version: 66.08
glider: 141
mission: 15
dive: 768
start: 6 4 111 12 10 13
data:
$ID,141
$MISSION,15
$DIVE,768
$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,-56011.023
$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,21
$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,2.92
$_SM_ANGLEo,-77.2
$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,16,-0.62,-146.0,0.0,0.0,0,175,0.00,0.00,-153.12,0.000,2,0.000,0.000,111,2493,3143,0,0,0,0,0,0
$GC,178,-0.62,-146.0,5.2,-5.0,27,210,13.32,2.40,-11.02,0.000,4,0.323,0.094,2653,3906,3628,0,0,0,0,0,0
$GC,459,-0.50,-146.0,64.6,-18.5,76,467,0.17,2.25,0.00,0.000,6,0.201,0.057,2697,2492,3630,0,0,0,0,0,0
$GC,806,-0.44,-146.0,114.9,-13.5,128,810,0.00,2.33,0.00,0.000,4,0.000,0.073,2697,1071,3629,0,0,0,0,0,0
$GC,867,-0.44,-146.0,123.2,-12.1,133,874,0.00,2.33,0.00,0.000,6,0.000,0.069,2697,2487,3629,0,0,0,0,0,0
$GC,1194,-0.39,-146.0,165.9,-13.2,164,1198,0.12,2.40,0.00,0.000,4,0.224,0.085,2727,3899,3628,0,0,0,0,0,0
$GC,1250,-0.45,-146.0,172.1,-10.1,168,1257,0.00,2.25,0.00,0.000,6,0.000,0.054,2727,2482,3628,0,0,0,0,0,0
$STATE,1551,end dive,NO_VERTICAL_VELOCITY
$STATE,1552,begin apogee
$GC,1558,-0.12,0.0,185.3,0.0,197,1689,0.28,0.00,120.43,1.048,6,0.145,0.000,2814,2263,3030,0,0,0,0,0,0
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1694,0.62,146.0,185.3,0.0,209,1827,0.77,2.65,122.32,0.993,4,0.141,0.076,3051,3694,2434,0,0,0,0,0,0
$GC,1833,0.84,311.2,184.3,2.4,221,1992,0.22,2.42,146.90,0.955,6,0.073,0.054,3148,2283,1759,0,0,0,0,0,0
$GC,2311,0.81,311.2,112.4,15.6,266,2315,0.00,2.35,0.00,0.000,4,0.000,0.074,3148,3689,1749,0,0,0,0,0,0
$GC,2429,0.76,311.2,93.8,14.7,280,2437,0.17,2.30,0.00,0.000,6,0.190,0.067,3115,2280,1747,0,0,0,0,0,0
$GC,2779,0.83,324.2,59.2,9.4,341,2798,0.00,2.40,10.40,0.822,4,0.000,0.076,3123,861,1708,0,0,0,0,0,0
$GC,2851,0.92,324.2,51.9,10.5,353,2859,0.10,2.33,0.00,0.000,6,0.124,0.064,3166,2287,1706,0,0,0,0,0,0
$FREEZE,8.50,-1.384,-1.820,3,131,0
$FREEZE,7.86,-1.383,-1.820,3,131,0
$FREEZE,7.22,-1.382,-1.819,3,131,0
$FREEZE,6.53,-1.388,-1.818,3,131,0
$GC,3200,0.92,324.2,6.5,13.2,414,3206,0.00,2.33,0.00,0.000,4,0.000,0.085,3166,3694,1706,0,0,0,0,0,0
$FREEZE,4.12,-1.381,-1.816,3,131,0
$FREEZE,3.41,-1.368,-1.815,3,131,0
$FREEZE,2.66,-1.363,-1.814,3,131,0
$STATE,3222,end climb,SURFACE_DEPTH_REACHED
$STATE,3222,begin surface coast
$FREEZE,2.10,-1.278,-1.814,3,131,0
$FREEZE,2.04,-0.903,-1.744,3,131,0
$FREEZE,2.05,-1.091,-0.762,3,131,0
$FINISH,2.0,1.011192
$STATE,3240,end surface coast,FINISH_DEPTH_REACHED
$STATE,3240,begin surface
$RAFOS_CLK,231
$RAFOS,6,1307191744,12.833333,12.817778,64,56,55,54,54,54,210,219,178,190,160,136
$RAFOS,5,1307191262,12.700000,12.683888,63,62,59,57,53,53,210,807,186,115,166,150
$RAFOS,4,1307190784,12.566667,12.551111,68,67,60,60,55,54,212,118,198,135,173,156
$RAFOS,3,1307190306,12.433333,12.418333,70,58,55,55,54,53,161,234,216,190,132,144
$RAFOS,2,1307189824,12.300000,12.284445,64,56,56,56,52,51,215,184,202,154,120,138
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,47.91
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,17.10
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.0,102.419
$10V_AH,9.9,52.421
$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,15.175,31.050,400.050,0.000,0.000,102.448,29.973,0.000,12.000,0.000,185.150,956.101,1355.401,466.833,1018.430,488.822,0.000,928.895,0.000,696.362,1800.000,2.815,0.000
$DEVICE_MAMPS,322.830,94.095,1048.050,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.892,299.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150544
$DATA_FILE_SIZE,16766,421
$CAP_FILE_SIZE,53400,0
$CFSIZE,260165632,203857920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.5
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6