version: 66.08
glider: 141
mission: 15
dive: 436
start: 4 20 111 3 22 29
data:
$ID,141
$MISSION,15
$DIVE,436
$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,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,-38844.988
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-1.2
$GPS2,200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9
$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,168.7,60875,-17.5,-10.000
$D_GRID,513
$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,-146.0,0.0,0.0,0,104,0.00,0.32,-81.03,0.000,6,0.000,0.147,2882,2489,3627,0,0,0,0,0,0
$GC,107,-0.62,-146.0,5.2,-5.8,15,115,0.60,2.25,0.00,0.000,4,0.109,0.063,2671,3897,3627,0,0,0,0,0,0
$GC,123,-0.93,-146.0,6.8,-8.3,17,130,0.30,2.15,0.00,0.000,6,0.095,0.037,2566,2462,3628,0,0,0,0,0,0
$GC,471,-0.62,-146.0,87.4,-23.7,78,478,0.38,2.12,0.00,0.000,4,0.259,0.054,2656,1096,3626,0,0,0,0,0,0
$GC,633,-0.56,-146.0,114.4,-15.1,98,637,0.00,2.20,0.00,0.000,6,0.000,0.056,2656,2488,3625,0,0,0,0,0,0
$GC,958,-0.48,-146.0,160.1,-14.9,128,963,0.17,2.30,0.00,0.000,4,0.213,0.072,2700,3903,3623,0,0,0,0,0,0
$GC,1019,-0.57,-146.0,167.3,-10.8,133,1026,0.00,2.12,0.00,0.000,6,0.000,0.041,2700,2497,3623,0,0,0,0,0,0
$GC,1347,-0.62,-146.0,198.3,-9.2,164,1352,0.12,2.28,0.00,0.000,4,0.129,0.067,2657,3900,3622,0,0,0,0,0,0
$GC,1380,-0.59,-146.0,202.2,-11.4,166,1387,0.00,2.15,0.00,0.000,6,0.000,0.041,2657,2488,3622,0,0,0,0,0,0
$GC,1705,-0.53,-146.0,241.9,-11.9,197,1710,0.12,2.33,0.00,0.000,4,0.213,0.067,2686,3905,3621,0,0,0,0,0,0
$GC,1757,-0.58,-146.0,247.2,-9.6,201,1761,0.00,2.15,0.00,0.000,6,0.000,0.040,2686,2490,3621,0,0,0,0,0,0
$GC,2088,-0.61,-146.0,278.9,-9.4,232,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2490,3622,0,0,0,0,0,0
$GC,2407,-0.64,-146.0,309.2,-9.8,262,2411,0.00,2.28,0.00,0.000,4,0.000,0.065,2686,3900,3622,0,0,0,0,0,0
$GC,2462,-0.71,-146.0,314.2,-8.6,266,2469,0.17,2.15,0.00,0.000,6,0.107,0.039,2626,2478,3622,0,0,0,0,0,0
$GC,2788,-0.60,-146.0,357.8,-12.6,297,2790,0.17,0.00,0.00,0.000,6,0.212,0.000,2667,2477,3623,0,0,0,0,0,0
$GC,3105,-0.60,-146.0,386.8,-10.1,327,3109,0.00,2.28,0.00,0.000,4,0.000,0.066,2667,3900,3624,0,0,0,0,0,0
$GC,3133,-0.60,-146.0,389.4,-9.3,329,3137,0.00,2.15,0.00,0.000,6,0.000,0.039,2667,2481,3623,0,0,0,0,0,0
$GC,3458,-0.60,-146.0,416.8,-7.6,359,3463,0.00,2.28,0.00,0.000,4,0.000,0.064,2667,3903,3624,0,0,0,0,0,0
$GC,3526,-0.65,-146.0,422.3,-8.5,364,3533,0.00,2.12,0.00,0.000,6,0.000,0.036,2667,2483,3624,0,0,0,0,0,0
$STATE,3541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3541,begin apogee
$GC,3547,-0.12,0.0,423.7,8.5,366,3671,0.50,0.00,118.22,1.154,6,0.191,0.000,2811,2258,3030,0,0,0,0,0,0
$STATE,3672,end apogee,CONTROL_FINISHED_OK
$STATE,3672,begin climb
$GC,3674,0.62,146.0,426.7,0.0,377,3807,0.80,2.47,123.07,1.107,4,0.139,0.060,3065,893,2433,0,0,0,0,0,0
$GC,4022,0.56,146.0,393.4,10.1,408,4026,0.00,2.28,0.00,0.000,6,0.000,0.048,3065,2278,2428,0,0,0,0,0,0
$GC,4347,0.44,146.0,351.4,13.4,438,4352,0.20,2.28,0.00,0.000,4,0.181,0.060,3012,3680,2428,0,0,0,0,0,0
$GC,4432,0.41,146.0,340.8,12.6,445,4436,0.00,2.17,0.00,0.000,6,0.000,0.044,3019,2285,2427,0,0,0,0,0,0
$GC,4757,0.43,162.2,310.8,9.3,475,4777,0.00,0.00,14.02,0.982,6,0.000,0.000,3020,2285,2368,0,0,0,0,0,0
$GC,5097,0.46,186.7,280.1,8.9,507,5126,0.00,0.00,22.08,1.011,6,0.000,0.000,3019,2285,2267,0,0,0,0,0,0
$GC,5444,0.51,200.6,247.7,9.4,540,5464,0.00,0.00,13.00,0.949,6,0.000,0.000,3019,2285,2211,0,0,0,0,0,0
$GC,5783,0.55,205.2,215.1,9.8,572,5793,0.00,0.00,5.20,0.742,6,0.000,0.000,3019,2285,2193,0,0,0,0,0,0
