version: 66.08
glider: 141
mission: 15
dive: 563
start: 5 6 111 19 59 3
data:
$ID,141
$MISSION,15
$DIVE,563
$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,-46593.008
$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,19
$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
$GPS1,060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.12
$_SM_ANGLEo,-1.4
$GPS2,060511,161632,6650.382,-6010.151,0,4104.0,0,-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,118.5,147841,-17.5,-10.000
$D_GRID,616
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2901,3686,2885,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,57,0.68,0.35,-22.48,0.000,4,0.106,0.177,2666,3897,3627,0,0,0,0,0,0
$GC,300,-0.52,-146.0,57.4,-18.8,49,307,0.00,2.28,0.00,0.000,6,0.000,0.060,2666,2480,3629,0,0,0,0,0,0
$GC,638,-0.40,-146.0,119.3,-16.3,99,643,0.25,2.40,0.00,0.000,4,0.220,0.086,2732,3898,3628,0,0,0,0,0,0
$GC,706,-0.48,-146.0,127.6,-9.7,104,713,0.00,2.28,0.00,0.000,6,0.000,0.060,2732,2482,3628,0,0,0,0,0,0
$GC,1032,-0.55,-146.0,157.3,-9.1,135,1037,0.15,2.33,0.00,0.000,4,0.120,0.076,2680,1076,3627,0,0,0,0,0,0
$GC,1089,-0.53,-146.0,164.5,-13.2,140,1093,0.00,2.35,0.00,0.000,6,0.000,0.076,2680,2496,3627,0,0,0,0,0,0
$GC,1419,-0.48,-146.0,207.2,-12.5,171,1424,0.00,2.40,0.00,0.000,4,0.000,0.090,2680,3910,3626,0,0,0,0,0,0
$GC,1453,-0.48,-146.0,211.6,-12.5,173,1460,0.00,2.30,0.00,0.000,6,0.000,0.059,2680,2485,3627,0,0,0,0,0,0
$GC,1779,-0.44,-146.0,249.9,-11.9,204,1781,0.15,0.00,0.00,0.000,6,0.212,0.000,2715,2485,3627,0,0,0,0,0,0
$GC,2098,-0.51,-146.0,277.6,-8.1,234,2102,0.00,2.42,0.00,0.000,4,0.000,0.088,2715,3907,3627,0,0,0,0,0,0
$GC,2120,-0.60,-146.0,279.5,-8.2,235,2127,0.15,2.28,0.00,0.000,6,0.116,0.060,2664,2487,3627,0,0,0,0,0,0
$GC,2446,-0.54,-146.0,317.4,-11.4,266,2450,0.00,2.30,0.00,0.000,4,0.000,0.074,2664,1078,3626,0,0,0,0,0,0
$GC,2473,-0.50,-146.0,320.9,-11.7,268,2481,0.15,2.35,0.00,0.000,6,0.213,0.075,2699,2492,3626,0,0,0,0,0,0
$GC,2800,-0.54,-146.0,348.8,-9.2,299,2804,0.00,2.40,0.00,0.000,4,0.000,0.090,2699,3906,3626,0,0,0,0,0,0
$GC,2821,-0.59,-146.0,350.9,-9.0,300,2828,0.00,2.30,0.00,0.000,6,0.000,0.060,2699,2483,3626,0,0,0,0,0,0
$GC,3147,-0.64,-146.0,379.9,-8.4,331,3152,0.12,2.30,0.00,0.000,4,0.133,0.073,2657,1077,3626,0,0,0,0,0,0
$GC,3165,-0.64,-146.0,381.7,-8.8,332,3169,0.00,2.35,0.00,0.000,6,0.000,0.075,2657,2490,3626,0,0,0,0,0,0
$GC,3496,-0.58,-146.0,420.5,-11.7,363,3500,0.00,2.40,0.00,0.000,4,0.000,0.088,2656,3905,3626,0,0,0,0,0,0
$GC,3563,-0.58,-146.0,428.6,-10.7,368,3570,0.00,2.30,0.00,0.000,6,0.000,0.058,2657,2478,3626,0,0,0,0,0,0
