version: 66.08
glider: 141
mission: 15
dive: 602
start: 5 12 111 17 46 54
data:
$ID,141
$MISSION,15
$DIVE,602
$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,-48067.812
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,120511,162744,6710.049,-5741.642,0,7116.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.41
$_SM_ANGLEo,-3.1
$GPS2,120511,162744,6710.049,-5741.642,0,7116.3,0,-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,146.2,40878,-17.5,-10.000
$D_GRID,787
$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,-6.38,0.000,2,0.000,0.000,2887,859,3104,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.4,-0.0,1,47,0.62,0.38,-13.35,0.000,4,0.099,0.146,2665,1090,3628,0,0,0,0,0,0
$GC,141,-0.53,-146.0,25.8,-17.3,20,148,0.00,2.28,0.00,0.000,6,0.000,0.067,2664,2491,3630,0,0,0,0,0,0
$GC,486,-0.40,-146.0,86.6,-16.2,81,493,0.25,2.38,0.00,0.000,4,0.223,0.080,2730,3907,3629,0,0,0,0,0,0
$GC,502,-0.29,-146.0,89.0,-16.0,83,510,0.12,2.25,0.00,0.000,6,0.205,0.053,2761,2475,3629,0,0,0,0,0,0
$GC,844,-0.42,-146.0,113.2,-7.0,127,849,0.12,2.28,0.00,0.000,4,0.132,0.070,2718,1071,3628,0,0,0,0,0,0
$GC,878,-0.48,-146.0,116.6,-9.8,129,884,0.00,2.33,0.00,0.000,6,0.000,0.067,2717,2488,3628,0,0,0,0,0,0
$GC,1205,-0.51,-146.0,150.8,-10.3,160,1210,0.00,2.35,0.00,0.000,4,0.000,0.085,2717,3899,3626,0,0,0,0,0,0
$GC,1246,-0.59,-146.0,155.3,-10.2,163,1251,0.15,2.22,0.00,0.000,6,0.116,0.054,2665,2490,3626,0,0,0,0,0,0
$GC,1572,-0.52,-146.0,200.7,-13.2,193,1577,0.12,2.30,0.00,0.000,4,0.219,0.069,2693,1083,3625,0,0,0,0,0,0
$GC,1605,-0.52,-146.0,204.9,-12.0,195,1612,0.00,2.30,0.00,0.000,6,0.000,0.068,2693,2496,3625,0,0,0,0,0,0
$GC,1932,-0.52,-146.0,237.4,-9.7,226,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2496,3625,0,0,0,0,0,0
$GC,2251,-0.52,-146.0,268.5,-10.0,256,2255,0.00,2.33,0.00,0.000,4,0.000,0.083,2693,3899,3624,0,0,0,0,0,0
$GC,2274,-0.52,-146.0,270.9,-9.6,257,2280,0.00,2.22,0.00,0.000,6,0.000,0.051,2693,2484,3624,0,0,0,0,0,0
$GC,2599,-0.54,-146.0,301.7,-9.3,288,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2484,3625,0,0,0,0,0,0
$GC,2921,-0.56,-146.0,330.3,-8.5,318,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2484,3624,0,0,0,0,0,0
$GC,3248,-0.59,-146.0,358.6,-8.7,349,3252,0.00,2.25,0.00,0.000,4,0.000,0.064,2692,1078,3624,0,0,0,0,0,0
$GC,3268,-0.62,-146.0,360.3,-8.9,350,3273,0.00,2.28,0.00,0.000,6,0.000,0.063,2693,2492,3625,0,0,0,0,0,0
$GC,3594,-0.65,-146.0,387.4,-8.3,380,3599,0.12,2.35,0.00,0.000,4,0.123,0.079,2647,3907,3625,0,0,0,0,0,0
$GC,3623,-0.61,-146.0,390.4,-10.9,382,3628,0.00,2.25,0.00,0.000,6,0.000,0.049,2646,2478,3626,0,0,0,0,0,0
$GC,3949,-0.54,-146.0,428.8,-11.6,412,3951,0.15,0.00,0.00,0.000,6,0.203,0.000,2683,2478,3626,0,0,0,0,0,0
$GC,4267,-0.54,-146.0,455.6,-7.9,442,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3627,0,0,0,0,0,0
$GC,4587,-0.54,-146.0,481.7,-8.3,472,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3628,0,0,0,0,0,0
