version: 66.08
glider: 141
mission: 15
dive: 483
start: 4 24 111 10 48 57
data:
$ID,141
$MISSION,15
$DIVE,483
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,240411,084656,6707.496,-5651.645,0,2132.5,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.82
$_SM_ANGLEo,2.2
$GPS2,240411,084656,6707.496,-5651.645,0,2132.5,0,-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,200.1,8732,-17.5,-10.000
$D_GRID,432
$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,-6.62,0.000,2,0.000,0.000,2885,3682,3144,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.6,-0.0,1,53,0.62,4.15,-13.18,0.000,4,0.112,0.054,2671,1085,3629,0,0,0,0,0,0
$GC,167,-0.58,-146.0,23.9,-12.8,25,173,0.00,2.25,0.00,0.000,6,0.000,0.054,2671,2496,3629,0,0,0,0,0,0
$GC,512,-0.51,-146.0,71.3,-12.8,86,519,0.00,2.28,0.00,0.000,4,0.000,0.070,2671,3897,3628,0,0,0,0,0,0
$GC,529,-0.43,-146.0,73.3,-12.9,88,536,0.20,2.15,0.00,0.000,6,0.199,0.042,2721,2487,3628,0,0,0,0,0,0
$GC,880,-0.51,-146.0,101.2,-7.3,149,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2487,3627,0,0,0,0,0,0
$GC,1201,-0.59,-146.0,126.7,-8.4,179,1208,0.15,0.00,0.00,0.000,6,0.122,0.000,2668,2487,3625,0,0,0,0,0,0
$GC,1527,-0.56,-146.0,165.2,-11.7,210,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2487,3623,0,0,0,0,0,0
$GC,1846,-0.56,-146.0,201.7,-11.8,240,1850,0.00,2.30,0.00,0.000,4,0.000,0.069,2668,3905,3623,0,0,0,0,0,0
$GC,1857,-0.56,-146.0,203.3,-11.8,240,1864,0.00,2.17,0.00,0.000,6,0.000,0.041,2668,2480,3623,0,0,0,0,0,0
$GC,2183,-0.56,-146.0,238.4,-9.8,271,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2479,3622,0,0,0,0,0,0
$GC,2503,-0.56,-146.0,266.1,-8.4,301,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2479,3623,0,0,0,0,0,0
$GC,2821,-0.56,-146.0,292.6,-8.4,331,2825,0.00,2.33,0.00,0.000,4,0.000,0.066,2669,3903,3623,0,0,0,0,0,0
$GC,2837,-0.56,-146.0,294.2,-8.4,332,2844,0.00,2.15,0.00,0.000,6,0.000,0.040,2668,2490,3623,0,0,0,0,0,0
$GC,3163,-0.56,-146.0,321.2,-8.6,363,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2489,3624,0,0,0,0,0,0
$GC,3483,-0.56,-146.0,348.5,-8.5,393,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2489,3624,0,0,0,0,0,0
$GC,3801,-0.56,-146.0,378.2,-9.8,423,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2489,3625,0,0,0,0,0,0
$GC,4119,-0.56,-146.0,408.4,-9.1,453,4123,0.00,2.30,0.00,0.000,4,0.000,0.065,2668,3907,3625,0,0,0,0,0,0
$GC,4164,-0.60,-146.0,413.0,-9.7,456,4171,0.00,2.15,0.00,0.000,6,0.000,0.038,2668,2488,3625,0,0,0,0,0,0
$STATE,4370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4370,begin apogee
$GC,4376,-0.12,0.0,432.0,9.4,476,4501,0.50,0.00,118.75,1.142,6,0.179,0.000,2813,2247,3030,0,0,0,0,0,0
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,0.62,146.0,435.6,0.0,487,4636,0.77,2.45,123.50,1.094,4,0.131,0.060,3065,896,2433,0,0,0,0,0,0
$GC,4676,0.56,146.0,422.5,11.9,502,4683,0.00,2.38,0.00,0.000,6,0.000,0.047,3065,2283,2430,0,0,0,0,0,0
$GC,5001,0.49,146.0,378.2,13.6,533,5006,0.15,2.30,0.00,0.000,4,0.178,0.062,3026,3683,2427,0,0,0,0,0,0
$GC,5110,0.44,146.0,364.4,12.7,542,5115,0.00,2.20,0.00,0.000,6,0.000,0.044,3034,2283,2427,0,0,0,0,0,0
