version: 66.08
glider: 141
mission: 15
dive: 683
start: 5 24 111 22 50 4
data:
$ID,141
$MISSION,15
$DIVE,683
$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,-2
$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,-50107.605
$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,17
$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
$GPS1,240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.71
$_SM_ANGLEo,-3.9
$GPS2,240511,202453,6649.158,-6023.013,0,6123.2,0,-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,118.2,157373,-17.5,-10.000
$D_GRID,548
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2896,3685,2940,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.7,-0.0,1,52,0.65,4.40,-15.95,0.000,4,0.097,0.083,2665,1080,3630,0,0,0,0,0,0
$GC,167,-0.49,-146.0,37.7,-19.1,25,175,0.15,2.40,0.00,0.000,6,0.230,0.080,2698,2496,3631,0,0,0,0,0,0
$GC,515,-0.40,-146.0,97.0,-14.5,86,522,0.12,2.42,0.00,0.000,4,0.244,0.095,2727,3900,3631,0,0,0,0,0,0
$GC,598,-0.43,-146.0,107.4,-11.1,95,602,0.00,2.33,0.00,0.000,6,0.000,0.067,2727,2488,3631,0,0,0,0,0,0
$GC,923,-0.43,-146.0,143.5,-10.2,125,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2488,3630,0,0,0,0,0,0
$GC,1245,-0.48,-146.0,173.0,-9.1,155,1249,0.00,2.35,0.00,0.000,4,0.000,0.083,2727,1075,3629,0,0,0,0,0,0
$GC,1296,-0.57,-146.0,178.1,-9.4,159,1303,0.15,2.40,0.00,0.000,6,0.122,0.079,2679,2491,3629,0,0,0,0,0,0
$GC,1623,-0.51,-146.0,220.0,-12.9,190,1627,0.00,2.42,0.00,0.000,4,0.000,0.096,2678,3906,3629,0,0,0,0,0,0
$GC,1664,-0.47,-146.0,225.2,-12.3,193,1669,0.12,2.33,0.00,0.000,6,0.212,0.068,2705,2487,3629,0,0,0,0,0,0
$GC,1990,-0.47,-146.0,258.3,-10.2,223,1994,0.00,2.33,0.00,0.000,4,0.000,0.081,2705,1080,3628,0,0,0,0,0,0
$GC,2032,-0.52,-146.0,262.3,-9.8,226,2036,0.00,2.38,0.00,0.000,6,0.000,0.079,2705,2494,3629,0,0,0,0,0,0
$GC,2359,-0.54,-146.0,294.0,-9.3,256,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2493,3628,0,0,0,0,0,0
$GC,2688,-0.57,-146.0,324.9,-9.5,287,2692,0.00,2.42,0.00,0.000,4,0.000,0.095,2705,3909,3629,0,0,0,0,0,0
$GC,2729,-0.63,-146.0,329.0,-9.2,290,2734,0.15,2.33,0.00,0.000,6,0.115,0.067,2655,2487,3628,0,0,0,0,0,0
$GC,3054,-0.53,-146.0,372.7,-13.5,320,3059,0.15,2.35,0.00,0.000,4,0.206,0.080,2690,1079,3628,0,0,0,0,0,0
$GC,3084,-0.48,-146.0,376.4,-13.0,322,3088,0.00,2.40,0.00,0.000,6,0.000,0.078,2690,2496,3628,0,0,0,0,0,0
$GC,3409,-0.48,-146.0,408.3,-9.9,352,3413,0.00,2.42,0.00,0.000,4,0.000,0.095,2690,3899,3628,0,0,0,0,0,0
$GC,3433,-0.48,-146.0,410.8,-10.1,354,3437,0.00,2.30,0.00,0.000,6,0.000,0.065,2690,2488,3628,0,0,0,0,0,0
$GC,3759,-0.48,-146.0,443.9,-10.2,384,3763,0.00,2.33,0.00,0.000,4,0.000,0.079,2690,1078,3629,0,0,0,0,0,0
$GC,3800,-0.51,-146.0,448.0,-9.6,387,3804,0.00,2.38,0.00,0.000,6,0.000,0.077,2691,2497,3629,0,0,0,0,0,0
$GC,4125,-0.51,-146.0,479.2,-9.8,417,4129,0.00,2.40,0.00,0.000,4,0.000,0.093,2690,3900,3629,0,0,0,0,0,0
$GC,4187,-0.56,-146.0,485.3,-9.4,422,4194,0.00,2.33,0.00,0.000,6,0.000,0.063,2690,2488,3629,0,0,0,0,0,0
$GC,4513,-0.58,-146.0,515.1,-9.0,453,4517,0.00,2.35,0.00,0.000,4,0.000,0.077,2690,1073,3629,0,0,0,0,0,0
$GC,4535,-0.58,-146.0,517.2,-8.9,454,4541,0.00,2.40,0.00,0.000,6,0.000,0.076,2690,2496,3629,0,0,0,0,0,0
$STATE,4815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4815,begin apogee
$GC,4822,-0.12,0.0,542.9,8.8,481,4955,0.43,0.00,126.85,1.274,6,0.189,0.000,2812,2270,3029,0,0,0,0,0,0
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4956,begin climb
$GC,4959,0.62,146.0,547.8,0.0,493,5101,0.82,2.70,133.70,1.227,4,0.146,0.084,3063,874,2432,0,0,0,0,0,0
$GC,5135,0.60,146.0,537.9,11.2,509,5142,0.00,2.62,0.00,0.000,6,0.000,0.070,3063,2282,2429,0,0,0,0,0,0