$GC,4906,-0.54,-146.0,508.4,-8.5,502,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3628,0,0,0,0,0,0
$GC,5235,-0.54,-146.0,536.5,-9.0,533,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3629,0,0,0,0,0,0
$GC,5563,-0.54,-146.0,564.9,-8.8,564,5567,0.00,2.35,0.00,0.000,4,0.000,0.074,2683,3905,3629,0,0,0,0,0,0
$GC,5580,-0.54,-146.0,566.6,-8.6,565,5584,0.00,2.20,0.00,0.000,6,0.000,0.047,2683,2486,3629,0,0,0,0,0,0
$GC,5906,-0.56,-146.0,595.0,-9.0,595,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$GC,6215,-0.58,-146.0,621.4,-8.4,609,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$GC,6521,-0.58,-146.0,647.5,-8.6,619,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$GC,6827,-0.60,-146.0,673.5,-8.4,629,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$GC,7133,-0.62,-146.0,700.0,-8.8,639,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$STATE,7375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7376,begin apogee
$GC,7382,-0.12,0.0,721.5,8.7,647,7517,0.45,0.00,126.72,1.379,6,0.180,0.000,2814,2264,3030,0,0,0,0,0,0
$STATE,7518,end apogee,CONTROL_FINISHED_OK
$STATE,7518,begin climb
$GC,7521,0.62,146.0,725.6,0.0,651,7667,0.80,2.60,133.90,1.325,4,0.132,0.070,3066,893,2432,0,0,0,0,0,0
$GC,7748,0.57,146.0,708.8,11.3,658,7752,0.00,2.42,0.00,0.000,6,0.000,0.058,3066,2278,2428,0,0,0,0,0,0
$GC,8073,0.52,146.0,672.6,11.1,669,8078,0.12,2.33,0.00,0.000,4,0.184,0.076,3034,3689,2426,0,0,0,0,0,0
$GC,8158,0.46,146.0,663.1,11.2,671,8162,0.00,2.28,0.00,0.000,6,0.000,0.057,3043,2287,2425,0,0,0,0,0,0
$GC,8471,0.44,146.0,631.9,10.0,681,8473,0.12,0.00,0.00,0.000,6,0.184,0.000,3011,2287,2424,0,0,0,0,0,0
$GC,8777,0.53,184.2,606.4,8.2,691,8815,0.00,2.40,33.17,1.258,4,0.000,0.076,3011,3695,2279,0,0,0,0,0,0
$GC,8844,0.59,204.2,600.5,9.1,693,8870,0.10,2.30,19.60,1.213,6,0.115,0.056,3062,2271,2196,0,0,0,0,0,0
$GC,9196,0.57,204.2,559.7,11.5,725,9200,0.00,2.28,0.00,0.000,4,0.000,0.072,3073,868,2191,0,0,0,0,0,0
$GC,9237,0.57,204.2,554.9,11.7,728,9241,0.00,2.30,0.00,0.000,6,0.000,0.060,3073,2287,2189,0,0,0,0,0,0
$GC,9563,0.52,204.2,514.2,12.6,758,9568,0.15,2.28,0.00,0.000,4,0.181,0.075,3033,3686,2189,0,0,0,0,0,0
$GC,9640,0.52,204.2,504.7,11.8,764,9647,0.00,2.25,0.00,0.000,6,0.000,0.057,3041,2275,2188,0,0,0,0,0,0
$GC,9967,0.55,209.6,472.1,9.7,795,9977,0.00,0.00,4.75,0.841,6,0.000,0.000,3041,2275,2175,0,0,0,0,0,0
$GC,10296,0.55,209.6,439.0,10.2,826,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2276,2174,0,0,0,0,0,0
$GC,10612,0.55,209.6,404.6,11.2,856,10617,0.00,2.33,0.00,0.000,4,0.000,0.072,3041,3687,2174,0,0,0,0,0,0
$GC,10675,0.55,209.6,397.0,13.1,861,10679,0.00,2.28,0.00,0.000,6,0.000,0.055,3051,2263,2173,0,0,0,0,0,0
$GC,11000,0.55,209.6,358.8,11.5,891,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2263,2173,0,0,0,0,0,0
$GC,11320,0.55,209.6,321.0,11.6,921,11324,0.00,2.33,0.00,0.000,4,0.000,0.070,3051,3688,2173,0,0,0,0,0,0
$GC,11377,0.52,209.6,313.5,13.3,925,11384,0.00,2.25,0.00,0.000,6,0.000,0.054,3061,2274,2173,0,0,0,0,0,0
