version: 66.08
glider: 141
mission: 15
dive: 611
start: 5 13 111 22 12 31
data:
$ID,141
$MISSION,15
$DIVE,611
$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,-48069.07
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,130511,204344,6710.093,-5707.109,0,3104.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.63
$_SM_ANGLEo,-4.0
$GPS2,130511,204344,6710.093,-5707.109,0,3104.7,0,-37.8
$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,171.4,19052,-17.5,-10.000
$D_GRID,483
$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,-5.53,0.000,2,0.000,0.000,2881,864,3129,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.5,-0.0,1,52,0.60,4.95,-11.40,0.000,4,0.095,0.070,2665,3895,3627,0,0,0,0,0,0
$GC,178,-0.59,-146.0,33.5,-13.7,27,184,0.00,2.20,0.00,0.000,6,0.000,0.048,2665,2476,3628,0,0,0,0,0,0
$GC,525,-0.50,-146.0,87.1,-15.6,88,533,0.15,2.25,0.00,0.000,4,0.214,0.062,2700,1073,3628,0,0,0,0,0,0
$GC,597,-0.53,-146.0,96.9,-11.6,100,604,0.00,2.25,0.00,0.000,6,0.000,0.061,2700,2485,3627,0,0,0,0,0,0
$GC,926,-0.53,-146.0,132.0,-10.9,133,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2485,3626,0,0,0,0,0,0
$GC,1246,-0.56,-146.0,166.4,-10.6,163,1250,0.00,2.33,0.00,0.000,4,0.000,0.078,2700,3906,3624,0,0,0,0,0,0
$GC,1276,-0.61,-146.0,169.6,-10.3,165,1280,0.00,2.20,0.00,0.000,6,0.000,0.049,2700,2488,3623,0,0,0,0,0,0
$GC,1602,-0.66,-146.0,199.3,-8.4,195,1606,0.15,2.25,0.00,0.000,4,0.119,0.062,2649,1076,3623,0,0,0,0,0,0
$GC,1614,-0.69,-146.0,200.4,-8.7,196,1618,0.00,2.28,0.00,0.000,6,0.000,0.062,2649,2497,3623,0,0,0,0,0,0
$GC,1940,-0.61,-146.0,241.3,-12.5,226,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2497,3622,0,0,0,0,0,0
$GC,2262,-0.55,-146.0,279.8,-11.7,256,2269,0.15,0.00,0.00,0.000,6,0.207,0.000,2686,2497,3623,0,0,0,0,0,0
$GC,2588,-0.57,-146.0,307.9,-8.6,287,2592,0.00,2.28,0.00,0.000,4,0.000,0.074,2686,3899,3623,0,0,0,0,0,0
$GC,2633,-0.64,-146.0,311.9,-8.6,290,2640,0.00,2.17,0.00,0.000,6,0.000,0.044,2686,2486,3622,0,0,0,0,0,0
$GC,2959,-0.67,-146.0,340.4,-8.9,321,2964,0.12,2.33,0.00,0.000,4,0.126,0.070,2643,3900,3624,0,0,0,0,0,0
$GC,2979,-0.67,-146.0,342.1,-9.0,322,2983,0.00,2.17,0.00,0.000,6,0.000,0.045,2643,2490,3623,0,0,0,0,0,0
$GC,3305,-0.60,-146.0,381.8,-12.5,352,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2490,3624,0,0,0,0,0,0
$GC,3627,-0.53,-146.0,419.8,-11.9,382,3634,0.17,0.00,0.00,0.000,6,0.197,0.000,2687,2490,3624,0,0,0,0,0,0
$STATE,3653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3653,begin apogee
$GC,3659,-0.12,0.0,423.1,10.8,385,3791,0.43,0.00,120.28,1.151,6,0.177,0.000,2813,2260,3029,0,0,0,0,0,0
$STATE,3792,end apogee,CONTROL_FINISHED_OK
$STATE,3792,begin climb
$GC,3794,0.62,146.0,427.0,0.0,397,3928,0.77,0.00,125.32,1.104,6,0.129,0.000,3053,2259,2433,0,0,0,0,0,0
$GC,4248,0.58,146.0,383.8,10.7,440,4252,0.00,2.35,0.00,0.000,4,0.000,0.065,3053,3691,2428,0,0,0,0,0,0
