version: 66.08
glider: 141
mission: 15
dive: 554
start: 5 5 111 16 59 47
data:
$ID,141
$MISSION,15
$DIVE,554
$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,-46224.43
$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,20
$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
$GPS1,050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.50
$_SM_ANGLEo,-3.8
$GPS2,050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,229.1,11044,-17.5,-10.000
$D_GRID,545
$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,-6.35,0.000,2,0.000,0.000,2906,868,2941,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.4,-0.0,1,52,0.68,0.38,-17.60,0.000,4,0.106,0.151,2669,1085,3627,0,0,0,0,0,0
$GC,223,-0.53,-146.0,42.8,-16.6,35,230,0.00,2.33,0.00,0.000,6,0.000,0.074,2669,2490,3629,0,0,0,0,0,0
$GC,565,-0.40,-146.0,112.9,-18.5,90,570,0.25,2.33,0.00,0.000,4,0.227,0.073,2734,1081,3629,0,0,0,0,0,0
$GC,576,-0.28,-146.0,115.3,-17.7,90,584,0.12,2.35,0.00,0.000,6,0.234,0.072,2763,2496,3629,0,0,0,0,0,0
$GC,905,-0.43,-146.0,138.7,-6.8,121,910,0.12,2.40,0.00,0.000,4,0.127,0.089,2719,3900,3628,0,0,0,0,0,0
$GC,934,-0.50,-146.0,141.6,-9.5,123,938,0.00,2.28,0.00,0.000,6,0.000,0.057,2719,2487,3628,0,0,0,0,0,0
$GC,1261,-0.54,-146.0,172.7,-7.7,153,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2487,3628,0,0,0,0,0,0
$GC,1580,-0.59,-146.0,200.9,-8.7,183,1585,0.12,2.33,0.00,0.000,4,0.128,0.073,2675,1081,3627,0,0,0,0,0,0
$GC,1625,-0.57,-146.0,206.2,-12.1,186,1632,0.00,2.35,0.00,0.000,6,0.000,0.072,2675,2494,3628,0,0,0,0,0,0
$GC,1951,-0.52,-146.0,250.1,-14.7,217,1955,0.00,2.38,0.00,0.000,4,0.000,0.088,2675,3909,3627,0,0,0,0,0,0
$GC,1984,-0.50,-146.0,255.3,-14.3,219,1990,0.00,2.30,0.00,0.000,6,0.000,0.058,2675,2482,3627,0,0,0,0,0,0
$GC,2310,-0.46,-146.0,295.2,-11.2,250,2315,0.15,2.42,0.00,0.000,4,0.214,0.086,2710,3904,3627,0,0,0,0,0,0
$GC,2321,-0.44,-146.0,296.6,-10.9,250,2327,0.00,2.28,0.00,0.000,6,0.000,0.056,2710,2485,3627,0,0,0,0,0,0
$GC,2647,-0.51,-146.0,324.6,-8.5,281,2651,0.00,2.30,0.00,0.000,4,0.000,0.073,2710,1081,3627,0,0,0,0,0,0
$GC,2665,-0.57,-146.0,326.2,-8.9,282,2669,0.00,2.35,0.00,0.000,6,0.000,0.071,2710,2496,3627,0,0,0,0,0,0
$GC,2991,-0.65,-146.0,352.7,-8.1,312,2993,0.17,0.00,0.00,0.000,6,0.115,0.000,2652,2496,3626,0,0,0,0,0,0
$GC,3309,-0.58,-146.0,393.2,-13.1,342,3313,0.00,2.38,0.00,0.000,4,0.000,0.087,2651,3900,3626,0,0,0,0,0,0
$GC,3331,-0.50,-146.0,396.3,-13.3,343,3338,0.17,2.28,0.00,0.000,6,0.207,0.057,2693,2487,3627,0,0,0,0,0,0
$GC,3658,-0.54,-146.0,425.6,-8.5,374,3662,0.00,2.28,0.00,0.000,4,0.000,0.071,2693,1080,3627,0,0,0,0,0,0
$GC,3674,-0.57,-146.0,427.3,-8.8,375,3681,0.00,2.33,0.00,0.000,6,0.000,0.069,2693,2492,3627,0,0,0,0,0,0
$GC,4001,-0.61,-146.0,455.2,-8.6,406,4005,0.00,2.38,0.00,0.000,4,0.000,0.086,2693,3899,3626,0,0,0,0,0,0
$GC,4019,-0.66,-146.0,456.9,-8.8,407,4024,0.12,2.25,0.00,0.000,6,0.132,0.055,2652,2488,3626,0,0,0,0,0,0
$GC,4350,-0.59,-146.0,495.0,-11.6,438,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2488,3627,0,0,0,0,0,0
$GC,4670,-0.53,-146.0,531.3,-11.3,468,4671,0.15,0.00,0.00,0.000,6,0.204,0.000,2688,2488,3627,0,0,0,0,0,0
$STATE,4814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4814,begin apogee
$GC,4821,-0.12,0.0,545.2,9.5,482,4953,0.43,0.00,125.00,1.277,6,0.189,0.000,2810,2261,3030,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4956,0.62,146.0,550.0,0.0,494,5095,0.85,0.00,132.07,1.229,6,0.153,0.000,3054,2262,2434,0,0,0,0,0,0
