version: 66.08
glider: 141
mission: 15
dive: 2
start: 2 20 111 1 13 6
data:
$ID,141
$MISSION,15
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$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,100
$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,9
$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,-21956.125
$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,2970
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,22
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,010721,6700.396,-5638.390,10,1.7,11,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.3
$GPS2,200211,011237,6700.416,-5638.350,45,1.6,51,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,297.1,169292,-17.5,-10.000
$D_GRID,415
$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,15,-0.62,-146.0,0.0,0.0,0,211,0.00,0.00,-191.85,0.000,2,0.000,0.000,105,2319,3624,0,0,0,0,0,0
$GC,213,-0.62,-146.0,5.9,-15.2,33,233,14.40,2.50,0.00,0.000,4,0.345,0.097,2761,3700,3625,0,0,0,0,0,0
$GC,354,-0.76,-146.0,32.5,-8.9,57,361,0.12,2.38,0.00,0.000,6,0.140,0.072,2722,2293,3626,0,0,0,0,0,0
$GC,700,-0.79,-146.0,68.3,-9.7,118,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2293,3626,0,0,0,0,0,0
$GC,1048,-0.83,-146.0,102.7,-10.3,178,1052,0.00,2.42,0.00,0.000,4,0.000,0.093,2722,3701,3625,0,0,0,0,0,0
$GC,1137,-0.90,-146.0,111.5,-9.6,185,1144,0.12,2.33,0.00,0.000,6,0.138,0.070,2681,2292,3625,0,0,0,0,0,0
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1466,-0.12,0.0,150.0,11.3,216,1588,0.85,0.00,115.55,0.929,6,0.199,0.000,2919,2139,3030,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1591,0.62,146.0,154.6,0.0,227,1723,0.73,2.65,119.38,0.866,4,0.090,0.082,3160,3557,2432,0,0,0,0,0,0
$GC,1927,0.33,146.0,110.0,18.6,257,1932,0.38,2.45,0.00,0.000,6,0.231,0.072,3080,2146,2424,0,0,0,0,0,0
$GC,2265,0.23,146.0,71.4,10.7,310,2273,0.12,2.42,0.00,0.000,4,0.219,0.081,3050,3559,2422,0,0,0,0,0,0
$GC,2448,0.18,146.0,52.7,10.2,342,2455,0.00,2.38,0.00,0.000,6,0.000,0.067,3058,2146,2422,0,0,0,0,0,0
$GC,2793,0.19,186.5,24.1,8.1,403,2824,0.00,2.45,21.45,0.819,4,0.000,0.078,3058,3553,2267,0,0,0,0,0,0
$GC,2837,0.19,210.0,20.3,8.9,410,2858,0.12,2.35,11.62,0.766,6,0.209,0.063,3038,2151,2171,0,0,0,0,0,0
$FREEZE,8.99,0.278,-1.826,0,1,0
$FREEZE,8.44,0.274,-1.826,0,1,0
$FREEZE,8.04,0.271,-1.825,0,1,0
$FREEZE,7.51,0.271,-1.825,0,1,0
$FREEZE,7.03,0.268,-1.825,0,1,0
$FREEZE,6.52,0.275,-1.824,0,1,0
$FREEZE,5.92,0.264,-1.824,0,1,0
$FREEZE,5.54,0.270,-1.824,0,1,0
$FREEZE,5.06,0.259,-1.823,0,1,0
$FREEZE,4.62,0.259,-1.823,0,1,0
$FREEZE,4.25,0.259,-1.823,0,1,0
$FREEZE,3.76,0.259,-1.822,0,1,0
$FREEZE,3.28,0.261,-1.822,0,1,0
$FREEZE,2.67,0.262,-1.822,0,1,0
$STATE,3042,end climb,SURFACE_DEPTH_REACHED
$STATE,3042,begin surface coast
$FREEZE,2.22,0.264,-1.821,0,1,0
$FREEZE,1.81,0.267,-1.821,0,1,0
$FREEZE,1.42,0.263,-1.821,0,1,0
$FREEZE,1.20,0.263,-1.820,0,1,0
$FREEZE,1.12,0.262,-1.820,0,1,0
$FREEZE,0.79,0.261,-1.820,0,1,0
$FINISH,0.8,1.026641
$STATE,3075,end surface coast,CONTROL_FINISHED_OK
$STATE,3076,begin surface
$SM_CCo,3093,153.52,0.067,0,0,750,559.04
$SM_GC,1.20,0.00,0.00,153.52,0.000,0.000,0.067,111,2311,750,-8.93,0.31,559.04
$RAFOS_CLK,144
$RAFOS,6,1298162943,0.833333,0.817500,65,64,58,57,53,51,194,212,137,230,158,147
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5638.47,200211,010143
$TT8_MAMPS,0.026215
$HUMID,44.99
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,5.5
$24V_AH,23.3,3.946
$10V_AH,10.1,1.440
$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,25.600,24.850,268.000,153.525,0.000,0.000,0.000,0.000,0.250,0.000,53.553,1036.545,939.854,558.049,784.369,55.238,0.000,992.612,0.000,732.968,0.000,2.590,0.000
$DEVICE_MAMPS,345.015,97.155,928.710,66.555,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.690,332.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,16826,453
$CAP_FILE_SIZE,63037,0
$CFSIZE,260165632,252063744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.9
$GPS,200211,020828,6700.700,-5638.847,9,99.0,28,-37.4