version: 66.08
glider: 141
mission: 15
dive: 864
start: 6 9 111 9 17 32
data:
$ID,141
$MISSION,15
$DIVE,864
$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,-75243.016
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-44.9
$GPS2,080611,141440,6703.953,-5642.035,181,99.0,181,-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,285.3,4655,-17.5,-10.000
$D_GRID,432
$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,-146.0,0.0,0.0,0,231,0.00,0.00,-209.25,0.000,6,0.000,0.000,116,2505,3626,0,0,0,0,0,0
$GC,235,-0.62,-146.0,2.9,0.3,37,254,11.57,2.40,0.00,0.000,4,0.282,0.070,2657,1074,3629,0,0,0,0,0,0
$GC,511,-0.41,-146.0,2.7,-0.4,85,518,0.28,2.33,0.00,0.000,6,0.233,0.067,2722,2484,3628,0,0,0,0,0,0
$GC,859,-0.43,-146.0,23.3,-12.3,146,866,0.00,2.35,0.00,0.000,4,0.000,0.075,2723,1072,3628,0,0,0,0,0,0
$GC,988,-0.48,-146.0,37.7,-10.3,168,995,0.00,2.40,0.00,0.000,6,0.000,0.073,2722,2496,3629,0,0,0,0,0,0
$GC,1335,-0.52,-146.0,71.9,-9.7,229,1342,0.00,2.40,0.00,0.000,4,0.000,0.089,2722,3900,3628,0,0,0,0,0,0
$GC,1412,-0.61,-146.0,79.9,-10.3,242,1419,0.17,2.33,0.00,0.000,6,0.106,0.060,2662,2483,3628,0,0,0,0,0,0
$GC,1748,-0.53,-146.0,128.3,-13.8,285,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2483,3626,0,0,0,0,0,0
$GC,2068,-0.48,-146.0,170.9,-13.7,315,2072,0.17,2.35,0.00,0.000,4,0.213,0.075,2704,1080,3626,0,0,0,0,0,0
$GC,2115,-0.54,-146.0,176.5,-9.7,319,2120,0.00,2.38,0.00,0.000,6,0.000,0.072,2704,2490,3626,0,0,0,0,0,0
$GC,2442,-0.59,-146.0,207.3,-9.4,349,2446,0.00,2.42,0.00,0.000,4,0.000,0.086,2704,3902,3626,0,0,0,0,0,0
$STATE,2588,end dive,NO_VERTICAL_VELOCITY
$STATE,2588,begin apogee
$GC,2598,-0.12,0.0,207.5,0.0,361,2726,0.35,0.00,121.00,1.048,6,0.145,0.000,2815,2273,3030,0,0,0,0,0,0
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2727,begin climb
$GC,2730,0.62,146.0,207.5,0.0,373,2864,0.77,2.65,124.18,0.995,4,0.142,0.073,3050,3687,2433,0,0,0,0,0,0
$GC,2972,0.58,146.0,193.1,10.1,394,2979,0.00,2.38,0.00,0.000,6,0.000,0.060,3060,2276,2429,0,0,0,0,0,0
$GC,3298,0.63,185.9,165.0,8.2,425,3338,0.00,0.00,34.03,0.938,6,0.000,0.000,3060,2276,2271,0,0,0,0,0,0
$GC,3657,0.68,197.8,131.9,9.4,459,3674,0.00,2.33,11.32,0.852,4,0.000,0.073,3071,865,2222,0,0,0,0,0,0
$GC,3710,0.74,209.5,127.0,9.5,463,3726,0.00,2.28,11.27,0.855,6,0.000,0.059,3071,2281,2176,0,0,0,0,0,0
$GC,4050,0.79,209.5,93.9,10.2,499,4058,0.12,2.35,0.00,0.000,4,0.103,0.082,3129,3685,2174,0,0,0,0,0,0
$GC,4084,0.71,209.5,89.6,14.2,504,4091,0.17,2.30,0.00,0.000,6,0.198,0.067,3097,2277,2174,0,0,0,0,0,0
$GC,4432,0.73,226.2,54.2,9.2,565,4451,0.00,0.00,16.15,0.866,6,0.000,0.000,3097,2277,2107,0,0,0,0,0,0
$GC,4793,0.79,243.8,22.0,9.2,628,4812,0.00,2.40,9.10,0.834,4,0.000,0.071,3097,3683,2035,0,0,0,0,0,0
$GC,4848,0.83,243.8,16.0,10.6,637,4855,0.00,2.33,0.00,0.000,6,0.000,0.070,3105,2263,2034,0,0,0,0,0,0
$FREEZE,8.97,-1.257,-1.816,0,227,0
$FREEZE,8.44,-1.258,-1.815,0,227,0
$FREEZE,8.03,-1.258,-1.815,0,227,0
$FREEZE,7.58,-1.257,-1.815,0,227,0
$FREEZE,7.06,-1.257,-1.814,0,227,0
$FREEZE,6.41,-1.257,-1.814,0,227,0
$FREEZE,5.95,-1.255,-1.813,0,227,0
$FREEZE,5.45,-1.247,-1.813,0,227,0
$FREEZE,4.98,-1.246,-1.812,0,227,0
$FREEZE,4.82,-1.239,-1.812,0,227,0
$FREEZE,4.16,-1.234,-1.811,0,227,0
$FREEZE,3.70,-1.241,-1.811,0,227,0
$FREEZE,3.22,-1.241,-1.811,0,227,0
$FREEZE,2.73,-1.232,-1.810,0,227,0
$STATE,4991,end climb,SURFACE_DEPTH_REACHED
$STATE,4991,begin surface coast
$FREEZE,2.29,-1.228,-1.809,0,227,0
$FREEZE,1.86,-1.228,-1.809,0,227,0
$FREEZE,1.69,-1.130,-0.998,0,227,0
$FREEZE,1.80,-1.051,-1.717,0,227,0
$FREEZE,1.74,-1.116,-1.556,0,227,0
$FREEZE,1.76,-1.155,-0.855,0,227,0
$FINISH,1.8,1.012584
$STATE,5023,end surface coast,CONTROL_FINISHED_OK
$STATE,5023,begin surface
$SM_CCo,5044,139.05,0.065,0,0,751,559.04
$SM_GC,2.65,0.00,0.00,139.05,0.000,0.000,0.065,112,2494,751,-8.60,0.08,559.04
$RAFOS_CLK,324
$RAFOS,6,1307609345,8.833333,8.818055,58,57,55,55,53,53,143,193,113,130,169,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,58
$ALTIM_TOP_PING,19.0,17.6
$24V_AH,22.2,113.199
$10V_AH,9.7,56.031
$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,22.275,43.400,327.050,139.050,0.000,98.433,17.372,0.000,14.750,0.000,183.290,1527.954,2053.546,619.608,1357.120,636.051,0.000,1217.434,0.000,1046.614,0.000,2.614,0.000
$DEVICE_MAMPS,282.285,88.740,1048.050,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.075,484.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,23488,669
$CAP_FILE_SIZE,73694,0
$CFSIZE,260165632,200802304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6