version: 66.08
glider: 141
mission: 15
dive: 604
start: 5 13 111 1 21 56
data:
$ID,141
$MISSION,15
$DIVE,604
$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,24
$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
$GPS1,130511,004322,6711.363,-5733.889,0,3118.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.14
$_SM_ANGLEo,-1.7
$GPS2,130511,004322,6711.363,-5733.889,0,3118.0,0,-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,152.6,36579,-17.5,-10.000
$D_GRID,738
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.80,0.000,2,0.000,0.000,2886,3689,3101,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.1,-0.0,1,47,0.62,4.25,-12.35,0.000,4,0.112,0.058,2671,1072,3628,0,0,0,0,0,0
$GC,141,-0.56,-146.0,26.2,-14.9,20,148,0.00,2.28,0.00,0.000,6,0.000,0.060,2671,2496,3630,0,0,0,0,0,0
$GC,487,-0.45,-146.0,83.3,-16.2,81,494,0.17,2.28,0.00,0.000,4,0.218,0.062,2714,1076,3629,0,0,0,0,0,0
$GC,542,-0.50,-146.0,90.7,-11.6,90,549,0.00,2.28,0.00,0.000,6,0.000,0.061,2713,2499,3628,0,0,0,0,0,0
$GC,880,-0.53,-146.0,124.9,-10.9,129,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2499,3628,0,0,0,0,0,0
$GC,1201,-0.57,-146.0,157.5,-9.8,159,1208,0.12,0.00,0.00,0.000,6,0.125,0.000,2669,2499,3625,0,0,0,0,0,0
$GC,1527,-0.52,-146.0,199.7,-12.2,190,1531,0.00,2.30,0.00,0.000,4,0.000,0.062,2669,1071,3624,0,0,0,0,0,0
$GC,1560,-0.49,-146.0,203.9,-12.2,192,1567,0.15,2.30,0.00,0.000,6,0.202,0.062,2704,2488,3624,0,0,0,0,0,0
$GC,1886,-0.53,-146.0,231.8,-8.6,223,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2489,3624,0,0,0,0,0,0
$GC,2206,-0.59,-146.0,257.6,-8.2,253,2210,0.00,2.30,0.00,0.000,4,0.000,0.075,2704,3899,3624,0,0,0,0,0,0
$GC,2240,-0.66,-146.0,260.6,-8.4,255,2247,0.17,2.20,0.00,0.000,6,0.103,0.047,2643,2480,3624,0,0,0,0,0,0
$GC,2565,-0.57,-146.0,301.3,-12.6,286,2570,0.15,2.22,0.00,0.000,4,0.204,0.060,2678,1080,3624,0,0,0,0,0,0
$GC,2578,-0.48,-146.0,302.8,-12.4,287,2583,0.10,2.28,0.00,0.000,6,0.226,0.059,2701,2496,3625,0,0,0,0,0,0
$GC,2904,-0.53,-146.0,329.3,-7.4,317,2908,0.00,2.28,0.00,0.000,4,0.000,0.074,2701,3898,3625,0,0,0,0,0,0
$GC,2927,-0.59,-146.0,331.2,-7.9,318,2934,0.00,2.20,0.00,0.000,6,0.000,0.045,2701,2489,3625,0,0,0,0,0,0
$GC,3255,-0.65,-146.0,357.1,-7.6,349,3260,0.15,2.25,0.00,0.000,4,0.116,0.059,2650,1079,3626,0,0,0,0,0,0
$GC,3277,-0.65,-146.0,359.4,-9.2,350,3284,0.00,2.28,0.00,0.000,6,0.000,0.059,2649,2493,3625,0,0,0,0,0,0
$GC,3603,-0.58,-146.0,398.0,-12.0,381,3607,0.00,2.22,0.00,0.000,4,0.000,0.060,2650,1086,3626,0,0,0,0,0,0
$GC,3614,-0.50,-146.0,399.4,-11.7,381,3622,0.20,2.25,0.00,0.000,6,0.203,0.059,2698,2489,3626,0,0,0,0,0,0
$GC,3940,-0.56,-146.0,425.7,-8.1,412,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3627,0,0,0,0,0,0
$GC,4261,-0.61,-146.0,451.9,-8.3,442,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3627,0,0,0,0,0,0
