version: 66.08
glider: 141
mission: 15
dive: 472
start: 4 23 111 8 45 29
data:
$ID,141
$MISSION,15
$DIVE,472
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.36
$_SM_ANGLEo,-0.9
$GPS2,230411,044344,6707.620,-5657.721,0,3121.0,0,-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,178.2,11067,-17.5,-10.000
$D_GRID,470
$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,-6.55,0.000,2,0.000,0.000,2880,2269,3137,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.2,-0.0,1,52,0.60,2.67,-13.75,0.000,4,0.105,0.073,2668,3896,3629,0,0,0,0,0,0
$GC,65,-0.65,-146.0,11.0,-8.4,7,72,0.00,2.15,0.00,0.000,6,0.000,0.037,2668,2463,3629,0,0,0,0,0,0
$GC,410,-0.56,-146.0,61.3,-15.3,68,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2463,3630,0,0,0,0,0,0
$GC,755,-0.49,-146.0,114.0,-15.3,122,757,0.12,0.00,0.00,0.000,6,0.215,0.000,2697,2463,3628,0,0,0,0,0,0
$GC,1077,-0.52,-146.0,149.1,-10.1,152,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2463,3626,0,0,0,0,0,0
$GC,1405,-0.56,-146.0,180.0,-9.4,183,1409,0.00,2.33,0.00,0.000,4,0.000,0.064,2697,3895,3624,0,0,0,0,0,0
$GC,1472,-0.64,-146.0,186.3,-8.6,188,1480,0.12,2.12,0.00,0.000,6,0.125,0.038,2655,2491,3624,0,0,0,0,0,0
$GC,1798,-0.59,-146.0,226.5,-12.8,219,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2491,3623,0,0,0,0,0,0
$GC,2118,-0.55,-146.0,264.9,-11.1,249,2120,0.12,0.00,0.00,0.000,6,0.203,0.000,2684,2491,3623,0,0,0,0,0,0
$GC,2437,-0.58,-146.0,291.3,-7.4,279,2441,0.00,2.15,0.00,0.000,4,0.000,0.049,2685,1087,3623,0,0,0,0,0,0
$GC,2461,-0.62,-146.0,293.2,-8.0,281,2465,0.00,2.17,0.00,0.000,6,0.000,0.048,2684,2491,3623,0,0,0,0,0,0
$GC,2787,-0.66,-146.0,316.4,-6.9,311,2792,0.10,2.25,0.00,0.000,4,0.137,0.063,2650,3896,3624,0,0,0,0,0,0
$GC,2809,-0.66,-146.0,318.3,-7.8,312,2816,0.00,2.10,0.00,0.000,6,0.000,0.035,2650,2492,3624,0,0,0,0,0,0
$GC,3136,-0.62,-146.0,350.1,-10.1,343,3139,0.00,2.17,0.00,0.000,4,0.000,0.047,2650,1082,3624,0,0,0,0,0,0
$GC,3149,-0.57,-146.0,351.7,-10.5,344,3153,0.00,2.17,0.00,0.000,6,0.000,0.048,2650,2490,3624,0,0,0,0,0,0
$GC,3475,-0.53,-146.0,387.8,-11.2,374,3480,0.15,2.28,0.00,0.000,4,0.210,0.063,2687,3900,3625,0,0,0,0,0,0
$GC,3532,-0.61,-146.0,392.9,-7.9,378,3539,0.00,2.15,0.00,0.000,6,0.000,0.036,2687,2483,3625,0,0,0,0,0,0
$GC,3859,-0.66,-146.0,419.8,-8.4,409,3864,0.12,2.28,0.00,0.000,4,0.125,0.060,2643,3903,3626,0,0,0,0,0,0
$GC,3887,-0.66,-146.0,422.9,-11.7,411,3891,0.00,2.12,0.00,0.000,6,0.000,0.036,2642,2489,3625,0,0,0,0,0,0
$GC,4218,-0.61,-146.0,460.1,-11.3,442,4222,0.00,2.25,0.00,0.000,4,0.000,0.060,2643,3896,3626,0,0,0,0,0,0
$GC,4295,-0.59,-146.0,469.7,-11.8,448,4303,0.12,2.15,0.00,0.000,6,0.197,0.035,2671,2476,3626,0,0,0,0,0,0
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4316,-0.12,0.0,471.5,11.5,450,4442,0.50,0.00,119.15,1.170,6,0.182,0.000,2817,2260,3030,0,0,0,0,0,0
$STATE,4443,end apogee,CONTROL_FINISHED_OK
$STATE,4443,begin climb
$GC,4445,0.62,146.0,475.8,0.0,461,4578,0.75,2.45,123.47,1.126,4,0.132,0.057,3061,898,2433,0,0,0,0,0,0
$GC,4625,0.56,146.0,462.8,10.9,477,4629,0.00,2.33,0.00,0.000,6,0.000,0.044,3061,2279,2430,0,0,0,0,0,0
