version: 66.08
glider: 141
mission: 15
dive: 966
start: 6 15 111 4 40 5
data:
$ID,141
$MISSION,15
$DIVE,966
$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,-96272.5
$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,27
$R_STBD_OVSHOOT,55
$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
$GPS1,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.6
$GPS2,140611,153143,6652.926,-5651.085,181,99.0,181,-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,44.4,18790,-17.5,-10.000
$D_GRID,609
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,132,0.00,0.00,-113.15,0.000,2,0.000,0.000,109,2513,2625,0,0,0,0,0,0
$GC,139,-0.62,-146.0,5.9,-9.9,20,181,12.62,2.47,-19.98,0.000,4,0.314,0.089,2656,1090,3630,0,0,0,0,0,0
$GC,189,-0.83,-146.0,19.1,-10.3,28,196,0.17,2.17,0.00,0.000,6,0.117,0.047,2601,2486,3630,0,0,0,0,0,0
$GC,538,-1.22,-146.0,59.0,-12.1,89,546,0.35,2.28,0.00,0.000,4,0.109,0.061,2477,3889,3630,0,0,0,0,0,0
$GC,725,-1.58,-146.0,80.0,-10.6,121,732,0.35,2.28,0.00,0.000,6,0.102,0.054,2358,2489,3630,0,0,0,0,0,0
$GC,1065,-1.43,-146.0,151.3,-21.9,161,1070,0.17,2.28,0.00,0.000,4,0.236,0.053,2397,3880,3628,0,0,0,0,0,0
$GC,1115,-1.51,-146.0,160.2,-16.0,165,1122,0.00,2.28,0.00,0.000,6,0.000,0.059,2397,2493,3629,0,0,0,0,0,0
$GC,1442,-1.60,-146.0,215.0,-0.8,196,1447,0.15,2.30,0.00,0.000,4,0.110,0.056,2343,3890,3628,0,0,0,0,0,0
$GC,1523,-1.68,-146.0,214.9,0.2,203,1527,0.00,2.33,0.00,0.000,6,0.000,0.059,2343,2481,3629,0,0,0,0,0,0
$STATE,1564,end dive,NO_VERTICAL_VELOCITY
$STATE,1564,begin apogee
$GC,1573,-0.12,0.0,215.0,0.0,207,1706,1.65,0.00,120.15,1.043,6,0.161,0.000,2816,2262,3029,0,0,0,0,0,0
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1710,0.62,146.0,214.7,0.0,219,1847,0.77,2.67,124.68,0.993,4,0.132,0.076,3055,870,2433,0,0,0,0,0,0
$GC,2104,1.04,367.5,214.3,-0.2,254,2303,0.40,2.22,190.12,0.962,6,0.066,0.041,3212,2268,1531,0,0,0,0,0,0
$GC,2621,0.89,367.5,165.1,13.9,302,2626,0.22,2.28,0.00,0.000,4,0.201,0.050,3155,3681,1522,0,0,0,0,0,0
$GC,2651,0.89,367.5,161.4,11.8,304,2655,0.00,2.30,0.00,0.000,6,0.000,0.055,3163,2270,1520,0,0,0,0,0,0
$GC,2977,0.81,367.5,123.2,11.6,334,2982,0.15,2.33,0.00,0.000,4,0.197,0.067,3135,860,1520,0,0,0,0,0,0
$GC,2989,0.75,367.5,121.9,11.0,334,2995,0.00,2.25,0.00,0.000,6,0.000,0.050,3135,2284,1519,0,0,0,0,0,0
$GC,3323,0.72,372.0,88.3,9.8,375,3331,0.15,2.25,0.00,0.000,4,0.183,0.050,3097,3691,1519,0,0,0,0,0,0
$GC,3362,0.88,404.8,84.9,8.5,381,3404,0.15,2.30,32.25,0.893,6,0.092,0.055,3164,2260,1379,0,0,0,0,0,0
$GC,3747,0.86,404.8,42.5,10.5,448,3753,0.00,2.28,0.00,0.000,4,0.000,0.065,3175,869,1375,0,0,0,0,0,0
$GC,3796,0.75,404.8,36.5,13.1,456,3803,0.25,2.25,0.00,0.000,6,0.198,0.053,3112,2283,1374,0,0,0,0,0,0
$FREEZE,8.77,-1.120,-1.803,0,329,0
$FREEZE,7.85,-1.119,-1.801,0,329,0
$FREEZE,7.16,-1.114,-1.800,0,329,0
$FREEZE,6.50,-1.129,-1.800,0,329,0
$FREEZE,5.77,-1.134,-1.799,0,329,0
$FREEZE,5.05,-1.130,-1.798,0,329,0
$GC,4149,0.89,476.5,8.8,6.7,517,4193,0.12,2.30,35.20,0.845,4,0.100,0.055,3164,3680,1085,0,0,0,0,0,0
$FREEZE,3.49,-1.137,-1.797,0,329,0
$FREEZE,3.00,-1.140,-1.797,0,329,0
$FREEZE,2.50,-1.138,-1.796,0,329,0
$STATE,4213,end climb,SURFACE_DEPTH_REACHED
$STATE,4213,begin surface coast
$FREEZE,1.97,-1.123,-1.795,0,329,0
$FREEZE,1.84,-1.110,-1.794,0,329,0
$FINISH,1.8,1.026320
$STATE,4224,end surface coast,CONTROL_FINISHED_OK
$STATE,4224,begin surface
$SM_CCo,4307,36.55,0.065,0,0,751,559.04
$SM_GC,2.91,0.00,0.00,36.55,0.000,0.000,0.065,109,2492,751,-8.61,0.06,559.04
$RAFOS_CLK,284
$RAFOS,6,1308113348,4.833333,4.818889,64,58,56,54,51,50,214,193,169,124,133,225
$RAFOS,5,1308112866,4.700000,4.685000,64,60,56,55,54,51,145,178,206,192,221,123
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026215
$HUMID,75.59
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.0,126.341
$10V_AH,9.8,60.784
$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,26.525,46.075,502.400,36.550,0.000,98.798,17.387,0.000,9.000,0.000,185.558,1207.687,1731.170,588.217,1193.046,640.994,0.000,1151.969,0.000,884.480,720.000,2.617,0.000
$DEVICE_MAMPS,313.650,88.740,1042.695,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.683,382.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20112,528
$CAP_FILE_SIZE,68680,0
$CFSIZE,260165632,197197824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6