version: 66.08
glider: 141
mission: 15
dive: 694
start: 5 26 111 10 59 17
data:
$ID,141
$MISSION,15
$DIVE,694
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,260511,082328,6652.714,-5951.023,0,6109.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.66
$_SM_ANGLEo,-3.0
$GPS2,260511,082328,6652.714,-5951.023,0,6109.0,0,-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,119.4,133536,-17.5,-10.000
$D_GRID,836
$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,-5.95,0.000,2,0.000,0.000,2902,3691,2951,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.9,-0.0,1,53,0.68,0.35,-17.17,0.000,4,0.103,0.180,2667,3899,3628,0,0,0,0,0,0
$GC,241,-0.51,-146.0,50.1,-19.4,38,248,0.12,2.30,0.00,0.000,6,0.226,0.064,2693,2481,3630,0,0,0,0,0,0
$GC,590,-0.42,-146.0,111.0,-16.0,94,595,0.12,2.45,0.00,0.000,4,0.226,0.091,2722,3901,3630,0,0,0,0,0,0
$GC,647,-0.46,-146.0,119.1,-11.8,98,654,0.00,2.30,0.00,0.000,6,0.000,0.063,2722,2490,3630,0,0,0,0,0,0
$GC,975,-0.46,-146.0,154.6,-10.4,129,979,0.00,2.35,0.00,0.000,4,0.000,0.080,2722,1081,3629,0,0,0,0,0,0
$GC,1004,-0.50,-146.0,158.0,-10.9,131,1008,0.00,2.35,0.00,0.000,6,0.000,0.078,2722,2489,3629,0,0,0,0,0,0
$GC,1332,-0.54,-146.0,189.8,-9.1,161,1337,0.00,2.42,0.00,0.000,4,0.000,0.094,2721,3899,3629,0,0,0,0,0,0
$GC,1374,-0.60,-146.0,193.8,-9.5,164,1379,0.17,2.30,0.00,0.000,6,0.112,0.066,2662,2488,3628,0,0,0,0,0,0
$GC,1700,-0.50,-146.0,239.7,-13.9,194,1702,0.15,0.00,0.00,0.000,6,0.219,0.000,2697,2488,3628,0,0,0,0,0,0
$GC,2019,-0.50,-146.0,274.2,-10.7,224,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2488,3628,0,0,0,0,0,0
$GC,2338,-0.50,-146.0,307.9,-10.7,254,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2488,3628,0,0,0,0,0,0
$GC,2665,-0.50,-146.0,341.2,-10.5,285,2669,0.00,2.42,0.00,0.000,4,0.000,0.090,2697,3903,3627,0,0,0,0,0,0
$GC,2705,-0.55,-146.0,345.3,-10.2,288,2712,0.00,2.33,0.00,0.000,6,0.000,0.064,2697,2489,3627,0,0,0,0,0,0
$GC,3031,-0.58,-146.0,377.7,-10.1,319,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3628,0,0,0,0,0,0
$GC,3353,-0.60,-146.0,408.7,-9.6,349,3357,0.00,2.42,0.00,0.000,4,0.000,0.088,2697,3906,3628,0,0,0,0,0,0
$GC,3375,-0.64,-146.0,411.2,-9.6,350,3383,0.12,2.33,0.00,0.000,6,0.126,0.063,2656,2487,3628,0,0,0,0,0,0
$GC,3701,-0.56,-146.0,449.9,-12.1,381,3710,0.00,2.33,0.00,0.000,4,0.000,0.077,2656,1076,3628,0,0,0,0,0,0
$GC,3728,-0.49,-146.0,453.1,-12.0,383,3734,0.17,2.40,0.00,0.000,6,0.198,0.076,2698,2498,3628,0,0,0,0,0,0
