version: 66.08
glider: 141
mission: 15
dive: 476
start: 4 23 111 18 12 35
data:
$ID,141
$MISSION,15
$DIVE,476
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,230411,163856,6701.562,-5647.920,0,4100.2,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.73
$_SM_ANGLEo,-0.9
$GPS2,230411,163856,6701.562,-5647.920,0,4100.2,0,-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,36.4,2664,-18.3,-10.000
$D_GRID,532
$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,16,-0.62,-134.7,0.0,0.0,0,24,0.00,0.00,-6.10,0.000,2,0.000,0.000,2884,865,3127,0,0,0,0,0,0
$GC,26,-0.64,-146.0,8.4,-0.0,1,46,0.62,0.35,-13.65,0.000,4,0.106,0.140,2663,1107,3629,0,0,0,0,0,0
$GC,98,-0.60,-146.0,16.5,-13.5,13,105,0.00,2.15,0.00,0.000,6,0.000,0.054,2663,2485,3630,0,0,0,0,0,0
$GC,443,-0.53,-146.0,68.1,-14.5,74,451,0.12,2.30,0.00,0.000,4,0.236,0.068,2690,3897,3629,0,0,0,0,0,0
$GC,549,-0.57,-146.0,80.2,-10.4,92,556,0.00,2.17,0.00,0.000,6,0.000,0.041,2690,2480,3629,0,0,0,0,0,0
$GC,886,-0.60,-146.0,115.6,-10.0,139,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2480,3627,0,0,0,0,0,0
$GC,1206,-0.64,-146.0,145.2,-9.1,169,1210,0.00,2.30,0.00,0.000,4,0.000,0.065,2690,3901,3625,0,0,0,0,0,0
$GC,1247,-0.71,-146.0,149.2,-9.5,172,1252,0.17,2.17,0.00,0.000,6,0.109,0.040,2630,2483,3625,0,0,0,0,0,0
$GC,1572,-0.62,-146.0,197.2,-14.7,202,1577,0.12,2.20,0.00,0.000,4,0.223,0.054,2658,1085,3624,0,0,0,0,0,0
$GC,1628,-0.62,-146.0,204.8,-12.5,206,1634,0.00,2.22,0.00,0.000,6,0.000,0.054,2658,2495,3625,0,0,0,0,0,0
$GC,1953,-0.60,-146.0,241.8,-11.2,237,1957,0.00,2.25,0.00,0.000,4,0.000,0.068,2658,3897,3624,0,0,0,0,0,0
$GC,2042,-0.60,-146.0,251.6,-10.5,244,2049,0.00,2.15,0.00,0.000,6,0.000,0.040,2658,2491,3624,0,0,0,0,0,0
$GC,2369,-0.60,-146.0,284.8,-10.0,275,2373,0.00,2.15,0.00,0.000,4,0.000,0.051,2658,1087,3624,0,0,0,0,0,0
$GC,2413,-0.60,-146.0,289.8,-10.2,278,2420,0.00,2.20,0.00,0.000,6,0.000,0.052,2658,2490,3624,0,0,0,0,0,0
$GC,2738,-0.60,-146.0,319.8,-9.2,309,2742,0.00,2.28,0.00,0.000,4,0.000,0.067,2658,3905,3625,0,0,0,0,0,0
$GC,2834,-0.62,-146.0,328.9,-9.8,317,2841,0.00,2.15,0.00,0.000,6,0.000,0.039,2658,2481,3625,0,0,0,0,0,0
$GC,3159,-0.62,-146.0,359.9,-9.3,348,3163,0.00,2.15,0.00,0.000,4,0.000,0.052,2658,1077,3625,0,0,0,0,0,0
$GC,3212,-0.64,-146.0,364.9,-9.3,352,3216,0.00,2.20,0.00,0.000,6,0.000,0.051,2658,2489,3626,0,0,0,0,0,0
$GC,3542,-0.64,-146.0,397.1,-9.9,383,3546,0.00,2.28,0.00,0.000,4,0.000,0.067,2658,3905,3625,0,0,0,0,0,0
$GC,3641,-0.66,-146.0,407.1,-10.8,391,3645,0.00,2.15,0.00,0.000,6,0.000,0.039,2658,2480,3625,0,0,0,0,0,0
$GC,3965,-0.66,-146.0,440.9,-10.2,421,3969,0.00,2.15,0.00,0.000,4,0.000,0.051,2658,1088,3626,0,0,0,0,0,0
$GC,4074,-0.66,-146.0,451.9,-10.5,430,4078,0.00,2.20,0.00,0.000,6,0.000,0.051,2658,2502,3627,0,0,0,0,0,0
$STATE,4227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4227,begin apogee
$GC,4233,-0.12,0.0,467.3,10.1,444,4358,0.55,0.00,119.40,1.174,6,0.187,0.000,2815,2256,3029,0,0,0,0,0,0
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4361,0.64,146.0,471.2,0.0,455,4497,0.80,2.47,123.95,1.130,4,0.135,0.059,3070,890,2433,0,0,0,0,0,0
$GC,4526,0.58,146.0,459.1,11.8,470,4530,0.00,2.35,0.00,0.000,6,0.000,0.044,3071,2281,2430,0,0,0,0,0,0
