version: 66.08
glider: 141
mission: 15
dive: 764
start: 6 4 111 7 48 48
data:
$ID,141
$MISSION,15
$DIVE,764
$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,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,-55640.59
$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,24
$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,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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,5.3
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-107.43,0.000,2,0.000,0.000,3149,2266,3555,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.2,-10.2,19,144,1.33,2.00,-2.75,0.000,4,0.083,0.083,2669,1067,3628,0,0,0,0,0,0
$GC,244,-0.48,-146.0,23.8,-20.0,38,252,0.15,2.30,0.00,0.000,6,0.223,0.065,2702,2487,3629,0,0,0,0,0,0
$GC,592,-0.41,-146.0,82.1,-14.7,99,599,0.00,2.38,0.00,0.000,4,0.000,0.080,2701,3910,3629,0,0,0,0,0,0
$GC,664,-0.41,-146.0,92.7,-14.2,111,670,0.00,2.25,0.00,0.000,6,0.000,0.053,2702,2485,3628,0,0,0,0,0,0
$GC,994,-0.35,-146.0,139.9,-13.8,146,999,0.17,2.30,0.00,0.000,4,0.219,0.070,2745,1077,3627,0,0,0,0,0,0
$GC,1080,-0.43,-146.0,148.7,-9.6,153,1084,0.00,2.30,0.00,0.000,6,0.000,0.065,2745,2495,3627,0,0,0,0,0,0
$GC,1406,-0.48,-146.0,178.6,-8.9,183,1411,0.12,2.35,0.00,0.000,4,0.122,0.080,2699,3899,3626,0,0,0,0,0,0
$GC,1427,-0.48,-146.0,181.1,-10.4,184,1434,0.00,2.25,0.00,0.000,6,0.000,0.050,2699,2481,3626,0,0,0,0,0,0
$STATE,1702,end dive,NO_VERTICAL_VELOCITY
$STATE,1702,begin apogee
$GC,1708,-0.12,0.0,193.6,0.0,210,1839,0.35,0.00,119.28,1.034,6,0.128,0.000,2814,2265,3030,0,0,0,0,0,0
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1843,0.62,146.0,193.5,0.0,222,1974,0.77,2.53,121.97,0.979,4,0.135,0.073,3063,879,2433,0,0,0,0,0,0
$GC,2023,0.80,225.2,186.6,6.3,238,2101,0.17,2.38,69.00,0.944,6,0.086,0.059,3134,2281,2111,0,0,0,0,0,0
$GC,2419,0.78,225.2,138.4,12.0,275,2424,0.00,2.30,0.00,0.000,4,0.000,0.073,3134,3695,2103,0,0,0,0,0,0
$GC,2498,0.73,225.2,127.2,14.1,281,2505,0.17,2.28,0.00,0.000,6,0.180,0.058,3099,2284,2101,0,0,0,0,0,0
$GC,2827,0.80,236.0,96.3,9.5,315,2845,0.00,2.38,9.12,0.818,4,0.000,0.074,3107,868,2066,0,0,0,0,0,0
$GC,2903,0.89,241.7,89.1,9.7,328,2917,0.12,2.25,6.78,0.761,6,0.106,0.057,3162,2281,2044,0,0,0,0,0,0
$GC,3257,0.85,241.7,47.9,10.5,390,3264,0.00,2.30,0.00,0.000,4,0.000,0.078,3161,3683,2042,0,0,0,0,0,0
$GC,3351,0.79,241.7,36.4,12.7,406,3358,0.20,2.25,0.00,0.000,6,0.190,0.057,3121,2270,2042,0,0,0,0,0,0
$FREEZE,8.47,-1.112,-1.819,3,127,0
$FREEZE,7.82,-1.113,-1.819,3,127,0
$FREEZE,7.22,-1.112,-1.818,3,127,0
$GC,3698,0.94,309.9,9.9,6.9,467,3740,0.12,2.33,34.53,0.847,4,0.105,0.072,3183,864,1764,0,0,0,0,0,0
$FREEZE,5.77,-1.110,-1.817,3,127,0
$FREEZE,5.44,-1.107,-1.817,3,127,0
$FREEZE,5.08,-1.109,-1.817,3,127,0
$FREEZE,4.72,-1.108,-1.816,3,127,0
$FREEZE,4.38,-1.108,-1.816,3,127,0
$FREEZE,4.01,-1.102,-1.816,3,127,0
$FREEZE,3.51,-1.105,-1.815,3,127,0
$FREEZE,2.74,-1.104,-1.815,3,127,0
$GC,3771,1.02,377.2,4.4,6.9,478,3796,0.00,2.30,19.77,0.798,2,0.000,0.063,3183,2278,1596,0,0,0,0,0,0
$STATE,3796,end climb,SURFACE_DEPTH_REACHED
$STATE,3796,begin surface coast
$FREEZE,2.00,-1.067,-1.812,3,127,0
$FREEZE,2.02,-1.058,-1.811,3,127,0
$FREEZE,2.03,-0.939,-1.804,3,127,0
$FREEZE,2.04,-0.966,-1.805,3,127,0
$FREEZE,2.02,-1.029,-1.809,3,127,0
$FREEZE,1.98,-0.925,-1.803,3,127,0
$FREEZE,2.02,-1.049,-1.810,3,127,0
$FREEZE,1.92,-0.944,-1.597,3,127,0
$FREEZE,1.96,-1.016,-1.260,3,127,0
$FINISH,2.0,1.018595
$STATE,3847,end surface coast,CONTROL_FINISHED_OK
$STATE,3847,begin surface
$RAFOS_CLK,226
$RAFOS,5,1307176864,8.700000,8.684444,67,62,56,56,55,50,206,170,158,223,115,124
$RAFOS,4,1307176389,8.566667,8.552500,64,60,59,52,49,46,206,220,184,160,118,232
$RAFOS,3,1307175910,8.433333,8.419444,56,55,52,50,48,47,167,209,193,125,157,142
$RAFOS,2,1307175428,8.300000,8.285556,72,61,59,57,56,53,220,189,131,117,201,149
$RAFOS,1,1307174950,8.166667,8.152778,60,59,58,56,53,53,173,208,218,119,141,197
$RAFOS,0,1307174463,8.033334,8.017500,65,58,56,53,53,52,205,154,122,175,217,186
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.028462
$HUMID,47.87
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,16.90
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,22.7,101.998
$10V_AH,9.8,52.296
$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,3.700,41.725,380.450,0.000,0.000,0.000,0.000,0.000,7.000,0.000,0.000,1132.630,1576.608,428.731,784.683,108.603,0.000,912.507,0.000,786.736,2520.000,2.618,0.000
$DEVICE_MAMPS,223.380,83.385,1033.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.946,352.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16816,490
$CAP_FILE_SIZE,56761,0
$CFSIZE,260165632,203980800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.3
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6