$GC,4588,-0.66,-146.0,478.2,-8.0,473,4595,0.15,0.00,0.00,0.000,6,0.115,0.000,2643,2491,3628,0,0,0,0,0,0
$GC,4915,-0.59,-146.0,517.2,-12.2,504,4919,0.12,2.35,0.00,0.000,4,0.203,0.074,2672,3904,3628,0,0,0,0,0,0
$GC,4933,-0.52,-146.0,519.3,-11.8,505,4937,0.00,2.20,0.00,0.000,6,0.000,0.046,2672,2485,3628,0,0,0,0,0,0
$GC,5258,-0.52,-146.0,551.6,-10.2,535,5262,0.00,2.20,0.00,0.000,4,0.000,0.059,2672,1083,3629,0,0,0,0,0,0
$GC,5268,-0.52,-146.0,552.9,-10.0,535,5275,0.00,2.25,0.00,0.000,6,0.000,0.059,2672,2496,3629,0,0,0,0,0,0
$GC,5593,-0.52,-146.0,585.0,-10.1,566,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2496,3629,0,0,0,0,0,0
$GC,5906,-0.52,-146.0,615.6,-9.7,586,5910,0.00,2.30,0.00,0.000,4,0.000,0.076,2672,3902,3629,0,0,0,0,0,0
$GC,5928,-0.52,-146.0,617.9,-10.0,586,5935,0.00,2.22,0.00,0.000,6,0.000,0.048,2672,2481,3629,0,0,0,0,0,0
$GC,6241,-0.52,-146.0,648.4,-9.6,597,6245,0.00,2.20,0.00,0.000,4,0.000,0.061,2672,1083,3628,0,0,0,0,0,0
$GC,6259,-0.52,-146.0,650.2,-10.0,597,6263,0.00,2.25,0.00,0.000,6,0.000,0.060,2672,2489,3628,0,0,0,0,0,0
$STATE,6570,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6570,begin apogee
$GC,6577,-0.12,0.0,681.2,10.1,607,6712,0.50,0.00,126.15,1.342,6,0.184,0.000,2816,2264,3029,0,0,0,0,0,0
$STATE,6713,end apogee,CONTROL_FINISHED_OK
$STATE,6713,begin climb
$GC,6716,0.62,146.0,686.5,0.0,611,6856,0.77,2.55,132.80,1.297,4,0.131,0.069,3062,879,2433,0,0,0,0,0,0
$GC,6938,0.58,148.7,671.3,9.9,617,6942,0.00,2.42,0.00,0.000,6,0.000,0.057,3062,2273,2428,0,0,0,0,0,0
$GC,7261,0.53,148.7,636.6,10.7,628,7266,0.00,2.33,0.00,0.000,4,0.000,0.073,3062,3693,2426,0,0,0,0,0,0
$GC,7379,0.43,148.7,622.0,12.1,631,7384,0.25,2.28,0.00,0.000,6,0.178,0.056,3005,2281,2425,0,0,0,0,0,0
$GC,7693,0.57,213.4,599.2,7.0,641,7756,0.12,0.00,59.33,1.252,6,0.104,0.000,3064,2281,2159,0,0,0,0,0,0
$GC,8071,0.57,213.4,557.7,10.7,677,8075,0.00,2.33,0.00,0.000,4,0.000,0.071,3064,3700,2151,0,0,0,0,0,0
$GC,8121,0.53,213.4,551.4,13.3,681,8129,0.15,2.30,0.00,0.000,6,0.184,0.056,3037,2269,2151,0,0,0,0,0,0
$GC,8447,0.59,229.8,521.0,9.2,712,8470,0.00,2.35,14.52,1.144,4,0.000,0.073,3043,864,2092,0,0,0,0,0,0
$GC,8498,0.67,239.4,516.3,9.6,716,8517,0.12,2.30,10.40,1.094,6,0.108,0.058,3099,2284,2053,0,0,0,0,0,0
$GC,8835,0.59,239.4,465.5,15.9,748,8840,0.17,2.33,0.00,0.000,4,0.181,0.073,3053,3697,2049,0,0,0,0,0,0
$GC,8931,0.59,239.4,453.1,11.7,756,8935,0.00,2.25,0.00,0.000,6,0.000,0.057,3061,2275,2048,0,0,0,0,0,0
$GC,9257,0.59,239.4,412.8,12.8,786,9261,0.00,2.28,0.00,0.000,4,0.000,0.070,3072,867,2047,0,0,0,0,0,0
$GC,9309,0.62,239.4,406.2,12.6,790,9313,0.00,2.25,0.00,0.000,6,0.000,0.058,3072,2284,2046,0,0,0,0,0,0
$GC,9634,0.59,239.4,360.1,14.2,820,9638,0.00,2.25,0.00,0.000,4,0.000,0.071,3072,3686,2045,0,0,0,0,0,0
$GC,9734,0.55,239.4,344.7,15.8,828,9741,0.15,2.22,0.00,0.000,6,0.186,0.055,3044,2274,2045,0,0,0,0,0,0