$GC,4955,0.49,146.0,423.7,12.1,508,4960,0.15,2.28,0.00,0.000,4,0.181,0.060,3022,3687,2428,0,0,0,0,0,0
$GC,5109,0.45,146.0,406.0,11.2,521,5113,0.00,2.15,0.00,0.000,6,0.000,0.042,3030,2298,2427,0,0,0,0,0,0
$GC,5434,0.45,146.0,373.5,10.0,551,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2298,2428,0,0,0,0,0,0
$GC,5754,0.45,146.0,339.6,10.9,581,5758,0.00,2.22,0.00,0.000,4,0.000,0.057,3030,3693,2427,0,0,0,0,0,0
$GC,5831,0.38,146.0,329.9,13.0,587,5839,0.20,2.20,0.00,0.000,6,0.174,0.041,2989,2268,2427,0,0,0,0,0,0
$GC,6157,0.50,179.9,301.8,8.4,618,6192,0.12,2.28,28.60,1.029,4,0.101,0.056,3060,874,2296,0,0,0,0,0,0
$GC,6244,0.50,179.9,291.4,12.8,625,6251,0.12,2.20,0.00,0.000,6,0.180,0.044,3030,2287,2293,0,0,0,0,0,0
$GC,6570,0.51,191.6,257.5,9.5,656,6585,0.00,2.20,10.95,0.931,4,0.000,0.057,3030,3680,2248,0,0,0,0,0,0
$GC,6690,0.51,191.6,244.8,11.2,666,6694,0.00,2.17,0.00,0.000,6,0.000,0.041,3038,2266,2247,0,0,0,0,0,0
$GC,7015,0.51,191.6,210.1,11.0,696,7018,0.00,2.17,0.00,0.000,4,0.000,0.054,3047,861,2247,0,0,0,0,0,0
$GC,7059,0.54,191.6,205.3,10.9,699,7066,0.00,2.20,0.00,0.000,6,0.000,0.043,3047,2285,2245,0,0,0,0,0,0
$GC,7385,0.54,191.6,166.3,11.6,730,7389,0.00,2.20,0.00,0.000,4,0.000,0.057,3047,3687,2245,0,0,0,0,0,0
$GC,7504,0.51,191.6,150.7,12.5,740,7508,0.00,2.17,0.00,0.000,6,0.000,0.042,3057,2264,2245,0,0,0,0,0,0
$GC,7835,0.51,191.6,114.2,10.6,771,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2264,2245,0,0,0,0,0,0
$GC,8165,0.51,191.6,79.9,10.7,818,8172,0.00,2.17,0.00,0.000,4,0.000,0.055,3067,868,2245,0,0,0,0,0,0
$GC,8241,0.53,191.6,71.8,10.7,831,8248,0.12,2.15,0.00,0.000,6,0.169,0.044,3034,2278,2245,0,0,0,0,0,0
$GC,8589,0.66,234.7,43.3,8.0,892,8631,0.12,2.22,34.45,0.930,4,0.100,0.057,3090,3680,2071,0,0,0,0,0,0
$GC,8751,0.61,234.7,23.8,13.0,920,8758,0.15,2.17,0.00,0.000,6,0.188,0.042,3062,2271,2068,0,0,0,0,0,0
$FREEZE,8.70,-1.712,-1.838,3,7,0
$STATE,8916,end climb,FINISH_DEPTH_REACHED
$STATE,8916,begin subsurface finish
$FINISH1,8.7,1.026886,30
$GC,8922,0.04,30.1,8.7,-9.6,949,8959,0.57,2.25,-26.45,0.000,4,0.154,0.067,2884,874,2910,0,0,0,0,0,0
$FINISH2,7.0
$STATE,8959,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8960,begin surface
$RAFOS_CLK,461
$RAFOS,6,1303548546,8.833333,8.818334,104,70,64,61,54,52,830,204,177,153,126,218
$RAFOS,5,1303548062,8.700000,8.683888,143,68,67,64,60,51,683,223,210,190,175,120
$RAFOS_FIX,6707.100586,-5654.573242,230411,080840,3,107,0.17
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,450.7,44.6
$24V_AH,22.4,62.364
$10V_AH,10.2,31.907
$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,4.300,78.000,316.625,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2293.623,4652.559,365.636,1552.661,158.418,0.000,1188.493,0.000,1539.432,360.000,13.739,0.000
$DEVICE_MAMPS,214.965,73.440,1169.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.321,714.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36710,955
$CAP_FILE_SIZE,101991,0
$CFSIZE,260165632,223158272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,230411,084240,6707.101,-5654.573,0,3106.7,0,-37.6