version: 66.08
glider: 141
mission: 15
dive: 463
start: 4 22 111 11 24 25
data:
$ID,141
$MISSION,15
$DIVE,463
$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,-40320.289
$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,33
$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
$GPS1,220411,084322,6713.305,-5709.168,0,3112.3,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.78
$_SM_ANGLEo,1.2
$GPS2,220411,084322,6713.305,-5709.168,0,3112.3,0,-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,180.2,24452,-17.5,-10.000
$D_GRID,410
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.85,0.000,2,0.000,0.000,2886,3691,3102,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.9,-0.0,1,53,0.62,4.15,-15.25,0.000,4,0.111,0.054,2670,1080,3628,0,0,0,0,0,0
$GC,166,-0.59,-146.0,24.3,-13.5,25,173,0.00,2.22,0.00,0.000,6,0.000,0.055,2670,2490,3629,0,0,0,0,0,0
$GC,513,-0.51,-146.0,73.9,-13.6,86,520,0.00,2.33,0.00,0.000,4,0.000,0.071,2671,3906,3628,0,0,0,0,0,0
$GC,550,-0.44,-146.0,79.3,-13.6,92,558,0.17,2.20,0.00,0.000,6,0.206,0.042,2713,2483,3628,0,0,0,0,0,0
$GC,890,-0.49,-146.0,110.7,-9.2,142,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2483,3627,0,0,0,0,0,0
$GC,1209,-0.56,-146.0,138.8,-8.7,172,1213,0.00,2.20,0.00,0.000,4,0.000,0.059,2713,1078,3625,0,0,0,0,0,0
$GC,1223,-0.62,-146.0,140.1,-8.7,173,1227,0.15,2.25,0.00,0.000,6,0.120,0.056,2664,2501,3624,0,0,0,0,0,0
$GC,1548,-0.58,-146.0,178.7,-11.2,203,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2501,3623,0,0,0,0,0,0
$GC,1870,-0.55,-146.0,209.4,-8.8,233,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2501,3622,0,0,0,0,0,0
$GC,2197,-0.55,-146.0,240.0,-10.5,264,2202,0.00,2.25,0.00,0.000,4,0.000,0.069,2663,3898,3622,0,0,0,0,0,0
$GC,2235,-0.55,-146.0,244.1,-9.9,267,2242,0.00,2.15,0.00,0.000,6,0.000,0.041,2663,2489,3622,0,0,0,0,0,0
$GC,2563,-0.53,-146.0,276.1,-9.8,298,2567,0.00,2.20,0.00,0.000,4,0.000,0.054,2663,1078,3622,0,0,0,0,0,0
$GC,2581,-0.50,-146.0,278.2,-10.1,299,2586,0.15,2.25,0.00,0.000,6,0.205,0.053,2700,2502,3623,0,0,0,0,0,0
$GC,2907,-0.59,-146.0,303.2,-8.0,329,2911,0.00,2.25,0.00,0.000,4,0.000,0.067,2699,3899,3623,0,0,0,0,0,0
$GC,2951,-0.70,-146.0,306.8,-7.9,332,2959,0.20,2.17,0.00,0.000,6,0.101,0.039,2629,2482,3623,0,0,0,0,0,0
$GC,3276,-0.61,-146.0,348.6,-13.0,363,3281,0.15,2.17,0.00,0.000,4,0.210,0.054,2664,1084,3623,0,0,0,0,0,0
$GC,3290,-0.52,-146.0,350.1,-13.0,363,3298,0.12,2.22,0.00,0.000,6,0.213,0.052,2695,2496,3624,0,0,0,0,0,0
$GC,3616,-0.59,-146.0,376.2,-7.9,394,3620,0.00,2.25,0.00,0.000,4,0.000,0.067,2694,3905,3625,0,0,0,0,0,0
$GC,3629,-0.67,-146.0,377.2,-8.1,395,3634,0.15,2.15,0.00,0.000,6,0.109,0.038,2641,2485,3624,0,0,0,0,0,0
$STATE,3772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3772,begin apogee
$GC,3777,-0.12,0.0,393.0,11.4,408,3902,0.62,0.00,118.18,1.123,6,0.194,0.000,2816,2259,3030,0,0,0,0,0,0
$STATE,3902,end apogee,CONTROL_FINISHED_OK
$STATE,3903,begin climb
$GC,3905,0.62,146.0,396.6,0.0,419,4036,0.77,0.00,122.65,1.078,6,0.132,0.000,3055,2259,2434,0,0,0,0,0,0