$GC,11704,0.50,209.6,273.2,11.6,956,11709,0.12,2.28,0.00,0.000,4,0.186,0.067,3038,858,2173,0,0,0,0,0,0
$GC,11738,0.57,209.6,269.5,10.4,958,11744,0.00,2.25,0.00,0.000,6,0.000,0.057,3038,2278,2172,0,0,0,0,0,0
$GC,12063,0.63,224.8,238.9,9.3,989,12086,0.00,2.33,14.82,0.998,4,0.000,0.070,3038,3698,2113,0,0,0,0,0,0
$GC,12145,0.66,224.8,230.7,10.7,996,12149,0.00,2.28,0.00,0.000,6,0.000,0.052,3047,2271,2112,0,0,0,0,0,0
$GC,12472,0.68,224.8,195.5,11.1,1026,12476,0.10,2.28,0.00,0.000,4,0.116,0.065,3105,856,2111,0,0,0,0,0,0
$GC,12516,0.64,224.8,189.6,13.9,1029,12523,0.12,2.28,0.00,0.000,6,0.194,0.054,3076,2280,2109,0,0,0,0,0,0
$GC,12842,0.61,224.8,149.6,11.8,1060,12846,0.00,2.28,0.00,0.000,4,0.000,0.068,3076,3692,2109,0,0,0,0,0,0
$GC,12921,0.58,224.8,139.6,12.1,1067,12925,0.12,2.25,0.00,0.000,6,0.194,0.050,3053,2263,2109,0,0,0,0,0,0
$GC,13252,0.67,253.7,108.7,8.7,1098,13286,0.00,2.28,26.83,0.949,4,0.000,0.064,3059,856,1994,0,0,0,0,0,0
$GC,13346,0.82,285.7,100.8,8.5,1106,13382,0.20,2.25,29.85,0.934,6,0.083,0.053,3141,2277,1865,0,0,0,0,0,0
$GC,13722,0.77,285.7,45.0,12.7,1171,13729,0.00,2.25,0.00,0.000,4,0.000,0.067,3141,3683,1859,0,0,0,0,0,0
$GC,13809,0.70,285.7,32.4,14.2,1186,13817,0.22,2.25,0.00,0.000,6,0.187,0.053,3092,2273,1857,0,0,0,0,0,0
$FREEZE,8.69,-1.731,-1.819,3,137,0
$STATE,14049,end climb,FINISH_DEPTH_REACHED
$STATE,14049,begin subsurface finish
$FINISH1,8.7,1.026625,43
$GC,14057,0.05,42.9,8.7,-9.6,1228,14100,0.65,2.33,-32.35,0.000,4,0.151,0.077,2887,862,2858,0,0,0,0,0,0
$FINISH2,7.7
$STATE,14100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14101,begin surface
$RAFOS_CLK,738
$RAFOS,6,1305233348,20.833334,20.818890,175,60,59,57,55,52,692,205,191,220,152,171
$RAFOS,5,1305232865,20.700001,20.684723,134,60,60,53,53,52,605,192,156,225,212,145
$RAFOS,4,1305232388,20.566668,20.552221,111,63,59,56,53,52,782,190,214,146,133,113
$RAFOS,3,1305231911,20.433332,20.419722,66,62,58,56,56,54,196,916,171,131,187,162
$RAFOS,2,1305231426,20.299999,20.285000,69,57,55,54,54,52,986,211,226,163,146,193
$RAFOS,1,1305230943,20.166666,20.150833,67,64,61,55,53,50,975,181,210,121,246,221
$RAFOS,0,1305230483,20.033333,20.023056,61,55,55,54,52,50,216,201,167,120,184,230
$RAFOS_FIX,6710.926758,-5738.084961,120511,202038,5,111,0.21
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,13
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,702.6,33.0
$24V_AH,21.5,79.657
$10V_AH,10.0,41.124
$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,4.975,101.750,389.650,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,3010.538,8432.448,453.003,2027.731,249.292,0.000,1527.721,0.000,2002.652,2520.000,22.897,0.000
$DEVICE_MAMPS,222.615,146.115,1379.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.416,936.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50025,1235
$CAP_FILE_SIZE,143105,0
$CFSIZE,260165632,214392832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6