$GC,6113,0.60,213.8,183.6,9.6,603,6125,0.10,0.00,9.23,0.877,6,0.116,0.000,3072,2285,2158,0,0,0,0,0,0
$GC,6440,0.54,213.8,139.5,13.6,634,6445,0.12,2.25,0.00,0.000,4,0.189,0.061,3048,870,2156,0,0,0,0,0,0
$GC,6486,0.59,213.8,134.3,10.1,638,6490,0.00,2.20,0.00,0.000,6,0.000,0.047,3048,2285,2155,0,0,0,0,0,0
$GC,6812,0.66,244.2,104.3,8.6,668,6845,0.00,2.33,27.38,0.932,4,0.000,0.060,3048,3697,2034,0,0,0,0,0,0
$GC,6881,0.68,244.2,98.0,10.4,675,6888,0.00,2.22,0.00,0.000,6,0.000,0.044,3056,2270,2032,0,0,0,0,0,0
$GC,7227,0.78,268.9,64.9,8.9,736,7258,0.15,2.25,22.88,0.901,4,0.093,0.058,3134,868,1931,0,0,0,0,0,0
$GC,7377,0.72,268.9,44.5,13.9,762,7385,0.15,2.20,0.00,0.000,6,0.195,0.045,3097,2281,1928,0,0,0,0,0,0
$FREEZE,8.42,-1.716,-1.836,2,37,0
$FREEZE,7.78,-1.717,-1.836,2,37,0
$FREEZE,7.07,-1.717,-1.835,2,37,0
$FREEZE,6.49,-1.717,-1.835,2,37,0
$FREEZE,5.86,-1.719,-1.834,2,37,0
$FREEZE,5.09,-1.725,-1.834,2,37,0
$FREEZE,4.57,-1.727,-1.833,2,37,0
$FREEZE,3.93,-1.729,-1.833,2,37,0
$FREEZE,3.34,-1.730,-1.832,2,37,0
$GC,7720,0.72,268.9,3.3,12.0,823,7728,0.00,2.17,0.00,0.000,4,0.000,0.054,3097,3680,1925,0,0,0,0,0,0
$FREEZE,3.12,-1.714,-1.831,2,37,0
$FREEZE,3.11,-1.729,-1.832,2,37,0
$FREEZE,3.01,-1.729,-1.832,2,37,0
$FREEZE,3.03,-1.731,-1.832,2,37,0
$FREEZE,3.03,-1.730,-1.832,2,37,0
$FREEZE,3.04,-1.732,-1.832,2,37,0
$FREEZE,3.04,-1.731,-1.832,2,37,0
$FREEZE,2.99,-1.731,-1.832,2,37,0
$GC,7742,1.02,429.0,3.1,2.6,826,7791,0.25,2.17,42.42,0.844,2,0.084,0.040,3194,2268,1576,0,0,0,0,0,0
$STATE,7792,end climb,SURFACE_DEPTH_REACHED
$STATE,7792,begin surface coast
$FREEZE,3.09,-1.732,-1.832,2,37,0
$FREEZE,3.04,-1.730,-1.832,2,37,0
$FREEZE,2.97,-1.730,-1.832,2,37,0
$FREEZE,3.10,-1.729,-1.832,2,37,0
$FREEZE,3.00,-1.729,-1.832,2,37,0
$FREEZE,3.06,-1.725,-1.832,2,37,0
$FREEZE,3.01,-1.725,-1.832,2,37,0
$FREEZE,3.08,-1.725,-1.832,2,37,0
$FREEZE,3.06,-1.724,-1.832,2,37,0
$FREEZE,3.07,-1.726,-1.832,2,37,0
$FREEZE,3.03,-1.722,-1.832,2,37,0
$FREEZE,3.08,-1.724,-1.832,2,37,0
$FREEZE,3.09,-1.727,-1.832,2,37,0
$FREEZE,3.03,-1.729,-1.832,2,37,0
$FREEZE,2.99,-1.726,-1.832,2,37,0
$FINISH,3.0,1.026866
$STATE,7871,end surface coast,NO_VERTICAL_VELOCITY
$STATE,7872,begin surface
$SM_CCo,7875,94.30,0.818,0,0,750,559.04
$RAFOS_CLK,430
$RAFOS,6,1303274946,4.833333,4.818333,187,67,59,55,54,53,663,195,159,178,121,213
$RAFOS,5,1303274461,4.700000,4.683611,117,61,60,56,50,50,697,146,178,213,111,128
$RAFOS,4,1303273987,4.566667,4.551944,103,63,62,61,54,52,804,195,217,183,157,141
$RAFOS,3,1303273502,4.433333,4.417222,57,57,55,55,54,53,116,170,154,196,137,208
$RAFOS,2,1303273025,4.300000,4.284722,65,60,54,48,47,46,211,174,118,159,130,227
$RAFOS,1,1303272544,4.166667,4.151111,77,66,57,56,55,52,965,209,185,129,166,224
$RAFOS,0,1303272069,4.033333,4.019166,67,59,58,58,56,55,171,153,138,215,205,196
$RAFOS_FIX,6721.464844,-5750.275391,200411,040444,4,121,0.33
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,400.2,37.8
$24V_AH,22.6,58.634
$10V_AH,10.2,30.064
$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,4.325,62.925,397.500,94.300,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2043.964,4099.036,546.738,1367.297,142.748,0.000,1299.097,0.000,1362.644,2520.000,10.680,0.000
$DEVICE_MAMPS,259.335,146.880,1153.620,817.785,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.763,640.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,33427,847
$CAP_FILE_SIZE,96568,0
$CFSIZE,260165632,224927744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,200411,043544,6721.465,-5750.275,0,4121.0,0,-38.9