version: 66.08
glider: 141
mission: 15
dive: 505
start: 4 26 111 20 32 33
data:
$ID,141
$MISSION,15
$DIVE,505
$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,-44378.133
$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,26
$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
$GPS1,260411,164656,6704.616,-5646.708,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-37.0
$GPS2,260411,164656,6704.616,-5646.708,181,99.0,181,-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,234.9,3135,-17.5,-10.000
$D_GRID,470
$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,15,-0.62,-146.0,0.0,0.0,0,218,0.00,0.00,-197.00,0.000,6,0.000,0.000,110,2499,3626,0,0,0,0,0,0
$GC,221,-0.62,-146.0,2.7,-0.1,35,240,10.60,2.33,0.00,0.000,4,0.256,0.063,2658,1087,3628,0,0,0,0,0,0
$GC,471,-0.54,-146.0,36.8,-18.0,79,479,0.12,2.28,0.00,0.000,6,0.214,0.060,2688,2491,3628,0,0,0,0,0,0
$GC,816,-0.54,-146.0,80.8,-11.9,140,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2491,3628,0,0,0,0,0,0
$GC,1151,-0.54,-146.0,122.1,-12.9,185,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2491,3626,0,0,0,0,0,0
$GC,1472,-0.57,-146.0,160.8,-11.7,215,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2491,3626,0,0,0,0,0,0
$GC,1791,-0.60,-146.0,194.9,-10.0,245,1795,0.00,2.30,0.00,0.000,4,0.000,0.076,2688,3900,3626,0,0,0,0,0,0
$GC,1835,-0.67,-146.0,199.2,-9.0,248,1843,0.12,2.20,0.00,0.000,6,0.119,0.044,2645,2491,3625,0,0,0,0,0,0
$GC,2161,-0.61,-146.0,236.2,-11.5,279,2165,0.00,2.22,0.00,0.000,4,0.000,0.060,2645,1081,3626,0,0,0,0,0,0
$GC,2218,-0.59,-146.0,242.9,-11.0,284,2222,0.00,2.25,0.00,0.000,6,0.000,0.057,2645,2491,3626,0,0,0,0,0,0
$GC,2543,-0.53,-146.0,278.3,-10.7,314,2548,0.17,2.33,0.00,0.000,4,0.203,0.072,2688,3904,3627,0,0,0,0,0,0
$GC,2560,-0.50,-146.0,280.0,-10.0,315,2566,0.00,2.20,0.00,0.000,6,0.000,0.041,2689,2481,3627,0,0,0,0,0,0
$GC,2885,-0.55,-146.0,304.0,-7.9,346,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2480,3629,0,0,0,0,0,0
$GC,3206,-0.61,-146.0,330.2,-8.7,376,3210,0.00,2.20,0.00,0.000,4,0.000,0.057,2689,1081,3630,0,0,0,0,0,0
$GC,3228,-0.67,-146.0,332.6,-9.0,377,3235,0.12,2.25,0.00,0.000,6,0.118,0.054,2646,2499,3630,0,0,0,0,0,0
$GC,3554,-0.62,-146.0,369.2,-11.3,408,3558,0.00,2.28,0.00,0.000,4,0.000,0.070,2645,3901,3631,0,0,0,0,0,0
$GC,3581,-0.59,-146.0,372.6,-11.7,410,3588,0.00,2.17,0.00,0.000,6,0.000,0.040,2645,2487,3631,0,0,0,0,0,0
$GC,3907,-0.54,-146.0,408.8,-11.3,441,3911,0.15,2.20,0.00,0.000,4,0.200,0.056,2682,1085,3632,0,0,0,0,0,0
$GC,3917,-0.51,-146.0,410.0,-11.3,441,3924,0.00,2.22,0.00,0.000,6,0.000,0.053,2682,2490,3632,0,0,0,0,0,0
$GC,4245,-0.55,-146.0,436.4,-8.1,472,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2490,3633,0,0,0,0,0,0
$GC,4563,-0.61,-146.0,462.2,-8.4,502,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2490,3634,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4669,-0.12,0.0,470.6,8.1,512,4801,0.45,0.00,121.95,1.170,6,0.176,0.000,2816,2253,3028,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,0.62,146.0,474.1,0.0,524,4939,0.77,2.47,124.30,1.127,4,0.131,0.061,3066,894,2434,0,0,0,0,0,0
$GC,5006,0.55,146.0,456.0,12.9,542,5013,0.00,2.35,0.00,0.000,6,0.000,0.047,3066,2282,2429,0,0,0,0,0,0
$GC,5334,0.47,146.0,412.4,13.6,573,5338,0.17,2.30,0.00,0.000,4,0.177,0.063,3020,3694,2428,0,0,0,0,0,0
$GC,5396,0.45,146.0,404.0,12.4,578,5400,0.00,2.22,0.00,0.000,6,0.000,0.045,3028,2287,2428,0,0,0,0,0,0
$GC,5723,0.45,146.0,367.6,11.2,608,5727,0.00,2.25,0.00,0.000,4,0.000,0.062,3038,869,2428,0,0,0,0,0,0
$GC,5766,0.45,146.0,362.6,10.0,611,5774,0.00,2.22,0.00,0.000,6,0.000,0.049,3039,2280,2428,0,0,0,0,0,0
