version: 66.08
glider: 141
mission: 15
dive: 690
start: 5 25 111 19 50 13
data:
$ID,141
$MISSION,15
$DIVE,690
$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,-50476.18
$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,16
$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
$GPS1,250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.44
$_SM_ANGLEo,-6.8
$GPS2,250511,161937,6648.566,-6009.083,0,5108.0,0,-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,117.2,147651,-17.5,-10.000
$D_GRID,604
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.90,0.000,2,0.000,0.000,2900,862,2950,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.0,-0.0,1,58,0.65,5.28,-16.90,0.000,4,0.097,0.096,2667,3905,3628,0,0,0,0,0,0
$GC,308,-0.50,-146.0,62.7,-18.5,50,316,0.12,2.35,0.00,0.000,6,0.226,0.067,2694,2479,3629,0,0,0,0,0,0
$GC,655,-0.41,-146.0,120.3,-15.3,100,662,0.12,0.00,0.00,0.000,6,0.231,0.000,2724,2478,3629,0,0,0,0,0,0
$GC,983,-0.41,-146.0,156.9,-10.5,131,987,0.00,2.33,0.00,0.000,4,0.000,0.083,2725,1077,3628,0,0,0,0,0,0
$GC,1013,-0.45,-146.0,160.2,-11.2,133,1017,0.00,2.40,0.00,0.000,6,0.000,0.082,2725,2488,3628,0,0,0,0,0,0
$GC,1339,-0.50,-146.0,191.2,-9.2,163,1343,0.00,2.42,0.00,0.000,4,0.000,0.097,2725,3900,3628,0,0,0,0,0,0
$GC,1418,-0.58,-146.0,198.1,-8.9,169,1426,0.15,2.33,0.00,0.000,6,0.119,0.068,2675,2483,3627,0,0,0,0,0,0
$GC,1744,-0.51,-146.0,241.1,-13.9,200,1748,0.00,2.38,0.00,0.000,4,0.000,0.083,2675,1070,3627,0,0,0,0,0,0
$GC,1779,-0.46,-146.0,246.0,-13.9,203,1785,0.15,2.40,0.00,0.000,6,0.210,0.082,2710,2493,3628,0,0,0,0,0,0
$GC,2106,-0.49,-146.0,277.6,-8.2,233,2111,0.00,2.42,0.00,0.000,4,0.000,0.097,2710,3899,3626,0,0,0,0,0,0
$GC,2151,-0.56,-146.0,281.5,-8.0,236,2158,0.00,2.33,0.00,0.000,6,0.000,0.068,2710,2492,3627,0,0,0,0,0,0
$GC,2478,-0.60,-146.0,306.9,-8.3,267,2480,0.12,0.00,0.00,0.000,6,0.135,0.000,2668,2492,3626,0,0,0,0,0,0
$GC,2796,-0.54,-146.0,345.4,-12.6,297,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2492,3626,0,0,0,0,0,0
$GC,3114,-0.48,-146.0,383.0,-11.3,327,3116,0.15,0.00,0.00,0.000,6,0.203,0.000,2704,2492,3627,0,0,0,0,0,0
$GC,3435,-0.52,-146.0,410.9,-8.9,357,3440,0.00,2.42,0.00,0.000,4,0.000,0.090,2703,3906,3626,0,0,0,0,0,0
$GC,3469,-0.59,-146.0,414.2,-8.6,359,3476,0.00,2.33,0.00,0.000,6,0.000,0.066,2704,2484,3627,0,0,0,0,0,0
$GC,3798,-0.64,-146.0,442.4,-9.0,390,3803,0.15,2.38,0.00,0.000,4,0.122,0.080,2652,1076,3627,0,0,0,0,0,0
$GC,3816,-0.64,-146.0,444.4,-9.4,391,3820,0.00,2.40,0.00,0.000,6,0.000,0.080,2652,2496,3627,0,0,0,0,0,0