$GC,3891,-0.53,-146.0,466.9,-12.0,399,3896,0.12,2.30,0.00,0.000,4,0.209,0.073,2686,1073,3627,0,0,0,0,0,0
$GC,3912,-0.53,-146.0,469.8,-11.1,400,3919,0.00,2.35,0.00,0.000,6,0.000,0.073,2686,2492,3626,0,0,0,0,0,0
$GC,4238,-0.56,-146.0,499.5,-8.9,431,4243,0.00,2.38,0.00,0.000,4,0.000,0.088,2686,3909,3627,0,0,0,0,0,0
$GC,4255,-0.60,-146.0,501.1,-9.1,432,4262,0.00,2.30,0.00,0.000,6,0.000,0.057,2686,2481,3626,0,0,0,0,0,0
$GC,4581,-0.63,-146.0,530.2,-9.2,463,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2481,3627,0,0,0,0,0,0
$GC,4902,-0.66,-146.0,559.0,-9.0,493,4908,0.12,0.00,0.00,0.000,6,0.132,0.000,2643,2481,3627,0,0,0,0,0,0
$GC,5227,-0.59,-146.0,599.8,-12.8,524,5229,0.12,0.00,0.00,0.000,6,0.214,0.000,2672,2480,3628,0,0,0,0,0,0
$STATE,5389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5389,begin apogee
$GC,5395,-0.12,0.0,616.5,10.0,530,5529,0.50,0.00,125.70,1.322,6,0.197,0.000,2814,2254,3030,0,0,0,0,0,0
$STATE,5530,end apogee,CONTROL_FINISHED_OK
$STATE,5530,begin climb
$GC,5532,0.62,146.0,621.9,0.0,534,5678,0.80,2.67,132.85,1.277,4,0.142,0.076,3059,875,2431,0,0,0,0,0,0
$GC,5741,0.58,146.0,609.0,10.3,540,5747,0.00,2.50,0.00,0.000,6,0.000,0.063,3059,2280,2427,0,0,0,0,0,0
$GC,6064,0.52,146.0,575.7,10.4,565,6068,0.00,2.40,0.00,0.000,4,0.000,0.080,3059,3692,2425,0,0,0,0,0,0
$GC,6142,0.42,146.0,565.8,12.9,571,6150,0.28,2.35,0.00,0.000,6,0.194,0.063,3000,2276,2424,0,0,0,0,0,0
$GC,6468,0.54,193.7,540.3,7.8,602,6513,0.12,0.00,41.55,1.222,6,0.106,0.000,3057,2276,2240,0,0,0,0,0,0
$GC,6830,0.54,193.7,499.7,11.2,636,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2276,2234,0,0,0,0,0,0
$GC,7153,0.54,193.7,464.7,10.9,666,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2276,2233,0,0,0,0,0,0
$GC,7479,0.54,193.7,429.9,10.6,697,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2276,2232,0,0,0,0,0,0
$GC,7799,0.54,193.7,396.1,10.8,727,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2276,2232,0,0,0,0,0,0
$GC,8116,0.54,193.7,361.4,11.2,757,8120,0.00,2.38,0.00,0.000,4,0.000,0.076,3056,3697,2231,0,0,0,0,0,0
$GC,8162,0.48,193.7,355.8,13.0,761,8167,0.17,2.33,0.00,0.000,6,0.185,0.062,3022,2266,2231,0,0,0,0,0,0
$GC,8488,0.59,233.7,327.9,8.2,791,8532,0.00,2.40,35.62,1.131,4,0.000,0.079,3028,863,2075,0,0,0,0,0,0
$GC,8581,0.75,272.8,320.3,8.2,799,8626,0.22,2.35,36.80,1.105,6,0.086,0.064,3119,2284,1917,0,0,0,0,0,0
$GC,8944,0.65,272.8,259.1,18.1,833,8949,0.15,2.35,0.00,0.000,4,0.189,0.077,3081,3696,1910,0,0,0,0,0,0
$GC,9000,0.65,272.8,249.4,15.4,837,9007,0.00,2.33,0.00,0.000,6,0.000,0.063,3089,2271,1907,0,0,0,0,0,0
$GC,9326,0.65,272.8,205.1,13.2,868,9330,0.00,2.30,0.00,0.000,4,0.000,0.076,3099,860,1907,0,0,0,0,0,0