$GC,6092,0.45,146.0,328.4,10.0,642,6096,0.00,2.22,0.00,0.000,4,0.000,0.063,3038,3680,2427,0,0,0,0,0,0
$GC,6171,0.38,146.0,319.4,11.6,649,6176,0.22,2.17,0.00,0.000,6,0.181,0.044,2990,2271,2428,0,0,0,0,0,0
$GC,6502,0.54,220.6,295.7,6.6,680,6571,0.15,2.28,63.05,1.043,4,0.093,0.059,3070,871,2130,0,0,0,0,0,0
$GC,6600,0.54,220.6,284.5,12.3,688,6607,0.00,2.25,0.00,0.000,6,0.000,0.048,3070,2276,2125,0,0,0,0,0,0
$GC,6928,0.51,220.6,240.7,13.0,719,6932,0.15,2.22,0.00,0.000,4,0.175,0.061,3030,3681,2121,0,0,0,0,0,0
$GC,7016,0.51,220.6,229.7,11.3,726,7023,0.00,2.20,0.00,0.000,6,0.000,0.044,3038,2274,2120,0,0,0,0,0,0
$GC,7342,0.55,220.6,196.0,10.0,757,7346,0.00,2.20,0.00,0.000,4,0.000,0.059,3046,868,2120,0,0,0,0,0,0
$GC,7391,0.63,236.1,191.1,9.3,761,7410,0.00,2.20,13.05,0.911,6,0.000,0.046,3046,2276,2067,0,0,0,0,0,0
$GC,7728,0.66,236.1,157.0,10.2,793,7732,0.00,2.25,0.00,0.000,4,0.000,0.061,3046,3692,2064,0,0,0,0,0,0
$GC,7818,0.66,236.1,146.3,12.3,801,7822,0.00,2.22,0.00,0.000,6,0.000,0.044,3056,2264,2064,0,0,0,0,0,0
$GC,8144,0.68,236.1,109.8,10.5,831,8148,0.00,2.17,0.00,0.000,4,0.000,0.058,3065,866,2064,0,0,0,0,0,0
$GC,8177,0.72,236.1,106.3,10.7,833,8184,0.00,2.20,0.00,0.000,6,0.000,0.046,3065,2281,2063,0,0,0,0,0,0
$GC,8518,0.77,236.1,67.7,10.5,889,8525,0.12,2.22,0.00,0.000,4,0.100,0.061,3124,3681,2063,0,0,0,0,0,0
$GC,8602,0.66,236.1,54.7,17.1,903,8610,0.22,2.20,0.00,0.000,6,0.189,0.045,3076,2267,2063,0,0,0,0,0,0
$GC,8950,0.66,239.7,17.0,9.8,964,8958,0.00,2.20,1.50,0.129,4,0.000,0.057,3084,870,2052,0,0,0,0,0,0
$GC,9000,0.71,239.7,11.6,10.4,972,9007,0.00,2.22,0.00,0.000,6,0.000,0.050,3084,2282,2052,0,0,0,0,0,0
$FREEZE,8.78,-1.698,-1.839,2,40,2
$FREEZE,8.23,-1.695,-1.838,2,40,2
$FREEZE,7.79,-1.700,-1.838,2,40,2
$FREEZE,7.20,-1.694,-1.838,2,40,2
$FREEZE,6.55,-1.696,-1.837,2,40,2
$FREEZE,5.91,-1.696,-1.837,2,40,2
$FREEZE,5.35,-1.696,-1.836,2,40,2
$FREEZE,4.86,-1.700,-1.836,2,40,2
$FREEZE,4.39,-1.695,-1.835,2,40,2
$FREEZE,3.79,-1.700,-1.835,2,40,2
$FREEZE,3.31,-1.707,-1.835,2,40,2
$FREEZE,2.97,-1.708,-1.834,2,40,2
$STATE,9082,end climb,SURFACE_DEPTH_REACHED
$STATE,9082,begin surface coast
$FREEZE,2.27,-1.708,-1.834,2,40,2
$FREEZE,2.02,-1.711,-1.834,2,40,2
$FREEZE,2.13,-1.711,-1.834,2,40,2
$FREEZE,2.13,-1.711,-1.834,2,40,2
$FREEZE,2.16,-1.711,-1.834,2,40,2
$FREEZE,2.11,-1.709,-1.834,2,40,2
$FINISH,2.1,1.026896
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9252,141.02,0.066,0,0,750,559.04
$SM_GC,3.33,0.00,0.00,141.02,0.000,0.000,0.066,109,2502,750,-8.61,0.34,559.04
$RAFOS_CLK,520
$RAFOS,6,1303850944,20.833334,20.817778,121,67,62,58,57,55,857,210,145,167,181,157
$RAFOS,5,1303850465,20.700001,20.684723,90,66,59,58,54,53,663,174,216,144,191,119
$RAFOS,4,1303849987,20.566668,20.551945,62,58,56,53,50,50,212,144,186,199,125,224
$RAFOS,1,1303848542,20.166666,20.150555,72,62,60,60,59,55,187,153,163,132,218,205
$RAFOS_FIX,6702.160156,-5648.239258,260411,202000,2,106,0.32
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,22.3,65.770
$10V_AH,10.1,33.903
$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,22.025,81.375,323.850,141.025,0.000,98.846,17.396,0.000,1.250,0.000,182.289,2331.449,4861.979,642.257,1896.061,482.690,0.000,1533.959,0.000,1578.713,1080.000,11.865,0.000
$DEVICE_MAMPS,255.510,75.735,1169.685,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.809,737.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150524
$DATA_FILE_SIZE,36724,993
$CAP_FILE_SIZE,115797,0
$CFSIZE,260165632,221347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,260411,204800,6702.160,-5648.239,0,2105.5,0,-37.6