$GC,4147,-0.55,-146.0,489.0,-13.6,422,4152,0.12,2.42,0.00,0.000,4,0.221,0.093,2680,3900,3626,0,0,0,0,0,0
$GC,4192,-0.57,-146.0,494.7,-11.1,425,4199,0.00,2.30,0.00,0.000,6,0.000,0.064,2680,2488,3626,0,0,0,0,0,0
$GC,4518,-0.57,-146.0,529.9,-11.1,456,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2488,3627,0,0,0,0,0,0
$GC,4838,-0.57,-146.0,564.7,-10.6,486,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2488,3628,0,0,0,0,0,0
$GC,5159,-0.57,-146.0,595.8,-9.5,516,5163,0.00,2.45,0.00,0.000,4,0.000,0.088,2680,3908,3628,0,0,0,0,0,0
$GC,5177,-0.57,-146.0,598.1,-9.9,517,5181,0.00,2.33,0.00,0.000,6,0.000,0.062,2680,2488,3628,0,0,0,0,0,0
$STATE,5263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5264,begin apogee
$GC,5270,-0.12,0.0,606.7,9.6,521,5406,0.45,0.00,127.22,1.317,6,0.184,0.000,2809,2266,3029,0,0,0,0,0,0
$STATE,5407,end apogee,CONTROL_FINISHED_OK
$STATE,5407,begin climb
$GC,5409,0.62,146.0,611.5,0.0,525,5556,0.82,2.75,134.68,1.268,4,0.147,0.083,3059,878,2433,0,0,0,0,0,0
$GC,5601,0.59,146.0,600.0,10.5,531,5606,0.00,2.60,0.00,0.000,6,0.000,0.070,3059,2279,2429,0,0,0,0,0,0
$GC,5927,0.56,149.7,567.8,9.8,561,5932,0.00,2.40,0.00,0.000,4,0.000,0.086,3059,3695,2427,0,0,0,0,0,0
$GC,6028,0.47,149.7,555.7,12.3,569,6036,0.20,2.38,0.00,0.000,6,0.184,0.069,3019,2273,2426,0,0,0,0,0,0
$GC,6354,0.57,202.9,530.7,7.5,600,6409,0.00,2.50,49.72,1.219,4,0.000,0.085,3028,865,2203,0,0,0,0,0,0
$GC,6440,0.73,255.0,524.3,7.6,607,6495,0.20,2.42,49.03,1.200,6,0.088,0.080,3111,2289,1989,0,0,0,0,0,0
$GC,6814,0.63,255.0,464.7,17.2,642,6819,0.17,2.35,0.00,0.000,4,0.188,0.085,3066,3697,1979,0,0,0,0,0,0
$GC,6855,0.63,255.0,458.5,14.6,645,6859,0.00,2.38,0.00,0.000,6,0.000,0.070,3074,2268,1977,0,0,0,0,0,0
$GC,7180,0.63,255.0,416.8,12.5,675,7184,0.00,2.35,0.00,0.000,4,0.000,0.085,3085,859,1976,0,0,0,0,0,0
$GC,7241,0.63,255.0,409.3,11.6,680,7248,0.00,2.35,0.00,0.000,6,0.000,0.071,3085,2278,1974,0,0,0,0,0,0
$GC,7568,0.59,255.0,367.8,13.2,711,7572,0.00,2.35,0.00,0.000,4,0.000,0.085,3085,3694,1974,0,0,0,0,0,0
$GC,7619,0.55,255.0,360.3,14.2,715,7624,0.20,2.35,0.00,0.000,6,0.191,0.070,3044,2275,1973,0,0,0,0,0,0
$GC,7946,0.64,272.7,328.8,9.2,745,7968,0.00,2.38,14.73,1.076,4,0.000,0.085,3051,864,1918,0,0,0,0,0,0
$GC,8020,0.78,292.1,322.0,9.1,751,8051,0.17,2.33,19.83,1.086,6,0.097,0.070,3125,2278,1839,0,0,0,0,0,0
$GC,8369,0.70,292.1,265.8,16.5,784,8374,0.12,2.38,0.00,0.000,4,0.194,0.084,3093,3687,1834,0,0,0,0,0,0
$GC,8438,0.70,292.1,255.8,14.1,790,8442,0.00,2.33,0.00,0.000,6,0.000,0.070,3101,2273,1832,0,0,0,0,0,0