$GC,4055,-0.52,-146.0,481.3,-8.2,413,4059,0.00,2.40,0.00,0.000,4,0.000,0.091,2698,3908,3629,0,0,0,0,0,0
$GC,4098,-0.59,-146.0,485.2,-8.2,416,4105,0.00,2.35,0.00,0.000,6,0.000,0.066,2699,2486,3628,0,0,0,0,0,0
$GC,4424,-0.64,-146.0,512.6,-9.0,447,4426,0.12,0.00,0.00,0.000,6,0.132,0.000,2656,2486,3629,0,0,0,0,0,0
$GC,4744,-0.57,-146.0,551.1,-12.1,477,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2486,3629,0,0,0,0,0,0
$GC,5072,-0.50,-146.0,591.0,-12.0,508,5078,0.15,0.00,0.00,0.000,6,0.200,0.000,2692,2486,3630,0,0,0,0,0,0
$GC,5410,-0.54,-146.0,621.9,-8.8,525,5414,0.00,2.42,0.00,0.000,4,0.000,0.085,2692,3902,3629,0,0,0,0,0,0
$GC,5443,-0.60,-146.0,625.0,-8.4,526,5447,0.00,2.28,0.00,0.000,6,0.000,0.060,2692,2490,3630,0,0,0,0,0,0
$GC,5777,-0.64,-146.0,652.6,-8.2,537,5780,0.00,2.33,0.00,0.000,4,0.000,0.075,2692,1079,3630,0,0,0,0,0,0
$GC,5793,-0.67,-146.0,654.4,-8.3,537,5798,0.15,2.38,0.00,0.000,6,0.113,0.073,2641,2492,3630,0,0,0,0,0,0
$GC,6114,-0.58,-146.0,692.4,-12.2,548,6119,0.12,2.45,0.00,0.000,4,0.210,0.090,2669,3906,3630,0,0,0,0,0,0
$GC,6153,-0.58,-146.0,697.0,-10.4,549,6157,0.00,2.33,0.00,0.000,6,0.000,0.060,2669,2482,3629,0,0,0,0,0,0
$GC,6477,-0.58,-146.0,728.7,-9.8,560,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2482,3630,0,0,0,0,0,0
$GC,6783,-0.58,-146.0,759.4,-10.0,570,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2482,3630,0,0,0,0,0,0
$GC,7090,-0.58,-146.0,789.9,-9.9,580,7095,0.00,2.45,0.00,0.000,4,0.000,0.086,2669,3905,3630,0,0,0,0,0,0
$GC,7120,-0.58,-146.0,792.9,-10.0,581,7124,0.00,2.30,0.00,0.000,6,0.000,0.062,2669,2483,3630,0,0,0,0,0,0
$GC,7455,-0.58,-146.0,825.0,-9.5,592,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2483,3630,0,0,0,0,0,0
$STATE,7575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7575,begin apogee
$GC,7583,-0.12,0.0,836.2,9.2,596,7720,0.50,0.00,131.05,1.460,6,0.185,0.000,2811,2263,3030,0,0,0,0,0,0
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7724,0.62,146.0,840.6,0.0,600,7875,0.82,2.90,140.68,1.406,4,0.138,0.080,3051,3693,2433,0,0,0,0,0,0
$GC,8049,0.53,146.0,810.5,12.6,610,8053,0.00,2.50,0.00,0.000,6,0.000,0.067,3062,2273,2428,0,0,0,0,0,0
$GC,8367,0.47,146.0,775.5,11.1,621,8372,0.17,2.42,0.00,0.000,4,0.183,0.083,3017,3700,2426,0,0,0,0,0,0
$GC,8487,0.48,156.7,763.9,9.5,624,8502,0.00,2.38,9.60,1.177,6,0.000,0.068,3025,2266,2390,0,0,0,0,0,0
$GC,8841,0.54,189.1,733.4,8.5,636,8877,0.00,2.40,30.55,1.329,4,0.000,0.085,3035,866,2258,0,0,0,0,0,0