$GC,9388,0.68,272.8,197.5,12.1,873,9392,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2275,1905,0,0,0,0,0,0
$GC,9714,0.68,272.8,157.3,12.4,903,9718,0.00,2.33,0.00,0.000,4,0.000,0.078,3099,3698,1905,0,0,0,0,0,0
$GC,9744,0.68,272.8,153.2,15.2,905,9748,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,2267,1905,0,0,0,0,0,0
$GC,10069,0.68,272.8,116.6,10.0,935,10074,0.00,2.30,0.00,0.000,4,0.000,0.076,3120,857,1905,0,0,0,0,0,0
$GC,10127,0.74,290.0,110.9,9.2,939,10148,0.00,2.33,15.18,0.974,6,0.000,0.067,3120,2276,1846,0,0,0,0,0,0
$GC,10484,0.77,290.0,67.2,13.2,993,10490,0.00,2.33,0.00,0.000,4,0.000,0.079,3121,3694,1842,0,0,0,0,0,0
$GC,10554,0.77,290.0,57.8,12.5,1005,10561,0.00,2.33,0.00,0.000,6,0.000,0.063,3131,2264,1842,0,0,0,0,0,0
$GC,10900,0.78,297.2,21.2,9.7,1066,10914,0.00,2.38,3.62,0.705,4,0.000,0.079,3139,861,1817,0,0,0,0,0,0
$GC,10954,0.78,297.2,15.8,10.2,1075,10961,0.00,2.30,0.00,0.000,6,0.000,0.068,3139,2275,1816,0,0,0,0,0,0
$FREEZE,8.83,-1.699,-1.766,2,98,0
$STATE,11012,end climb,FINISH_DEPTH_REACHED
$STATE,11012,begin subsurface finish
$FINISH1,8.8,1.025865,80
$GC,11019,0.10,80.2,8.8,-12.8,1085,11062,0.80,2.35,-33.65,0.000,4,0.171,0.094,2904,3687,2705,0,0,0,0,0,0
$FINISH2,7.4
$STATE,11063,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11063,begin surface
$RAFOS_CLK,608
$RAFOS,6,1304714948,20.833334,20.818890,108,61,60,58,58,56,725,132,218,114,201,165
$RAFOS,5,1304714463,20.700001,20.684166,63,58,55,53,53,47,915,209,149,161,194,225
$RAFOS,4,1304713985,20.566668,20.551390,90,58,57,57,55,51,681,140,197,184,171,151
$RAFOS,3,1304713507,20.433332,20.418612,59,58,56,54,53,48,148,209,116,186,170,127
$RAFOS,2,1304713023,20.299999,20.284166,67,66,60,60,57,50,688,202,213,130,190,222
$RAFOS,1,1304712546,20.166666,20.151667,96,61,61,59,55,52,548,177,166,208,187,155
$RAFOS,0,1304712066,20.033333,20.018333,85,66,55,54,53,52,648,202,170,181,228,219
$RAFOS_FIX,6651.619629,-6002.332031,060511,202022,6,85,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,47.75
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.2
$24V_AH,21.5,74.627
$10V_AH,10.0,38.525
$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,5.075,99.350,391.325,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2630.303,6056.465,454.396,1787.019,212.245,0.000,1424.411,0.000,1774.002,2520.000,14.983,0.000
$DEVICE_MAMPS,219.555,177.480,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.655,837.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,43382,1092
$CAP_FILE_SIZE,123354,0
$CFSIZE,260165632,216920064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,060511,202722,6651.620,-6002.332,0,6084.8,0,-37.6