$GC,8765,0.70,292.1,212.1,12.9,820,8769,0.00,2.38,0.00,0.000,4,0.000,0.085,3112,858,1832,0,0,0,0,0,0
$GC,8820,0.70,292.1,204.9,12.6,824,8827,0.00,2.33,0.00,0.000,6,0.000,0.070,3112,2275,1831,0,0,0,0,0,0
$GC,9147,0.70,292.1,165.7,11.9,855,9151,0.00,2.38,0.00,0.000,4,0.000,0.085,3112,3692,1831,0,0,0,0,0,0
$GC,9189,0.67,292.1,159.7,16.0,858,9194,0.15,2.35,0.00,0.000,6,0.189,0.069,3085,2269,1830,0,0,0,0,0,0
$GC,9515,0.77,315.9,127.6,8.9,888,9542,0.00,2.38,21.70,1.011,4,0.000,0.086,3091,862,1742,0,0,0,0,0,0
$GC,9603,0.91,339.1,120.3,8.9,895,9637,0.20,2.35,22.90,0.995,6,0.090,0.070,3168,2283,1646,0,0,0,0,0,0
$GC,9968,0.91,339.1,64.9,12.5,948,9975,0.00,2.35,0.00,0.000,4,0.000,0.086,3169,3691,1641,0,0,0,0,0,0
$GC,10061,0.84,339.1,51.1,15.4,964,10069,0.17,2.35,0.00,0.000,6,0.197,0.070,3136,2273,1638,0,0,0,0,0,0
$GC,10409,0.85,348.4,16.9,9.6,1025,10422,0.00,2.42,3.80,0.659,4,0.000,0.086,3142,862,1608,0,0,0,0,0,0
$FREEZE,8.57,-1.740,-1.773,2,53,0
$STATE,10497,end climb,FINISH_DEPTH_REACHED
$STATE,10497,begin subsurface finish
$FINISH1,8.6,1.025969,75
$GC,10509,0.09,75.0,8.6,-10.6,1040,10562,0.82,2.42,-43.83,0.000,4,0.161,0.103,2893,3691,2727,0,0,0,0,0,0
$FINISH2,8.3
$STATE,10563,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10563,begin surface
$RAFOS_CLK,588
$RAFOS,6,1306356550,20.833334,20.819445,118,72,59,56,53,52,712,212,177,201,1683,157
$RAFOS,5,1306356071,20.700001,20.686388,85,63,60,54,54,54,867,219,208,136,146,180
$RAFOS,4,1306355583,20.566668,20.550833,140,62,54,53,50,50,689,210,152,194,169,120
$RAFOS,3,1306355105,20.433332,20.418056,119,75,61,54,52,50,798,165,181,214,139,194
$RAFOS,2,1306354627,20.299999,20.285278,90,71,57,56,55,49,673,216,117,187,175,143
$RAFOS,1,1306354147,20.166666,20.151945,106,65,63,55,54,51,545,196,213,144,182,119
$RAFOS,0,1306353663,20.033333,20.017500,89,61,61,56,53,50,667,215,183,195,168,228
$RAFOS_FIX,6651.269531,-6000.543457,250511,202034,7,107,0.54
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,21.0,92.245
$10V_AH,9.8,47.588
$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,5.450,110.675,443.600,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2537.744,5617.683,492.412,1754.182,240.051,0.000,1454.977,0.000,1736.878,2520.000,14.988,0.000
$DEVICE_MAMPS,231.030,102.510,1316.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.199,799.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,40049,1049
$CAP_FILE_SIZE,122618,0
$CFSIZE,260165632,208338944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,250511,202734,6651.270,-6000.543,0,7106.7,0,-37.6