$GC,8924,0.62,213.0,725.9,8.9,638,8955,0.00,2.38,23.42,1.295,6,0.000,0.070,3035,2280,2161,0,0,0,0,0,0
$GC,9277,0.66,217.0,692.1,9.8,650,9287,0.12,2.35,4.38,0.856,4,0.104,0.085,3090,3687,2145,0,0,0,0,0,0
$GC,9338,0.55,217.0,683.0,16.1,651,9346,0.22,2.35,0.00,0.000,6,0.199,0.070,3044,2269,2144,0,0,0,0,0,0
$GC,9651,0.55,217.0,648.8,10.7,662,9655,0.00,2.35,0.00,0.000,4,0.000,0.085,3053,857,2143,0,0,0,0,0,0
$GC,9719,0.58,217.0,641.5,11.1,664,9724,0.00,2.33,0.00,0.000,6,0.000,0.070,3053,2274,2142,0,0,0,0,0,0
$GC,10049,0.58,217.0,604.5,11.2,675,10053,0.00,2.40,0.00,0.000,4,0.000,0.084,3053,3697,2142,0,0,0,0,0,0
$GC,10100,0.55,217.0,598.0,13.5,676,10104,0.00,2.35,0.00,0.000,6,0.000,0.069,3063,2272,2141,0,0,0,0,0,0
$GC,10431,0.53,217.0,558.5,11.7,707,10435,0.00,2.33,0.00,0.000,4,0.000,0.083,3075,865,2141,0,0,0,0,0,0
$GC,10497,0.53,217.0,550.5,11.2,712,10505,0.15,2.35,0.00,0.000,6,0.177,0.080,3036,2281,2140,0,0,0,0,0,0
$GC,10823,0.59,232.1,520.3,9.3,743,10846,0.00,2.38,15.12,1.177,4,0.000,0.085,3036,3686,2083,0,0,0,0,0,0
$GC,10882,0.62,232.1,514.3,11.1,748,10886,0.00,2.33,0.00,0.000,6,0.000,0.069,3044,2271,2082,0,0,0,0,0,0
$GC,11208,0.65,232.1,479.8,10.6,778,11212,0.00,2.33,0.00,0.000,4,0.000,0.083,3054,866,2080,0,0,0,0,0,0
$GC,11275,0.71,232.1,472.7,11.2,783,11283,0.10,2.33,0.00,0.000,6,0.122,0.070,3100,2275,2079,0,0,0,0,0,0
$GC,11601,0.61,232.1,424.0,15.6,814,11606,0.15,2.38,0.00,0.000,4,0.185,0.083,3061,3693,2079,0,0,0,0,0,0
$GC,11659,0.61,232.1,416.0,12.5,818,11665,0.00,2.35,0.00,0.000,6,0.000,0.068,3070,2266,2078,0,0,0,0,0,0
$GC,11984,0.61,232.1,377.1,11.9,849,11988,0.00,2.33,0.00,0.000,4,0.000,0.082,3081,862,2079,0,0,0,0,0,0
$GC,12051,0.61,232.1,369.1,11.6,854,12058,0.00,2.33,0.00,0.000,6,0.000,0.070,3081,2278,2078,0,0,0,0,0,0
$GC,12377,0.59,232.1,329.6,11.9,885,12381,0.00,2.38,0.00,0.000,4,0.000,0.084,3081,3696,2077,0,0,0,0,0,0
$GC,12416,0.53,232.1,324.1,13.3,888,12423,0.20,2.35,0.00,0.000,6,0.192,0.068,3040,2274,2078,0,0,0,0,0,0
$GC,12742,0.63,256.1,294.5,8.9,919,12770,0.00,2.38,22.67,1.094,4,0.000,0.083,3042,861,1985,0,0,0,0,0,0
$GC,12831,0.79,287.5,286.8,8.5,926,12868,0.22,2.35,31.12,1.086,6,0.088,0.069,3130,2277,1857,0,0,0,0,0,0
$GC,13195,0.70,287.5,225.4,17.0,960,13200,0.15,2.38,0.00,0.000,4,0.193,0.083,3092,3694,1850,0,0,0,0,0,0
$GC,13246,0.70,287.5,217.5,13.6,964,13251,0.00,2.35,0.00,0.000,6,0.000,0.068,3100,2269,1849,0,0,0,0,0,0
$GC,13574,0.70,287.5,175.6,12.1,994,13578,0.00,2.33,0.00,0.000,4,0.000,0.083,3111,864,1848,0,0,0,0,0,0