$GC,5412,0.58,150.7,510.5,9.8,537,5424,0.00,2.47,4.55,0.780,4,0.000,0.074,3054,3687,2414,0,0,0,0,0,0
$GC,5464,0.49,150.7,504.1,12.0,541,5472,0.15,2.35,0.00,0.000,6,0.188,0.061,3029,2278,2414,0,0,0,0,0,0
$GC,5789,0.53,183.2,475.4,8.5,572,5821,0.00,0.00,29.80,1.163,6,0.000,0.000,3029,2278,2283,0,0,0,0,0,0
$GC,6139,0.61,219.7,445.9,8.3,605,6178,0.00,0.00,33.85,1.155,6,0.000,0.000,3030,2278,2132,0,0,0,0,0,0
$GC,6497,0.67,230.2,413.3,9.5,639,6518,0.15,2.42,10.10,1.034,4,0.097,0.079,3106,860,2090,0,0,0,0,0,0
$GC,6542,0.60,230.2,407.6,14.5,643,6547,0.17,2.33,0.00,0.000,6,0.198,0.063,3063,2277,2089,0,0,0,0,0,0
$GC,6867,0.60,230.2,369.1,11.3,673,6871,0.00,2.33,0.00,0.000,4,0.000,0.077,3062,3694,2088,0,0,0,0,0,0
$GC,6957,0.57,230.2,357.3,13.9,681,6961,0.00,2.33,0.00,0.000,6,0.000,0.061,3071,2267,2087,0,0,0,0,0,0
$GC,7282,0.57,230.2,319.4,11.2,711,7286,0.00,2.30,0.00,0.000,4,0.000,0.076,3081,858,2086,0,0,0,0,0,0
$GC,7333,0.57,230.2,313.5,11.5,715,7338,0.12,2.30,0.00,0.000,6,0.185,0.063,3051,2276,2085,0,0,0,0,0,0
$GC,7664,0.62,243.8,282.6,9.4,746,7687,0.00,2.40,13.02,1.040,4,0.000,0.077,3051,3691,2036,0,0,0,0,0,0
$GC,7744,0.62,243.8,273.9,12.3,753,7748,0.00,2.33,0.00,0.000,6,0.000,0.061,3059,2264,2035,0,0,0,0,0,0
$GC,8070,0.65,243.8,239.1,10.6,783,8074,0.00,2.30,0.00,0.000,4,0.000,0.076,3070,866,2034,0,0,0,0,0,0
$GC,8110,0.70,243.8,234.9,10.4,786,8114,0.00,2.30,0.00,0.000,6,0.000,0.063,3069,2275,2032,0,0,0,0,0,0
$GC,8437,0.74,254.7,200.6,9.5,816,8453,0.00,2.33,11.00,0.986,4,0.000,0.077,3070,3686,1991,0,0,0,0,0,0
$GC,8489,0.74,254.7,195.2,10.8,820,8493,0.00,2.30,0.00,0.000,6,0.000,0.063,3080,2276,1991,0,0,0,0,0,0
$GC,8815,0.76,254.7,161.8,10.5,850,8819,0.00,2.30,0.00,0.000,4,0.000,0.076,3088,865,1990,0,0,0,0,0,0
$GC,8870,0.80,259.5,156.2,9.8,854,8881,0.00,2.33,5.97,0.848,6,0.000,0.063,3089,2285,1972,0,0,0,0,0,0
$GC,9202,0.87,295.3,123.8,8.3,885,9247,0.15,2.40,34.60,1.017,4,0.097,0.078,3149,3686,1824,0,0,0,0,0,0
$GC,9288,0.77,295.3,111.7,17.6,892,9296,0.17,2.35,0.00,0.000,6,0.211,0.063,3118,2271,1822,0,0,0,0,0,0
$GC,9628,0.81,309.0,72.8,9.4,945,9647,0.00,2.40,13.10,0.950,4,0.000,0.078,3124,863,1769,0,0,0,0,0,0
$GC,9740,0.88,315.4,62.4,9.7,964,9754,0.00,2.33,7.20,0.861,6,0.000,0.064,3125,2273,1744,0,0,0,0,0,0
$GC,10094,0.92,315.4,25.8,10.6,1026,10102,0.10,2.38,0.00,0.000,4,0.124,0.081,3164,3687,1740,0,0,0,0,0,0
$GC,10177,0.84,315.4,14.0,17.8,1040,10184,0.15,2.33,0.00,0.000,6,0.218,0.065,3142,2269,1738,0,0,0,0,0,0
$FREEZE,8.18,-1.698,-1.766,2,89,0
$STATE,10213,end climb,FINISH_DEPTH_REACHED
$STATE,10213,begin subsurface finish
$FINISH1,8.2,1.025864,80
$GC,10219,0.10,80.2,8.2,-13.7,1046,10267,0.80,2.33,-39.17,0.000,4,0.175,0.089,2903,863,2705,0,0,0,0,0,0
$FINISH2,6.7
$STATE,10268,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$RAFOS_CLK,569
$RAFOS_FIX,6649.843750,-6022.996582,050511,161653,5,95,0.22
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,15.9
$24V_AH,21.6,73.308
$10V_AH,10.0,37.918
$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,5.325,98.875,420.275,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2481.343,5489.550,487.394,1661.991,205.173,0.000,1390.057,0.000,1656.456,0.000,12.829,0.000
$DEVICE_MAMPS,234.090,151.470,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.244,807.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,40036,1054
$CAP_FILE_SIZE,119492,0
$CFSIZE,260165632,217530368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6