version: 66.08
glider: 141
mission: 15
dive: 260
start: 3 30 111 2 8 31
data:
$ID,141
$MISSION,15
$DIVE,260
$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,-33675.066
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,300311,004656,6708.154,-5652.365,0,2112.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.13
$_SM_ANGLEo,-1.1
$GPS2,300311,004656,6708.154,-5652.365,0,2112.0,0,-37.7
$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,199.4,10052,-17.5,-10.000
$D_GRID,423
$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,-6.90,0.000,2,0.000,0.000,2880,870,3101,0,0,0,0,0,0
$GC,27,-0.62,-146.0,6.1,-0.0,1,58,0.60,4.90,-17.58,0.000,4,0.114,0.062,2673,3890,3626,0,0,0,0,0,0
$GC,123,-0.59,-146.0,17.8,-14.5,17,130,0.00,2.12,0.00,0.000,6,0.000,0.037,2673,2489,3628,0,0,0,0,0,0
$GC,468,-0.52,-146.0,68.8,-14.1,78,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2489,3627,0,0,0,0,0,0
$GC,806,-0.47,-146.0,112.6,-13.0,130,811,0.15,2.20,0.00,0.000,4,0.213,0.055,2709,1087,3625,0,0,0,0,0,0
$GC,858,-0.54,-146.0,118.4,-9.9,134,862,0.00,2.20,0.00,0.000,6,0.000,0.050,2709,2484,3624,0,0,0,0,0,0
$GC,1189,-0.60,-146.0,149.2,-8.6,165,1191,0.12,0.00,0.00,0.000,6,0.125,0.000,2665,2484,3622,0,0,0,0,0,0
$GC,1507,-0.56,-146.0,187.2,-12.3,195,1511,0.00,2.28,0.00,0.000,4,0.000,0.066,2665,3903,3621,0,0,0,0,0,0
$GC,1550,-0.56,-146.0,192.6,-11.8,198,1557,0.00,2.17,0.00,0.000,6,0.000,0.037,2664,2490,3621,0,0,0,0,0,0
$GC,1877,-0.53,-146.0,228.9,-10.9,229,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2490,3621,0,0,0,0,0,0
$GC,2196,-0.50,-146.0,262.9,-10.5,259,2198,0.15,0.00,0.00,0.000,6,0.206,0.000,2701,2490,3621,0,0,0,0,0,0
$GC,2513,-0.56,-146.0,287.7,-7.8,289,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2490,3622,0,0,0,0,0,0
$GC,2833,-0.62,-146.0,314.7,-8.7,319,2835,0.12,0.00,0.00,0.000,6,0.126,0.000,2658,2490,3622,0,0,0,0,0,0
$GC,3152,-0.59,-146.0,350.1,-11.0,349,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2490,3622,0,0,0,0,0,0
$GC,3479,-0.56,-146.0,386.6,-11.1,380,3483,0.00,2.28,0.00,0.000,4,0.000,0.061,2657,3902,3623,0,0,0,0,0,0
$GC,3511,-0.53,-146.0,390.7,-11.6,382,3519,0.12,2.12,0.00,0.000,6,0.200,0.034,2687,2473,3623,0,0,0,0,0,0
$GC,3837,-0.56,-146.0,420.6,-9.2,413,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2473,3624,0,0,0,0,0,0
$STATE,3866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3867,begin apogee
$GC,3872,-0.12,0.0,423.5,9.2,416,3994,0.43,0.00,116.55,1.136,6,0.177,0.000,2814,2256,3030,0,0,0,0,0,0
$STATE,3995,end apogee,CONTROL_FINISHED_OK
$STATE,3995,begin climb
$GC,3997,0.62,146.0,427.6,0.0,427,4130,0.77,2.38,120.20,1.087,4,0.132,0.053,3066,902,2433,0,0,0,0,0,0
$GC,4158,0.55,146.0,415.4,11.9,441,4165,0.00,2.30,0.00,0.000,6,0.000,0.041,3066,2285,2430,0,0,0,0,0,0
$GC,4485,0.48,146.0,375.4,12.5,472,4489,0.17,2.28,0.00,0.000,4,0.177,0.055,3021,3692,2428,0,0,0,0,0,0
