version: 66.08
glider: 141
mission: 15
dive: 494
start: 4 25 111 14 24 17
data:
$ID,141
$MISSION,15
$DIVE,494
$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,-41429.52
$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,34
$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
$GPS1,250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.38
$_SM_ANGLEo,1.2
$GPS2,250411,123928,6659.216,-5646.230,0,4112.5,0,-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,27.3,7123,-17.5,-10.000
$D_GRID,541
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.95,0.000,2,0.000,0.000,2883,3681,3103,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.6,-0.0,1,46,0.62,0.38,-15.32,0.000,4,0.109,0.168,2667,3903,3627,0,0,0,0,0,0
$GC,134,-0.57,-146.0,19.8,-14.6,19,141,0.00,2.17,0.00,0.000,6,0.000,0.041,2668,2476,3629,0,0,0,0,0,0
$GC,479,-0.50,-146.0,73.2,-15.8,80,486,0.12,2.17,0.00,0.000,4,0.212,0.056,2696,1087,3628,0,0,0,0,0,0
$GC,517,-0.50,-146.0,78.3,-12.9,86,524,0.00,2.20,0.00,0.000,6,0.000,0.055,2696,2487,3628,0,0,0,0,0,0
$GC,858,-0.50,-146.0,117.8,-10.4,133,862,0.00,2.28,0.00,0.000,4,0.000,0.072,2697,3897,3627,0,0,0,0,0,0
$GC,933,-0.55,-146.0,125.2,-9.9,139,937,0.00,2.17,0.00,0.000,6,0.000,0.044,2696,2481,3626,0,0,0,0,0,0
$GC,1260,-0.59,-146.0,157.8,-9.9,169,1264,0.00,2.17,0.00,0.000,4,0.000,0.057,2696,1082,3624,0,0,0,0,0,0
$GC,1357,-0.66,-146.0,167.1,-9.6,177,1361,0.15,2.22,0.00,0.000,6,0.119,0.056,2646,2493,3623,0,0,0,0,0,0
$GC,1687,-0.59,-146.0,208.5,-13.0,208,1691,0.00,2.30,0.00,0.000,4,0.000,0.071,2646,3905,3622,0,0,0,0,0,0
$GC,1773,-0.55,-146.0,219.0,-11.9,215,1777,0.15,2.17,0.00,0.000,6,0.197,0.042,2682,2484,3622,0,0,0,0,0,0
$GC,2098,-0.58,-146.0,249.1,-9.1,245,2102,0.00,2.20,0.00,0.000,4,0.000,0.056,2682,1075,3622,0,0,0,0,0,0
$GC,2189,-0.62,-146.0,257.6,-10.0,253,2193,0.00,2.22,0.00,0.000,6,0.000,0.055,2682,2490,3622,0,0,0,0,0,0
$GC,2515,-0.65,-146.0,286.5,-9.0,283,2519,0.00,2.28,0.00,0.000,4,0.000,0.069,2682,3899,3622,0,0,0,0,0,0
$GC,2604,-0.71,-146.0,294.6,-8.9,290,2611,0.15,2.15,0.00,0.000,6,0.115,0.041,2631,2488,3622,0,0,0,0,0,0
$GC,2929,-0.62,-146.0,334.4,-12.4,321,2934,0.12,2.20,0.00,0.000,4,0.220,0.054,2659,1081,3623,0,0,0,0,0,0
$GC,2973,-0.62,-146.0,339.4,-10.4,324,2980,0.00,2.20,0.00,0.000,6,0.000,0.054,2660,2491,3623,0,0,0,0,0,0
$GC,3300,-0.62,-146.0,370.2,-9.0,355,3304,0.00,2.25,0.00,0.000,4,0.000,0.068,2659,3899,3624,0,0,0,0,0,0
$GC,3367,-0.62,-146.0,376.6,-8.7,360,3374,0.00,2.15,0.00,0.000,6,0.000,0.040,2659,2481,3624,0,0,0,0,0,0
$GC,3692,-0.62,-146.0,405.0,-9.2,391,3696,0.00,2.17,0.00,0.000,4,0.000,0.054,2659,1087,3624,0,0,0,0,0,0
$GC,3744,-0.62,-146.0,409.9,-9.4,395,3748,0.00,2.20,0.00,0.000,6,0.000,0.053,2659,2492,3625,0,0,0,0,0,0
