version: 66.08
glider: 141
mission: 15
dive: 348
start: 4 10 111 13 39 13
data:
$ID,141
$MISSION,15
$DIVE,348
$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,-36627.012
$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,22
$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
$GPS1,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.49
$_SM_ANGLEo,-2.1
$GPS2,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$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,20.3,8031828,-17.5,-10.000
$D_GRID,250
$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,-6.45,0.000,2,0.000,0.000,2900,3691,2992,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.1,-0.0,1,52,0.68,4.32,-15.80,0.000,4,0.114,0.072,2669,1080,3630,0,0,0,0,0,0
$GC,245,-0.54,-146.0,47.8,-17.5,39,252,0.00,2.33,0.00,0.000,6,0.000,0.070,2670,2488,3632,0,0,0,0,0,0
$GC,587,-0.41,-146.0,111.6,-17.9,94,592,0.22,2.35,0.00,0.000,4,0.229,0.083,2724,3900,3632,0,0,0,0,0,0
$GC,684,-0.47,-146.0,122.8,-9.8,102,688,0.00,2.28,0.00,0.000,6,0.000,0.054,2724,2475,3632,0,0,0,0,0,0
$GC,1009,-0.52,-146.0,153.0,-8.8,132,1013,0.00,2.25,0.00,0.000,4,0.000,0.072,2724,1080,3631,0,0,0,0,0,0
$GC,1147,-0.62,-146.0,165.5,-9.4,144,1152,0.17,2.30,0.00,0.000,6,0.118,0.069,2664,2496,3630,0,0,0,0,0,0
$GC,1472,-0.54,-146.0,209.9,-13.9,174,1476,0.00,2.33,0.00,0.000,4,0.000,0.085,2664,3904,3630,0,0,0,0,0,0
$GC,1583,-0.51,-146.0,225.0,-12.4,183,1590,0.12,2.25,0.00,0.000,6,0.223,0.054,2692,2485,3630,0,0,0,0,0,0
$STATE,1833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1833,begin apogee
$GC,1838,-0.12,0.0,250.5,9.6,207,1969,0.43,0.00,120.78,1.121,6,0.206,0.000,2812,2258,3030,0,0,0,0,0,0
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1972,0.62,146.0,255.4,0.0,219,2107,0.82,2.60,124.75,1.063,4,0.160,0.075,3060,881,2432,0,0,0,0,0,0
$GC,2306,0.62,169.4,232.1,8.9,249,2332,0.00,2.40,20.83,0.997,6,0.000,0.061,3060,2281,2339,0,0,0,0,0,0
$GC,2658,0.61,177.7,198.1,9.6,282,2671,0.00,2.47,8.00,0.886,4,0.000,0.076,3070,878,2304,0,0,0,0,0,0
$GC,2796,0.63,190.4,184.9,9.4,294,2819,0.00,2.33,12.73,0.957,6,0.000,0.062,3070,2283,2252,0,0,0,0,0,0
$GC,3137,0.65,211.1,152.7,9.0,326,3161,0.00,2.38,19.62,0.985,4,0.000,0.074,3070,3687,2167,0,0,0,0,0,0
$GC,3186,0.63,212.4,148.2,9.9,330,3190,0.00,2.33,0.00,0.000,6,0.000,0.060,3080,2283,2166,0,0,0,0,0,0
$GC,3511,0.65,226.5,117.7,9.3,360,3534,0.00,2.40,14.68,0.955,4,0.000,0.076,3091,871,2105,0,0,0,0,0,0
$GC,3627,0.71,254.1,107.7,8.7,370,3660,0.00,2.30,26.12,0.977,6,0.000,0.061,3090,2278,1993,0,0,0,0,0,0
$GC,3995,0.77,270.0,74.0,9.3,428,4020,0.00,2.40,14.95,0.935,4,0.000,0.075,3090,3686,1928,0,0,0,0,0,0
$GC,4049,0.79,270.0,68.7,10.6,437,4056,0.00,2.30,0.00,0.000,6,0.000,0.060,3100,2274,1926,0,0,0,0,0,0
$GC,4394,0.85,288.5,36.7,9.2,498,4420,0.10,2.35,16.90,0.950,4,0.125,0.076,3152,862,1853,0,0,0,0,0,0
$GC,4450,0.82,288.5,30.2,13.0,507,4456,0.00,2.30,0.00,0.000,6,0.000,0.059,3152,2277,1851,0,0,0,0,0,0
$FREEZE,8.28,-1.744,-1.779,2,74,0
$STATE,4625,end climb,FINISH_DEPTH_REACHED
$STATE,4625,begin subsurface finish
$FINISH1,8.3,1.026053,71
$GC,4631,0.09,70.9,8.3,-12.6,538,4673,0.85,2.40,-36.17,0.000,4,0.179,0.090,2902,3687,2742,0,0,0,0,0,0
$FINISH2,6.7
$STATE,4674,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4674,begin surface
$RAFOS_CLK,273
$RAFOS_FIX,42603.042969,-42015.082031,100411,121244,2,98,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.3
$24V_AH,22.4,47.452
$10V_AH,10.1,25.320
$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,3.400,51.700,379.350,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1273.756,2040.934,388.066,948.506,77.713,0.000,929.405,0.000,945.350,0.000,2.610,0.000
$DEVICE_MAMPS,228.735,90.270,1120.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.868,402.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20147,545
$CAP_FILE_SIZE,60807,0
$CFSIZE,260165632,229670912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5