$GC,4853,0.51,146.0,419.2,12.0,500,4858,0.15,2.28,0.00,0.000,4,0.181,0.061,3032,3686,2428,0,0,0,0,0,0
$GC,4864,0.45,146.0,417.6,12.1,500,4871,0.12,2.20,0.00,0.000,6,0.184,0.041,3011,2290,2426,0,0,0,0,0,0
$GC,5189,0.54,186.9,391.0,8.0,531,5234,0.00,2.33,34.60,1.074,4,0.000,0.058,3011,3682,2267,0,0,0,0,0,0
$GC,5240,0.64,225.4,386.7,8.1,535,5283,0.15,2.22,35.03,1.061,6,0.090,0.043,3080,2270,2111,0,0,0,0,0,0
$GC,5609,0.59,225.4,333.6,14.7,570,5613,0.00,2.30,0.00,0.000,4,0.000,0.058,3079,3698,2103,0,0,0,0,0,0
$GC,5620,0.53,225.4,331.5,15.0,570,5627,0.20,2.20,0.00,0.000,6,0.185,0.042,3038,2274,2102,0,0,0,0,0,0
$GC,5947,0.55,225.4,292.5,12.1,601,5951,0.00,2.20,0.00,0.000,4,0.000,0.058,3047,866,2100,0,0,0,0,0,0
$GC,5957,0.58,225.4,290.9,11.8,601,5964,0.00,2.17,0.00,0.000,6,0.000,0.044,3047,2281,2099,0,0,0,0,0,0
$GC,6284,0.58,225.4,251.3,12.4,632,6288,0.00,2.20,0.00,0.000,4,0.000,0.060,3047,3681,2099,0,0,0,0,0,0
$GC,6339,0.58,225.4,243.3,14.0,636,6347,0.00,2.22,0.00,0.000,6,0.000,0.044,3057,2269,2098,0,0,0,0,0,0
$GC,6665,0.58,225.4,202.3,12.5,667,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2268,2098,0,0,0,0,0,0
$GC,6985,0.58,225.4,161.1,13.5,697,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2268,2098,0,0,0,0,0,0
$GC,7303,0.58,225.4,117.8,13.1,727,7307,0.00,2.25,0.00,0.000,4,0.000,0.057,3057,3692,2098,0,0,0,0,0,0
$GC,7326,0.58,225.4,114.4,13.6,729,7331,0.00,2.20,0.00,0.000,6,0.000,0.041,3068,2265,2098,0,0,0,0,0,0
$GC,7664,0.60,225.4,72.8,11.2,779,7671,0.00,2.15,0.00,0.000,4,0.000,0.055,3078,871,2098,0,0,0,0,0,0
$GC,7711,0.65,225.4,67.8,10.8,787,7718,0.00,2.17,0.00,0.000,6,0.000,0.045,3078,2284,2097,0,0,0,0,0,0
$GC,8058,0.68,225.6,32.0,10.0,848,8065,0.00,2.20,0.00,0.000,4,0.000,0.060,3078,3692,2097,0,0,0,0,0,0
$GC,8094,0.68,225.6,28.0,11.3,854,8101,0.00,2.20,0.00,0.000,6,0.000,0.043,3087,2266,2097,0,0,0,0,0,0
$FREEZE,8.63,-1.723,-1.837,3,11,0
$STATE,8276,end climb,FINISH_DEPTH_REACHED
$STATE,8276,begin subsurface finish
$FINISH1,8.6,1.026874,31
$GC,8282,0.04,30.7,8.6,-10.9,886,8319,0.68,2.33,-25.35,0.000,4,0.162,0.072,2882,3690,2908,0,0,0,0,0,0
$FINISH2,7.1
$STATE,8320,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8320,begin surface
$RAFOS_CLK,431
$RAFOS,3,1303590303,20.433332,20.417500,65,56,54,53,50,49,217,170,198,157,1883,145
$RAFOS,2,1303589825,20.299999,20.284721,60,59,56,54,53,52,205,114,161,144,214,193
$RAFOS,1,1303589346,20.166666,20.151667,61,57,53,52,49,46,204,166,144,177,110,186
$RAFOS,0,1303588869,20.033333,20.019167,59,58,57,56,52,50,181,206,195,217,234,137
$RAFOS_FIX,6701.562012,-5647.919922,230411,161656,4,100,0.72
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,400.1,81.4
$24V_AH,22.4,62.768
$10V_AH,10.2,32.117
$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,3.700,85.175,312.975,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2111.542,4302.092,366.387,1444.456,150.046,0.000,1149.800,0.000,1438.893,1440.000,10.803,0.000
$DEVICE_MAMPS,236.385,139.995,1173.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.982,673.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33394,892
$CAP_FILE_SIZE,96550,0
$CFSIZE,260165632,222961664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,230411,163856,6701.562,-5647.920,0,4100.2,0,-37.6