$GC,13637,0.73,287.5,167.6,11.7,999,13641,0.00,2.35,0.00,0.000,6,0.000,0.070,3111,2284,1847,0,0,0,0,0,0
$GC,13964,0.73,287.5,128.4,11.5,1029,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2285,1847,0,0,0,0,0,0
$GC,14293,0.75,287.5,93.2,10.9,1065,14300,0.00,2.40,0.00,0.000,4,0.000,0.083,3121,864,1847,0,0,0,0,0,0
$GC,14331,0.79,287.5,89.4,10.3,1071,14338,0.00,2.35,0.00,0.000,6,0.000,0.070,3121,2281,1846,0,0,0,0,0,0
$GC,14679,0.85,317.5,56.3,8.6,1132,14715,0.00,2.47,26.70,0.985,4,0.000,0.086,3124,866,1734,0,0,0,0,0,0
$GC,14751,0.98,351.3,49.9,8.4,1144,14793,0.15,2.35,32.15,0.965,6,0.107,0.071,3182,2284,1596,0,0,0,0,0,0
$FREEZE,8.75,-1.632,-1.774,2,57,0
$FREEZE,8.14,-1.625,-1.773,2,57,0
$FREEZE,7.33,-1.608,-1.773,2,57,0
$FREEZE,6.30,-1.607,-1.772,2,57,0
$FREEZE,5.45,-1.602,-1.771,2,57,0
$FREEZE,4.69,-1.591,-1.770,2,57,0
$FREEZE,3.93,-1.581,-1.770,2,57,0
$FREEZE,3.03,-1.533,-1.768,2,57,0
$FREEZE,2.33,-1.500,-1.767,2,57,0
$STATE,15077,end climb,SURFACE_DEPTH_REACHED
$STATE,15077,begin surface coast
$FREEZE,2.31,-1.752,-1.782,2,57,0
$FINISH,2.3,1.026162
$STATE,15084,end surface coast,FINISH_DEPTH_REACHED
$STATE,15084,begin surface
$RAFOS_CLK,833
$RAFOS,6,1306414154,12.833333,12.820556,144,61,60,58,56,53,648,202,212,191,118,165
$RAFOS,5,1306413666,12.700000,12.685000,127,58,58,56,55,53,848,167,121,219,181,200
$RAFOS,4,1306413205,12.566667,12.556945,89,63,62,62,54,53,529,140,201,170,184,217
$RAFOS,3,1306412707,12.433333,12.418612,134,61,60,59,53,52,770,201,152,178,1286,213
$RAFOS,2,1306412222,12.300000,12.283889,89,67,63,61,58,55,704,207,129,176,216,228
$RAFOS,1,1306411744,12.166667,12.151111,138,62,60,60,57,54,586,186,225,164,137,204
$RAFOS,0,1306411265,12.033333,12.018056,133,58,56,52,51,50,700,120,188,166,197,130
$RAFOS_FIX,6653.706543,-5946.044434,260511,121216,7,122,0.28
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,20.6,92.902
$10V_AH,9.8,47.903
$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,5.075,136.000,467.450,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,3038.115,9324.933,501.082,2129.602,295.368,0.000,1667.013,0.000,2098.976,2520.000,22.247,0.000
$DEVICE_MAMPS,226.440,179.775,1460.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.971,921.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46720,1203
$CAP_FILE_SIZE,156458,0
$CFSIZE,260165632,207998976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.8
$GPS,260511,122716,6653.707,-5946.044,0,7122.0,0,-37.6