version: 66.08
glider: 141
mission: 15
dive: 610
start: 5 13 111 19 51 36
data:
$ID,141
$MISSION,15
$DIVE,610
$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,400
$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,-48069.07
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.70
$_SM_ANGLEo,-2.6
$GPS2,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8
$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,162.0,20551,-17.5,-10.000
$D_GRID,586
$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,-5.68,0.000,2,0.000,0.000,2882,867,3107,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.7,-0.0,1,52,0.60,5.00,-13.90,0.000,4,0.099,0.072,2668,3894,3629,0,0,0,0,0,0
$GC,189,-0.59,-146.0,29.5,-12.5,29,196,0.00,2.20,0.00,0.000,6,0.000,0.046,2668,2482,3630,0,0,0,0,0,0
$GC,535,-0.49,-146.0,82.2,-15.8,90,542,0.12,0.00,0.00,0.000,6,0.210,0.000,2696,2481,3629,0,0,0,0,0,0
$GC,869,-0.49,-146.0,123.1,-11.6,133,873,0.00,2.22,0.00,0.000,4,0.000,0.064,2697,1085,3628,0,0,0,0,0,0
$GC,919,-0.53,-146.0,128.9,-10.9,137,926,0.00,2.25,0.00,0.000,6,0.000,0.063,2697,2493,3628,0,0,0,0,0,0
$GC,1245,-0.56,-146.0,159.9,-9.0,168,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2493,3626,0,0,0,0,0,0
$GC,1564,-0.59,-146.0,189.6,-9.4,198,1568,0.00,2.30,0.00,0.000,4,0.000,0.077,2697,3900,3625,0,0,0,0,0,0
$GC,1575,-0.62,-146.0,190.8,-9.2,198,1581,0.00,2.17,0.00,0.000,6,0.000,0.047,2697,2490,3625,0,0,0,0,0,0
$GC,1902,-0.66,-146.0,221.3,-9.6,229,1904,0.15,0.00,0.00,0.000,6,0.118,0.000,2645,2490,3624,0,0,0,0,0,0
$GC,2219,-0.58,-146.0,263.0,-13.3,259,2221,0.12,0.00,0.00,0.000,6,0.205,0.000,2674,2490,3625,0,0,0,0,0,0
$GC,2537,-0.58,-146.0,298.1,-10.3,289,2541,0.00,2.22,0.00,0.000,4,0.000,0.059,2674,1082,3625,0,0,0,0,0,0
$GC,2548,-0.58,-146.0,299.3,-10.3,289,2555,0.00,2.25,0.00,0.000,6,0.000,0.060,2674,2497,3624,0,0,0,0,0,0
$GC,2874,-0.58,-146.0,332.4,-10.5,320,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2497,3625,0,0,0,0,0,0
$GC,3193,-0.58,-146.0,363.7,-9.9,350,3197,0.00,2.28,0.00,0.000,4,0.000,0.073,2674,3903,3625,0,0,0,0,0,0
$GC,3222,-0.58,-146.0,366.7,-9.9,352,3226,0.00,2.17,0.00,0.000,6,0.000,0.045,2674,2488,3625,0,0,0,0,0,0
$GC,3548,-0.58,-146.0,398.1,-9.4,382,3552,0.00,2.20,0.00,0.000,4,0.000,0.058,2674,1076,3626,0,0,0,0,0,0
$GC,3558,-0.58,-146.0,399.2,-9.5,382,3565,0.00,2.25,0.00,0.000,6,0.000,0.057,2674,2489,3626,0,0,0,0,0,0
$GC,3884,-0.58,-146.0,429.7,-9.1,413,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2489,3626,0,0,0,0,0,0
$STATE,3966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3966,begin apogee
$GC,3973,-0.12,0.0,437.5,9.1,421,4105,0.47,0.00,121.20,1.160,6,0.181,0.000,2813,2259,3029,0,0,0,0,0,0
$STATE,4105,end apogee,CONTROL_FINISHED_OK
$STATE,4105,begin climb
$GC,4109,0.62,146.0,441.3,0.0,433,4243,0.77,2.47,125.40,1.113,4,0.129,0.065,3065,875,2433,0,0,0,0,0,0
$GC,4300,0.57,146.0,426.0,12.2,450,4307,0.00,2.38,0.00,0.000,6,0.000,0.052,3065,2276,2429,0,0,0,0,0,0
$GC,4626,0.51,146.0,387.8,11.5,481,4630,0.15,2.30,0.00,0.000,4,0.178,0.067,3026,3691,2428,0,0,0,0,0,0
$GC,4751,0.47,146.0,373.9,10.9,491,4758,0.00,2.25,0.00,0.000,6,0.000,0.058,3034,2278,2427,0,0,0,0,0,0
$GC,5078,0.48,153.5,342.3,9.7,522,5090,0.00,2.33,6.68,0.846,4,0.000,0.063,3045,865,2404,0,0,0,0,0,0