$GC,10060,0.59,239.4,306.7,11.6,859,10064,0.00,2.25,0.00,0.000,4,0.000,0.068,3052,863,2045,0,0,0,0,0,0
$GC,10100,0.66,239.4,302.2,10.9,862,10104,0.00,2.22,0.00,0.000,6,0.000,0.055,3051,2278,2044,0,0,0,0,0,0
$GC,10426,0.68,239.4,263.6,12.3,892,10430,0.00,2.28,0.00,0.000,4,0.000,0.070,3052,3695,2044,0,0,0,0,0,0
$GC,10503,0.68,239.4,253.0,13.2,898,10512,0.00,2.22,0.00,0.000,6,0.000,0.052,3062,2273,2043,0,0,0,0,0,0
$GC,10830,0.68,239.4,212.9,11.8,929,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2273,2043,0,0,0,0,0,0
$GC,11146,0.68,239.4,174.9,11.5,959,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2272,2043,0,0,0,0,0,0
$GC,11466,0.71,239.4,138.6,11.1,989,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2273,2043,0,0,0,0,0,0
$GC,11787,0.77,247.4,107.0,9.6,1019,11800,0.15,2.38,7.12,0.799,4,0.092,0.066,3130,3694,2021,0,0,0,0,0,0
$GC,11876,0.67,247.4,93.5,16.5,1030,11883,0.22,2.22,0.00,0.000,6,0.190,0.050,3082,2271,2021,0,0,0,0,0,0
$GC,12225,0.74,272.1,59.2,8.9,1091,12254,0.00,0.00,23.60,0.916,6,0.000,0.000,3082,2271,1922,0,0,0,0,0,0
$GC,12593,0.86,317.5,26.3,7.9,1156,12623,0.17,0.00,25.88,0.949,6,0.085,0.000,3156,2271,1734,0,0,0,0,0,0
$FREEZE,8.68,-1.778,-1.822,2,139,0
$STATE,12713,end climb,FINISH_DEPTH_REACHED
$STATE,12713,begin subsurface finish
$FINISH1,8.7,1.026658,41
$GC,12720,0.05,41.3,8.7,-15.3,1177,12767,0.93,0.00,-41.05,0.000,6,0.184,0.000,2890,2271,2864,0,0,0,0,0,0
$FINISH2,6.4
$STATE,12767,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12767,begin surface
$RAFOS_CLK,665
$RAFOS,5,1305261666,4.700000,4.685000,135,58,58,52,51,50,604,213,180,156,136,236
$RAFOS,4,1305261189,4.566667,4.552500,73,64,57,55,55,54,798,122,223,184,202,131
$RAFOS,3,1305260701,4.433333,4.416945,68,62,60,58,53,53,200,144,185,227,166,130
$RAFOS,2,1305260224,4.300000,4.284444,71,58,56,45,44,41,215,137,174,118,237,78
$RAFOS,1,1305259741,4.166667,4.150278,61,57,55,54,53,52,199,186,209,114,151,1609
$RAFOS,0,1305259262,4.033333,4.017222,67,62,60,56,54,52,166,217,151,187,96,131
$RAFOS_FIX,6709.512207,-5724.338379,130511,040428,2,104,0.54
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,45.82
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,31
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,650.2,44.1
$24V_AH,21.6,79.928
$10V_AH,10.1,41.269
$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,5.850,102.475,399.800,0.000,0.000,0.000,0.000,0.000,10.250,0.000,0.000,2889.701,7294.276,469.354,1944.276,238.071,0.000,1508.320,0.000,1923.793,2520.000,19.530,0.000
$DEVICE_MAMPS,225.675,76.500,1341.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.362,899.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46770,1185
$CAP_FILE_SIZE,136994,0
$CFSIZE,260165632,214261760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$GPS,130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6