$GC,4071,-0.62,-146.0,439.4,-9.2,425,4075,0.00,2.28,0.00,0.000,4,0.000,0.067,2659,3899,3624,0,0,0,0,0,0
$GC,4134,-0.64,-146.0,445.3,-9.2,430,4138,0.00,2.17,0.00,0.000,6,0.000,0.039,2659,2483,3625,0,0,0,0,0,0
$GC,4459,-0.64,-146.0,474.4,-9.1,460,4463,0.00,2.17,0.00,0.000,4,0.000,0.054,2659,1075,3625,0,0,0,0,0,0
$GC,4514,-0.66,-146.0,479.6,-8.6,464,4521,0.00,2.25,0.00,0.000,6,0.000,0.052,2659,2499,3625,0,0,0,0,0,0
$GC,4841,-0.66,-146.0,509.9,-9.6,495,4845,0.00,2.28,0.00,0.000,4,0.000,0.067,2659,3907,3626,0,0,0,0,0,0
$GC,4953,-0.66,-146.0,520.9,-9.1,504,4960,0.00,2.17,0.00,0.000,6,0.000,0.039,2659,2488,3626,0,0,0,0,0,0
$STATE,5021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5021,begin apogee
$GC,5028,-0.12,0.0,527.4,9.4,511,5159,0.55,0.00,120.65,1.203,6,0.186,0.000,2816,2250,3030,0,0,0,0,0,0
$STATE,5160,end apogee,CONTROL_FINISHED_OK
$STATE,5160,begin climb
$GC,5163,0.62,146.0,530.7,0.0,523,5294,0.77,0.00,125.62,1.161,6,0.132,0.000,3055,2250,2434,0,0,0,0,0,0
$GC,5610,0.55,146.0,483.8,12.2,565,5614,0.00,2.35,0.00,0.000,4,0.000,0.060,3055,3682,2428,0,0,0,0,0,0
$GC,5659,0.45,146.0,476.6,14.2,569,5667,0.20,2.20,0.00,0.000,6,0.184,0.044,3015,2282,2428,0,0,0,0,0,0
$GC,5985,0.45,146.0,443.2,10.6,600,5989,0.00,2.22,0.00,0.000,4,0.000,0.060,3024,869,2427,0,0,0,0,0,0
$GC,5995,0.45,148.9,441.9,9.9,600,6002,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2284,2427,0,0,0,0,0,0
$GC,6321,0.47,160.4,410.6,9.5,631,6343,0.00,2.30,12.50,1.015,4,0.000,0.062,3024,3683,2375,0,0,0,0,0,0
$GC,6371,0.43,160.4,405.0,11.9,635,6378,0.00,2.20,0.00,0.000,6,0.000,0.044,3034,2274,2375,0,0,0,0,0,0
$GC,6698,0.43,160.4,369.9,10.4,666,6702,0.00,2.25,0.00,0.000,4,0.000,0.059,3034,3691,2374,0,0,0,0,0,0
$GC,6708,0.43,160.4,368.4,10.6,666,6716,0.10,2.22,0.00,0.000,6,0.174,0.042,3006,2275,2373,0,0,0,0,0,0
$GC,7035,0.52,198.8,341.0,8.2,697,7078,0.00,2.35,33.72,1.058,4,0.000,0.060,3006,3682,2219,0,0,0,0,0,0
$GC,7241,0.57,199.8,321.2,10.0,715,7249,0.00,2.22,0.00,0.000,6,0.000,0.043,3014,2265,2216,0,0,0,0,0,0
$GC,7568,0.63,210.1,291.6,9.5,746,7584,0.15,2.30,10.68,0.937,4,0.091,0.057,3081,3688,2172,0,0,0,0,0,0
$GC,7733,0.55,210.1,266.1,15.8,760,7738,0.17,2.22,0.00,0.000,6,0.190,0.044,3047,2269,2172,0,0,0,0,0,0
$GC,8058,0.55,210.1,227.2,12.3,790,8062,0.00,2.20,0.00,0.000,4,0.000,0.058,3055,863,2170,0,0,0,0,0,0
$GC,8092,0.55,210.1,222.9,12.5,793,8097,0.00,2.20,0.00,0.000,6,0.000,0.046,3055,2277,2169,0,0,0,0,0,0
$GC,8423,0.55,210.1,180.9,12.4,824,8427,0.00,2.20,0.00,0.000,4,0.000,0.060,3055,3680,2169,0,0,0,0,0,0
$GC,8478,0.52,210.1,173.1,13.6,828,8486,0.12,2.17,0.00,0.000,6,0.182,0.044,3034,2271,2169,0,0,0,0,0,0
$GC,8804,0.56,210.1,137.2,10.5,859,8808,0.00,2.20,0.00,0.000,4,0.000,0.057,3042,858,2169,0,0,0,0,0,0