$GC,4339,0.49,146.0,372.1,12.9,448,4344,0.15,2.20,0.00,0.000,6,0.179,0.049,3026,2290,2427,0,0,0,0,0,0
$GC,4664,0.51,159.8,341.3,9.4,478,4686,0.00,2.30,12.27,0.965,4,0.000,0.063,3034,867,2376,0,0,0,0,0,0
$GC,4715,0.56,179.8,336.6,9.1,482,4743,0.00,2.25,18.45,1.005,6,0.000,0.057,3034,2286,2296,0,0,0,0,0,0
$GC,5061,0.56,179.8,302.3,10.0,515,5065,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3692,2294,0,0,0,0,0,0
$GC,5164,0.54,179.8,290.4,11.5,524,5168,0.00,2.20,0.00,0.000,6,0.000,0.048,3044,2276,2293,0,0,0,0,0,0
$GC,5489,0.55,184.6,257.0,9.8,554,5502,0.00,2.28,5.32,0.750,4,0.000,0.063,3044,3686,2277,0,0,0,0,0,0
$GC,5542,0.52,184.6,251.0,11.6,558,5548,0.00,2.25,0.00,0.000,6,0.000,0.049,3054,2265,2277,0,0,0,0,0,0
$GC,5867,0.50,184.6,214.0,11.3,589,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2265,2276,0,0,0,0,0,0
$GC,6188,0.50,184.6,179.2,10.8,619,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2265,2277,0,0,0,0,0,0
$GC,6506,0.51,200.3,148.6,9.3,649,6524,0.00,0.00,14.88,0.916,6,0.000,0.000,3054,2265,2213,0,0,0,0,0,0
$GC,6843,0.54,200.3,115.9,10.4,681,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2265,2211,0,0,0,0,0,0
$GC,7171,0.65,255.4,85.2,7.5,726,7229,0.00,2.40,48.78,0.925,4,0.000,0.063,3054,3682,1987,0,0,0,0,0,0
$GC,7261,0.73,281.4,78.3,8.8,741,7292,0.10,2.25,24.42,0.881,6,0.112,0.047,3105,2265,1882,0,0,0,0,0,0
$GC,7631,0.73,281.4,36.2,11.0,806,7638,0.00,2.25,0.00,0.000,4,0.000,0.065,3112,868,1874,0,0,0,0,0,0
$GC,7747,0.76,281.4,22.9,10.8,826,7754,0.00,2.22,0.00,0.000,6,0.000,0.053,3112,2277,1873,0,0,0,0,0,0
$FREEZE,8.82,-1.762,-1.834,2,6,0
$STATE,7862,end climb,FINISH_DEPTH_REACHED
$STATE,7862,begin subsurface finish
$FINISH1,8.8,1.026829,33
$GC,7869,0.04,32.9,8.8,-11.5,846,7911,0.75,2.30,-34.12,0.000,4,0.161,0.081,2884,3696,2897,0,0,0,0,0,0
$FINISH2,7.0
$STATE,7912,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7912,begin surface
$RAFOS_CLK,418
$RAFOS,2,1305332223,0.300000,0.284167,63,62,54,54,53,52,206,192,125,142,216,174
$RAFOS,1,1305331750,0.166667,0.152778,60,56,56,55,52,50,200,115,212,145,223,171
$RAFOS,0,1305331263,0.033333,0.017500,62,55,52,49,49,48,194,231,152,217,485,740
$RAFOS_FIX,6710.092773,-5707.109375,130511,202044,3,105,0.24
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.62
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,350.7,86.9
$24V_AH,22.3,80.770
$10V_AH,10.0,41.705
$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,3.550,59.475,369.725,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,1957.508,4120.931,415.327,1313.699,159.613,0.000,1129.432,0.000,1309.623,1080.000,9.043,0.000
$DEVICE_MAMPS,214.200,81.090,1151.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.316,640.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,33368,853
$CAP_FILE_SIZE,85932,0
$CFSIZE,260165632,213889024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,130511,204344,6710.093,-5707.109,0,3104.7,0,-37.8