59,57,56,55,53,51,211,92,134,117,162,200
$RAFOS,0,1303689664,0.033333,0.017778,68,61,57,52,52,52,197,211,179,166,117,220
$RAFOS_FIX,6705.021973,-5651.363770,250411,000040,3,152,0.13
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.5,63.959
$10V_AH,10.2,32.764
$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,17.350,51.575,347.700,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2042.644,4296.331,457.520,1371.785,135.889,0.000,1203.811,0.000,1365.443,2520.000,8.121,0.000
$DEVICE_MAMPS,324.360,72.675,1147.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.416,661.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,33364,883
$CAP_FILE_SIZE,89255,0
$CFSIZE,260165632,222334976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,250411,004240,6705.022,-5651.364,0,3152.3,0,-37.6