$GC,8856,0.63,210.1,131.6,11.0,863,8860,0.00,2.20,0.00,0.000,6,0.000,0.046,3042,2276,2168,0,0,0,0,0,0
$GC,9183,0.69,218.6,96.8,9.6,896,9197,0.12,2.30,8.48,0.809,4,0.103,0.060,3098,3692,2138,0,0,0,0,0,0
$GC,9205,0.69,218.6,94.4,11.2,899,9212,0.00,2.20,0.00,0.000,6,0.000,0.041,3109,2268,2138,0,0,0,0,0,0
$GC,9550,0.64,218.6,47.7,13.1,960,9557,0.12,2.28,0.00,0.000,4,0.194,0.057,3077,3686,2138,0,0,0,0,0,0
$GC,9564,0.61,218.6,45.8,13.2,962,9571,0.00,2.17,0.00,0.000,6,0.000,0.043,3085,2273,2138,0,0,0,0,0,0
$GC,9909,0.61,218.6,9.3,10.3,1023,9915,0.00,2.28,0.00,0.000,4,0.000,0.059,3085,3693,2138,0,0,0,0,0,0
$FREEZE,7.75,-1.663,-1.836,2,29,0
$GC,9923,0.61,218.6,7.8,10.9,1025,9930,0.12,2.22,0.00,0.000,6,0.187,0.044,3065,2264,2138,0,0,0,0,0,0
$FREEZE,5.91,-1.661,-1.834,2,29,0
$FREEZE,5.40,-1.660,-1.834,2,29,0
$FREEZE,4.84,-1.660,-1.834,2,29,0
$FREEZE,4.31,-1.660,-1.833,2,29,0
$FREEZE,3.83,-1.659,-1.833,2,29,0
$FREEZE,3.35,-1.658,-1.832,2,29,0
$FREEZE,2.94,-1.655,-1.832,2,29,0
$STATE,9966,end climb,SURFACE_DEPTH_REACHED
$STATE,9966,begin surface coast
$FREEZE,2.36,-1.655,-1.831,2,29,0
$FREEZE,1.89,-1.650,-1.831,2,29,0
$FREEZE,1.34,-1.641,-1.830,2,29,0
$FREEZE,1.36,-1.515,-1.734,2,29,0
$FREEZE,1.39,-1.357,-1.725,2,29,0
$FREEZE,1.26,-1.158,-1.714,2,29,0
$FINISH,1.3,1.025188
$STATE,9999,end surface coast,CONTROL_FINISHED_OK
$STATE,10000,begin surface
$SM_CCo,10017,148.65,0.062,0,0,751,559.04
$SM_GC,2.26,0.00,0.00,148.65,0.000,0.000,0.062,114,2498,751,-8.60,0.23,559.04
$RAFOS_CLK,523
$RAFOS,6,1303750141,16.833334,16.816944,83,60,59,58,57,57,879,197,181,221,133,206
$RAFOS,5,1303749664,16.700001,16.684444,126,67,57,56,55,54,676,184,168,146,198,209
$RAFOS,4,1303749186,16.566668,16.551666,74,60,57,56,53,51,898,211,174,190,115,132
$RAFOS,3,1303748703,16.433332,16.417500,64,60,60,58,57,55,167,181,194,232,140,210
$RAFOS,2,1303748223,16.299999,16.284166,59,58,55,52,52,52,218,206,189,123,155,175
$RAFOS,1,1303747743,16.166666,16.150833,64,57,55,50,49,49,215,154,140,67,179,125
$RAFOS,0,1303747269,16.033333,16.019167,67,65,57,57,52,51,174,217,202,161,117,147
$RAFOS_FIX,6702.428223,-5645.507324,250411,161622,3,94,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,450.7,90.7
$24V_AH,22.2,64.615
$10V_AH,10.1,33.152
$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,12.175,109.950,311.650,148.650,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2539.287,5223.144,538.859,1742.314,191.986,0.000,1458.199,0.000,1726.655,2520.000,12.592,0.000
$DEVICE_MAMPS,219.555,167.535,1202.580,61.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.153,780.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40042,1039
$CAP_FILE_SIZE,122061,0
$CFSIZE,260165632,221970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,250411,164322,6702.428,-5645.507,0,3094.3,0,-37.6