$GC,5461,0.55,147.7,504.6,9.9,540,5465,0.00,2.40,0.00,0.000,4,0.000,0.087,3063,3692,2426,0,0,0,0,0,0
$GC,5535,0.45,147.7,496.6,11.3,546,5540,0.22,2.38,0.00,0.000,6,0.184,0.071,3016,2278,2426,0,0,0,0,0,0
$GC,5860,0.57,209.7,472.4,7.1,576,5927,0.00,2.50,55.97,1.184,4,0.000,0.087,3023,870,2173,0,0,0,0,0,0
$GC,5947,0.75,272.4,466.3,7.1,583,6012,0.22,2.40,58.45,1.164,6,0.085,0.071,3114,2285,1919,0,0,0,0,0,0
$GC,6332,0.67,272.4,407.0,16.0,619,6337,0.12,2.38,0.00,0.000,4,0.194,0.085,3082,3685,1909,0,0,0,0,0,0
$GC,6395,0.67,272.4,397.7,13.9,624,6399,0.00,2.35,0.00,0.000,6,0.000,0.072,3090,2277,1907,0,0,0,0,0,0
$GC,6721,0.65,272.4,356.0,13.1,654,6725,0.00,2.35,0.00,0.000,4,0.000,0.084,3101,863,1906,0,0,0,0,0,0
$GC,6783,0.65,272.4,348.4,12.0,659,6787,0.00,2.35,0.00,0.000,6,0.000,0.072,3101,2275,1904,0,0,0,0,0,0
$GC,7109,0.61,272.4,304.3,13.8,689,7114,0.15,2.38,0.00,0.000,4,0.184,0.086,3062,3694,1904,0,0,0,0,0,0
$GC,7164,0.64,272.4,296.9,11.7,693,7171,0.00,2.38,0.00,0.000,6,0.000,0.079,3071,2274,1902,0,0,0,0,0,0
$GC,7490,0.69,272.4,261.2,10.9,724,7494,0.00,2.35,0.00,0.000,4,0.000,0.084,3081,863,1902,0,0,0,0,0,0
$GC,7554,0.75,272.4,254.4,11.3,729,7558,0.00,2.35,0.00,0.000,6,0.000,0.071,3081,2282,1901,0,0,0,0,0,0
$GC,7885,0.78,272.4,218.1,10.9,760,7890,0.10,2.35,0.00,0.000,4,0.116,0.086,3125,3686,1901,0,0,0,0,0,0
$GC,7948,0.70,272.4,208.6,16.0,765,7953,0.17,2.35,0.00,0.000,6,0.201,0.072,3093,2277,1900,0,0,0,0,0,0
$GC,8274,0.73,272.4,169.8,11.7,795,8278,0.00,2.38,0.00,0.000,4,0.000,0.085,3101,862,1901,0,0,0,0,0,0
$GC,8335,0.77,272.4,162.5,12.5,800,8342,0.00,2.33,0.00,0.000,6,0.000,0.071,3102,2274,1900,0,0,0,0,0,0
$GC,8661,0.79,272.8,126.5,10.0,831,8665,0.00,2.38,0.00,0.000,4,0.000,0.086,3101,3694,1900,0,0,0,0,0,0
$GC,8701,0.79,272.8,122.0,11.6,834,8705,0.00,2.38,0.00,0.000,6,0.000,0.071,3111,2266,1900,0,0,0,0,0,0
$GC,9034,0.85,291.5,89.0,9.1,874,9052,0.00,0.00,15.73,0.981,6,0.000,0.000,3111,2266,1841,0,0,0,0,0,0
$GC,9395,0.91,299.7,56.2,9.6,937,9409,0.12,2.42,8.82,0.909,4,0.107,0.087,3176,864,1808,0,0,0,0,0,0
$GC,9451,0.87,299.7,49.1,13.4,946,9458,0.12,2.35,0.00,0.000,6,0.203,0.074,3148,2281,1807,0,0,0,0,0,0
$STATE,9766,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9766,begin subsurface finish
$FINISH1,11.7,1.025909,78
$GC,9773,0.10,78.0,11.7,-13.6,1002,9809,0.82,0.00,-27.75,0.000,6,0.177,0.000,2905,2281,2716,0,0,0,0,0,0
$FINISH2,10.1
$STATE,9810,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9810,begin surface
$RAFOS_CLK,541
$RAFOS,6,1306284544,0.833333,0.817778,66,65,61,53,53,51,193,209,814,140,116,173
$RAFOS,5,1306284069,0.700000,0.685833,63,59,58,58,53,52,181,193,156,216,116,205
$RAFOS,4,1306283584,0.566667,0.551111,128,71,60,57,53,52,741,212,199,150,175,137
$RAFOS,3,1306283102,0.433333,0.417222,76,62,56,53,50,50,826,206,152,190,78,120
$RAFOS,2,1306282628,0.300000,0.285556,78,62,60,60,56,55,657,185,131,153,162,120
$RAFOS,1,1306282145,0.166667,0.151389,66,58,55,54,54,52,572,193,147,211,113,221
$RAFOS,0,1306281670,0.033333,0.019444,152,61,60,58,57,55,574,178,200,227,125,146
$RAFOS_FIX,6647.322266,-6024.582520,250511,000037,5,100,0.25
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,12.8
$ALTIM_BOTTOM_PING,500.6,56.6
$24V_AH,21.1,91.185
$10V_AH,9.8,47.110
$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,4.825,107.325,399.525,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2433.204,5141.185,429.048,1664.187,212.967,0.000,1332.825,0.000,1644.804,2520.000,14.255,0.000
$DEVICE_MAMPS,244.035,95.625,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.280,761.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,39971,1008
$CAP_FILE_SIZE,114574,0
$CFSIZE,260165632,208818176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6