$GC,4620,0.44,146.0,359.3,11.4,483,4627,0.00,2.17,0.00,0.000,6,0.000,0.038,3029,2297,2428,0,0,0,0,0,0
$GC,4944,0.44,146.0,324.0,10.8,514,4948,0.00,2.25,0.00,0.000,4,0.000,0.053,3040,867,2427,0,0,0,0,0,0
$GC,4984,0.44,146.0,319.6,10.8,517,4989,0.12,2.20,0.00,0.000,6,0.183,0.041,3010,2279,2427,0,0,0,0,0,0
$GC,5310,0.48,162.4,289.9,9.2,547,5333,0.00,2.28,13.75,0.955,4,0.000,0.057,3010,3680,2368,0,0,0,0,0,0
$GC,5448,0.48,162.4,275.0,11.4,559,5452,0.00,2.20,0.00,0.000,6,0.000,0.039,3018,2262,2367,0,0,0,0,0,0
$GC,5774,0.55,199.0,245.3,8.3,589,5813,0.00,0.00,31.98,0.985,6,0.000,0.000,3018,2262,2217,0,0,0,0,0,0
$GC,6132,0.62,211.0,213.2,9.4,623,6149,0.12,2.28,11.25,0.894,4,0.101,0.054,3075,3687,2168,0,0,0,0,0,0
$GC,6244,0.55,211.0,196.5,15.5,632,6251,0.17,2.20,0.00,0.000,6,0.183,0.041,3040,2274,2167,0,0,0,0,0,0
$GC,6569,0.55,216.8,161.6,9.7,663,6582,0.00,2.20,6.07,0.756,4,0.000,0.052,3046,865,2145,0,0,0,0,0,0
$GC,6621,0.62,231.7,156.5,9.3,667,6640,0.00,2.17,14.15,0.897,6,0.000,0.041,3046,2278,2085,0,0,0,0,0,0
$GC,6957,0.66,231.7,123.2,10.3,699,6961,0.00,2.20,0.00,0.000,4,0.000,0.055,3046,3681,2082,0,0,0,0,0,0
$GC,7023,0.66,231.7,115.1,12.2,704,7031,0.00,2.20,0.00,0.000,6,0.000,0.038,3056,2278,2082,0,0,0,0,0,0
$GC,7361,0.70,236.6,79.6,9.8,752,7375,0.10,2.22,5.53,0.697,4,0.116,0.053,3112,861,2065,0,0,0,0,0,0
$GC,7421,0.66,236.6,72.0,13.5,762,7429,0.12,2.20,0.00,0.000,6,0.194,0.041,3081,2287,2064,0,0,0,0,0,0
$GC,7766,0.66,236.6,33.5,11.2,823,7773,0.00,2.17,0.00,0.000,4,0.000,0.056,3081,3689,2064,0,0,0,0,0,0
$GC,7881,0.66,236.6,19.5,12.6,843,7888,0.00,2.20,0.00,0.000,6,0.000,0.042,3089,2266,2064,0,0,0,0,0,0
$FREEZE,8.94,-1.785,-1.835,2,9,0
$STATE,7972,end climb,FINISH_DEPTH_REACHED
$STATE,7972,begin subsurface finish
$FINISH1,8.9,1.026843,32
$GC,7978,0.04,32.2,8.9,-9.4,859,8015,0.70,2.22,-25.88,0.000,4,0.168,0.068,2880,868,2902,0,0,0,0,0,0
$FINISH2,7.3
$STATE,8015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8015,begin surface
$RAFOS_CLK,410
$RAFOS,1,1301458145,4.166667,4.151389,60,60,58,55,54,54,170,219,200,115,154,88
$RAFOS,0,1301457664,4.033333,4.017778,62,61,60,58,55,51,202,160,192,149,124,107
$RAFOS_FIX,6708.154297,-5652.364746,300311,000056,2,112,0.28
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.029211
$HUMID,44.40
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.1,36.154
$10V_AH,10.2,19.770
$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,4.000,62.875,319.475,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2061.660,4123.346,378.263,1383.782,122.952,0.000,1118.163,0.000,1376.364,1080.000,8.121,0.000
$DEVICE_MAMPS,213.435,68.085,1136.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.281,647.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,33388,865
$CAP_FILE_SIZE,89761,0
$CFSIZE,260165632,234942464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.1
$GPS,300311,004656,6708.154,-5652.365,0,2112.0,0,-37.7