version: 66.08
glider: 141
mission: 15
dive: 1007
start: 6 17 111 14 48 3
data:
$ID,141
$MISSION,15
$DIVE,1007
$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,-106647.69
$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,33
$R_STBD_OVSHOOT,69
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-76.7
$GPS2,160611,173016,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,-107.40,0.000,2,0.000,0.000,108,2530,2552,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.6,-8.2,19,174,12.98,2.15,-22.52,0.000,4,0.324,0.062,2651,3863,3629,0,0,0,0,0,0
$GC,432,-0.97,-146.0,51.7,-15.2,71,439,0.32,2.28,0.00,0.000,6,0.120,0.065,2552,2502,3629,0,0,0,0,0,0
$GC,781,-1.39,-146.0,87.3,-9.4,132,788,0.40,2.25,0.00,0.000,4,0.161,0.048,2422,3873,3628,0,0,0,0,0,0
$GC,882,-1.62,-146.0,97.5,-11.0,149,889,0.22,2.28,0.00,0.000,6,0.091,0.055,2341,2480,3628,0,0,0,0,0,0
$GC,1211,-1.45,-146.0,167.7,-22.4,181,1216,0.22,2.40,0.00,0.000,4,0.219,0.073,2393,1075,3628,0,0,0,0,0,0
$GC,1230,-1.23,-146.0,172.2,-23.2,182,1235,0.30,2.15,0.00,0.000,6,0.239,0.037,2462,2468,3627,0,0,0,0,0,0
$GC,1557,-1.58,-146.0,216.2,0.0,212,1562,0.30,2.30,0.00,0.000,4,0.109,0.054,2357,3884,3627,0,0,0,0,0,0
$STATE,1655,end dive,NO_VERTICAL_VELOCITY
$STATE,1655,begin apogee
$GC,1668,-0.12,0.0,216.1,0.0,220,1796,1.52,0.00,120.40,1.035,6,0.156,0.000,2815,2274,3030,0,0,0,0,0,0
$STATE,1797,end apogee,CONTROL_FINISHED_OK
$STATE,1797,begin climb
$GC,1800,0.62,146.0,216.2,0.0,232,1940,0.75,2.58,128.65,0.987,4,0.103,0.045,3053,3667,2433,0,0,0,0,0,0
$GC,2010,1.06,356.9,215.9,0.3,250,2213,0.47,2.55,194.10,0.953,6,0.067,0.053,3216,2276,1575,0,0,0,0,0,0
$GC,2535,0.85,356.9,153.2,15.1,298,2540,0.30,2.45,0.00,0.000,4,0.207,0.044,3145,3675,1567,0,0,0,0,0,0
$GC,2546,0.66,356.9,151.1,14.9,298,2554,0.30,2.50,0.00,0.000,6,0.153,0.057,3075,2265,1565,0,0,0,0,0,0
$GC,2874,0.69,384.3,122.4,8.7,329,2907,0.00,2.47,24.42,0.877,4,0.000,0.073,3084,873,1462,0,0,0,0,0,0
$GC,2970,0.69,384.3,113.1,10.3,337,2977,0.00,2.28,0.00,0.000,6,0.000,0.045,3084,2280,1460,0,0,0,0,0,0
$GC,3310,0.66,384.3,75.3,10.1,388,3317,0.00,2.25,0.00,0.000,4,0.000,0.051,3084,3675,1458,0,0,0,0,0,0
$GC,3353,0.81,410.3,71.2,8.8,395,3384,0.00,2.30,24.15,0.868,6,0.000,0.058,3093,2274,1357,0,0,0,0,0,0
$GC,3728,0.86,410.3,32.5,10.1,460,3735,0.12,2.35,0.00,0.000,4,0.103,0.064,3152,865,1354,0,0,0,0,0,0
$GC,3761,0.81,410.3,28.4,12.1,465,3768,0.00,2.22,0.00,0.000,6,0.000,0.037,3152,2279,1353,0,0,0,0,0,0
$FREEZE,8.74,-0.554,-1.791,0,370,2
$FREEZE,8.21,-0.558,-1.791,0,370,2
$FREEZE,7.70,-0.558,-1.790,0,370,2
$FREEZE,7.31,-0.549,-1.790,0,370,2
$FREEZE,6.74,-0.541,-1.789,0,370,2
$FREEZE,6.28,-0.530,-1.788,0,370,2
$FREEZE,5.80,-0.528,-1.788,0,370,2
$FREEZE,5.27,-0.525,-1.787,0,370,2
$FREEZE,4.85,-0.524,-1.787,0,370,2
$FREEZE,4.41,-0.524,-1.787,0,370,2
$FREEZE,3.92,-0.454,-1.784,0,370,2
$FREEZE,3.41,-0.414,-1.783,0,370,2
$FREEZE,2.99,-0.409,-1.784,0,370,2
$STATE,4016,end climb,SURFACE_DEPTH_REACHED
$STATE,4016,begin surface coast
$FREEZE,2.62,-0.404,-1.783,0,370,2
$FREEZE,2.14,-0.382,-1.783,0,370,2
$FREEZE,1.98,-0.309,-1.778,0,370,2
$FREEZE,1.92,-0.347,-0.945,0,370,2
$FREEZE,1.86,-0.304,-0.957,0,370,2
$FREEZE,1.91,-0.326,-0.917,0,370,2
$FINISH,1.9,1.013534
$STATE,4052,end surface coast,CONTROL_FINISHED_OK
$STATE,4052,begin surface
$SM_CCo,4193,68.60,0.064,0,0,751,559.04
$SM_GC,2.73,0.00,0.00,68.60,0.000,0.000,0.064,116,2531,751,-8.59,1.16,559.04
$RAFOS_CLK,279
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026215
$HUMID,74.45
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,35
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,21.2,132.125
$10V_AH,9.8,62.652
$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,27.300,42.750,491.725,68.600,0.000,98.353,17.376,0.000,9.000,0.000,185.644,1197.059,1690.420,597.211,1159.656,680.109,0.000,1143.786,0.000,852.886,0.000,2.817,0.000
$DEVICE_MAMPS,323.595,73.440,1035.045,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.781,377.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20117,517
$CAP_FILE_SIZE,65944,0
$CFSIZE,260165632,195702784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6