$GC,5126,0.49,167.5,337.6,9.4,526,5149,0.00,2.25,13.45,0.985,6,0.000,0.053,3044,2282,2348,0,0,0,0,0,0
$GC,5467,0.49,167.5,302.0,10.9,558,5471,0.00,2.25,0.00,0.000,4,0.000,0.067,3044,3686,2347,0,0,0,0,0,0
$GC,5606,0.45,167.5,285.1,12.4,570,5610,0.17,2.22,0.00,0.000,6,0.174,0.049,3009,2269,2346,0,0,0,0,0,0
$GC,5932,0.57,212.1,257.5,7.9,600,5978,0.12,2.35,39.28,1.024,4,0.101,0.063,3081,861,2165,0,0,0,0,0,0
$GC,6008,0.54,212.1,248.8,13.0,606,6015,0.15,2.28,0.00,0.000,6,0.174,0.051,3043,2279,2161,0,0,0,0,0,0
$GC,6333,0.54,212.1,213.1,10.6,637,6337,0.00,2.25,0.00,0.000,4,0.000,0.065,3043,3684,2159,0,0,0,0,0,0
$GC,6433,0.54,212.1,200.7,12.5,645,6440,0.00,2.22,0.00,0.000,6,0.000,0.050,3050,2265,2159,0,0,0,0,0,0
$GC,6758,0.54,212.1,162.7,11.6,676,6762,0.00,2.25,0.00,0.000,4,0.000,0.063,3061,859,2158,0,0,0,0,0,0
$GC,6799,0.57,212.1,158.3,10.5,679,6803,0.00,2.25,0.00,0.000,6,0.000,0.051,3061,2284,2157,0,0,0,0,0,0
$GC,7124,0.57,212.1,122.2,10.2,709,7128,0.00,2.22,0.00,0.000,4,0.000,0.065,3061,3688,2157,0,0,0,0,0,0
$GC,7220,0.55,212.1,111.4,11.4,717,7224,0.00,2.20,0.00,0.000,6,0.000,0.049,3071,2275,2157,0,0,0,0,0,0
$GC,7558,0.58,234.6,80.1,9.0,767,7583,0.00,2.33,20.08,0.905,4,0.000,0.063,3082,863,2072,0,0,0,0,0,0
$GC,7630,0.64,242.2,73.4,9.7,779,7644,0.00,2.25,7.97,0.809,6,0.000,0.051,3082,2280,2042,0,0,0,0,0,0
$GC,7984,0.70,257.7,38.6,9.3,841,8003,0.00,2.28,11.27,0.924,4,0.000,0.067,3082,3683,1978,0,0,0,0,0,0
$GC,8067,0.70,257.7,30.1,11.6,855,8074,0.00,2.25,0.00,0.000,6,0.000,0.051,3091,2270,1977,0,0,0,0,0,0
$FREEZE,8.70,-1.754,-1.834,2,5,0
$STATE,8276,end climb,FINISH_DEPTH_REACHED
$STATE,8276,begin subsurface finish
$FINISH1,8.7,1.026828,33
$GC,8284,0.04,32.9,8.7,-11.5,892,8325,0.70,2.30,-31.83,0.000,4,0.166,0.076,2881,864,2899,0,0,0,0,0,0
$FINISH2,6.6
$STATE,8327,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8327,begin surface
$RAFOS_CLK,436
$RAFOS,6,1305319745,20.833334,20.818056,100,64,59,58,57,55,795,206,138,153,172,192
$RAFOS,5,1305319262,20.700001,20.683889,125,60,59,56,56,55,658,197,149,138,176,185
$RAFOS,4,1305318791,20.566668,20.553055,89,60,60,56,54,52,837,217,128,197,144,165
$RAFOS,3,1305318311,20.433332,20.419722,68,59,59,57,57,56,205,191,177,140,965,218
$RAFOS,2,1305317825,20.299999,20.284721,61,55,53,51,51,50,209,198,119,129,154,173
$RAFOS,1,1305317347,20.166666,20.151945,60,60,57,54,51,51,205,217,127,181,145,229
$RAFOS,0,1305316866,20.033333,20.018333,72,65,58,56,54,52,219,159,206,195,170,137
$RAFOS_FIX,6710.092773,-5707.109375,130511,202044,3,105,0.24
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,400.9,51.5
$24V_AH,22.1,80.659
$10V_AH,10.0,41.655
$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,3.550,77.750,345.325,0.000,0.000,0.000,0.000,0.000,5.750,0.000,0.000,2116.678,4262.086,390.541,1451.546,177.065,0.000,1173.577,0.000,1442.745,2520.000,10.715,0.000
$DEVICE_MAMPS,209.610,77.265,1159.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.677,674.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150584
$DATA_FILE_SIZE,33402,899
$CAP_FILE_SIZE,96977,0
$CFSIZE,260165632,213929984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.8
$GPS,130511,204344,6710.093,-5707.109,0,3104.7,0,-37.8