$GC,4354,0.58,146.0,352.3,11.0,461,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2259,2428,0,0,0,0,0,0
$GC,4673,0.52,146.0,316.0,11.7,491,4677,0.00,2.30,0.00,0.000,4,0.000,0.060,3055,3692,2427,0,0,0,0,0,0
$GC,4769,0.41,146.0,302.8,13.8,499,4774,0.25,2.20,0.00,0.000,6,0.187,0.043,3001,2285,2427,0,0,0,0,0,0
$GC,5095,0.51,185.1,275.0,8.2,529,5134,0.00,0.00,32.78,1.005,6,0.000,0.000,3001,2285,2275,0,0,0,0,0,0
$GC,5454,0.68,263.6,246.7,6.4,563,5532,0.22,2.35,68.03,1.000,4,0.073,0.060,3108,872,1953,0,0,0,0,0,0
$GC,5579,0.65,263.6,230.1,13.6,574,5584,0.12,2.25,0.00,0.000,6,0.186,0.047,3079,2282,1949,0,0,0,0,0,0
$GC,5910,0.61,263.6,186.6,13.6,605,5914,0.00,2.25,0.00,0.000,4,0.000,0.060,3079,3693,1944,0,0,0,0,0,0
$GC,6007,0.58,263.6,172.8,14.1,613,6012,0.12,2.20,0.00,0.000,6,0.194,0.044,3057,2271,1942,0,0,0,0,0,0
$GC,6332,0.60,263.6,133.0,12.4,643,6336,0.00,2.20,0.00,0.000,4,0.000,0.059,3066,866,1942,0,0,0,0,0,0
$GC,6418,0.65,263.6,122.4,12.2,650,6425,0.00,2.17,0.00,0.000,6,0.000,0.044,3065,2281,1940,0,0,0,0,0,0
$GC,6750,0.69,263.6,83.8,11.1,694,6757,0.00,2.20,0.00,0.000,4,0.000,0.060,3066,3689,1940,0,0,0,0,0,0
$GC,6810,0.71,263.6,76.8,11.9,704,6817,0.00,2.20,0.00,0.000,6,0.000,0.042,3076,2264,1940,0,0,0,0,0,0
$GC,7156,0.76,271.2,40.6,9.6,765,7169,0.10,2.20,5.40,0.698,4,0.115,0.059,3137,863,1924,0,0,0,0,0,0
$GC,7211,0.71,271.2,33.6,14.3,774,7218,0.15,2.17,0.00,0.000,6,0.194,0.045,3098,2278,1923,0,0,0,0,0,0
$FREEZE,8.91,-1.677,-1.837,3,64,0
$STATE,7411,end climb,FINISH_DEPTH_REACHED
$STATE,7411,begin subsurface finish
$FINISH1,8.9,1.026868,31
$GC,7417,0.04,31.0,8.9,-12.0,809,7459,0.70,2.30,-31.02,0.000,4,0.161,0.076,2881,3678,2906,0,0,0,0,0,0
$FINISH2,7.1
$STATE,7460,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7460,begin surface
$RAFOS_CLK,391
$RAFOS,6,1303476546,12.833333,12.818334,87,58,56,55,51,50,799,163,190,222,210,127
$RAFOS,5,1303476070,12.700000,12.686111,138,64,61,55,51,51,636,158,175,211,134,191
$RAFOS,4,1303475581,12.566667,12.550278,102,63,58,56,55,54,903,162,148,171,199,223
$RAFOS,3,1303475109,12.433333,12.419167,62,56,55,54,52,51,195,174,206,153,234,140
$RAFOS,2,1303474622,12.300000,12.283889,68,60,56,50,47,47,146,130,205,115,188,172
$RAFOS,1,1303474146,12.166667,12.151667,71,57,56,55,54,52,1043,178,211,195,147,160
$RAFOS,0,1303473665,12.033333,12.018056,60,58,57,56,56,55,191,231,203,145,134,158
$RAFOS_FIX,6712.718750,-5703.551270,220411,121216,4,100,0.30
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,350.1,57.0
$24V_AH,22.5,61.367
$10V_AH,10.3,31.402
$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,4.800,66.725,347.025,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1949.257,3767.187,388.078,1294.438,132.070,0.000,1094.699,0.000,1285.288,2520.000,8.968,0.000
$DEVICE_MAMPS,212.670,76.500,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.228,609.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,30062,816
$CAP_FILE_SIZE,90192,0
$CFSIZE,260165632,223633408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,220411,123616,6712.719,-5703.551,0,4099.5,0,-38.9