$GC,5436,0.43,159.4,330.9,9.4,572,5449,0.00,0.00,11.57,0.945,6,0.000,0.000,3034,2284,2380,0,0,0,0,0,0
$GC,5764,0.44,164.4,299.9,9.8,603,5777,0.00,2.25,6.18,0.803,4,0.000,0.058,3034,3693,2358,0,0,0,0,0,0
$GC,5816,0.40,164.4,294.1,12.2,607,5823,0.20,2.20,0.00,0.000,6,0.179,0.042,2993,2273,2358,0,0,0,0,0,0
$GC,6143,0.54,217.8,269.2,7.5,638,6198,0.12,2.30,46.35,1.009,4,0.099,0.059,3064,876,2141,0,0,0,0,0,0
$GC,6237,0.54,217.8,257.9,12.2,646,6244,0.00,2.25,0.00,0.000,6,0.000,0.046,3064,2278,2138,0,0,0,0,0,0
$GC,6563,0.50,217.8,212.8,14.5,677,6568,0.12,2.25,0.00,0.000,4,0.179,0.060,3031,3687,2134,0,0,0,0,0,0
$GC,6665,0.50,217.8,199.0,13.2,686,6669,0.00,2.20,0.00,0.000,6,0.000,0.042,3040,2273,2134,0,0,0,0,0,0
$GC,6991,0.50,217.8,159.9,11.2,716,6995,0.00,2.20,0.00,0.000,4,0.000,0.057,3048,860,2133,0,0,0,0,0,0
$GC,7036,0.56,217.8,154.8,10.1,719,7043,0.00,2.17,0.00,0.000,6,0.000,0.044,3048,2277,2133,0,0,0,0,0,0
$GC,7361,0.59,227.7,120.1,9.5,750,7375,0.00,2.22,8.90,0.819,4,0.000,0.057,3048,3690,2100,0,0,0,0,0,0
$GC,7459,0.59,227.7,109.2,11.3,758,7466,0.00,2.20,0.00,0.000,6,0.000,0.042,3057,2271,2100,0,0,0,0,0,0
$GC,7798,0.63,227.7,75.4,10.3,810,7805,0.00,2.17,0.00,0.000,4,0.000,0.057,3064,868,2099,0,0,0,0,0,0
$GC,7845,0.68,227.7,70.7,10.1,818,7852,0.00,2.15,0.00,0.000,6,0.000,0.043,3064,2278,2098,0,0,0,0,0,0
$GC,8191,0.75,252.1,37.4,8.9,879,8216,0.12,2.25,16.83,0.950,4,0.101,0.060,3122,3679,2001,0,0,0,0,0,0
$GC,8308,0.67,252.1,20.5,16.0,899,8319,0.20,2.20,0.00,0.000,6,0.185,0.045,3081,2277,1999,0,0,0,0,0,0
$FREEZE,8.66,-1.743,-1.837,3,18,0
$STATE,8417,end climb,FINISH_DEPTH_REACHED
$STATE,8417,begin subsurface finish
$FINISH1,8.7,1.026871,31
$GC,8423,0.04,30.8,8.7,-9.9,917,8460,0.62,2.30,-29.45,0.000,4,0.159,0.070,2886,866,2906,0,0,0,0,0,0
$FINISH2,6.7
$STATE,8461,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8461,begin surface
$RAFOS_CLK,436
$RAFOS,6,1303649347,12.833333,12.818611,111,65,60,59,57,51,846,185,147,212,221,157
$RAFOS,5,1303648870,12.700000,12.686111,134,61,58,57,57,53,648,130,220,187,208,162
$RAFOS,4,1303648390,12.566667,12.552778,82,71,65,61,61,58,883,166,213,192,202,147
$RAFOS,3,1303647905,12.433333,12.418056,62,61,57,54,53,51,204,164,189,118,147,130
$RAFOS,2,1303647421,12.300000,12.283611,66,58,54,53,52,52,214,199,228,187,127,146
$RAFOS,1,1303646944,12.166667,12.151111,66,57,52,51,47,46,178,215,119,163,141,320
$RAFOS,0,1303646464,12.033333,12.017777,63,56,53,52,52,50,174,220,157,197,230,131
$RAFOS_FIX,6705.746094,-5646.889648,240411,121244,3,109,0.33
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.2
$24V_AH,22.6,63.453
$10V_AH,10.2,32.492
$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,3.800,67.200,332.075,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2186.588,4359.356,381.624,1450.138,150.146,0.000,1158.256,0.000,1444.779,2520.000,7.917,0.000
$DEVICE_MAMPS,198.900,70.380,1142.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.166,696.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36707,923
$CAP_FILE_SIZE,93756,0
$CFSIZE,260165632,222601216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,240411,124344,6705.746,-5646.890,0,3109.0,0,-37.6