version: 66.08
glider: 141
mission: 15
dive: 747
start: 6 3 111 11 46 6
data:
$ID,141
$MISSION,15
$DIVE,747
$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,-54900.625
$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,22
$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
$GPS1,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.52
$_SM_ANGLEo,-2.2
$GPS2,030611,004656,6639.497,-5814.677,0,2087.0,0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2891,860,3049,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.3,-0.0,1,52,0.62,5.05,-14.85,0.000,4,0.101,0.077,2669,3898,3629,0,0,0,0,0,0
$GC,116,-0.55,-146.0,22.7,-18.4,16,123,0.00,2.22,0.00,0.000,6,0.000,0.049,2669,2485,3631,0,0,0,0,0,0
$GC,463,-0.48,-146.0,75.4,-14.7,77,471,0.15,2.28,0.00,0.000,4,0.207,0.067,2705,1077,3629,0,0,0,0,0,0
$GC,576,-0.52,-146.0,87.9,-10.6,96,583,0.00,2.28,0.00,0.000,6,0.000,0.062,2705,2488,3629,0,0,0,0,0,0
$GC,916,-0.56,-146.0,121.3,-9.9,138,921,0.00,2.35,0.00,0.000,4,0.000,0.079,2705,3903,3628,0,0,0,0,0,0
$GC,950,-0.64,-146.0,124.7,-9.4,140,957,0.15,2.22,0.00,0.000,6,0.111,0.050,2653,2490,3628,0,0,0,0,0,0
$GC,1277,-0.56,-146.0,165.8,-12.4,171,1279,0.10,0.00,0.00,0.000,6,0.211,0.000,2675,2489,3627,0,0,0,0,0,0
$GC,1594,-0.56,-146.0,199.8,-10.5,201,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2489,3627,0,0,0,0,0,0
$GC,1914,-0.83,-146.0,222.5,0.1,231,1919,0.25,2.35,0.00,0.000,4,0.099,0.073,2582,3906,3627,0,0,0,0,0,0
$STATE,1967,end dive,NO_VERTICAL_VELOCITY
$STATE,1967,begin apogee
$GC,1976,-0.12,0.0,222.5,0.0,235,2103,0.75,0.00,119.47,1.030,6,0.142,0.000,2816,2269,3029,0,0,0,0,0,0
$STATE,2104,end apogee,CONTROL_FINISHED_OK
$STATE,2104,begin climb
$GC,2106,0.62,146.0,222.4,0.0,247,2240,0.77,2.53,121.40,0.982,4,0.138,0.065,3055,3699,2432,0,0,0,0,0,0
$GC,2265,0.62,215.6,219.2,6.8,261,2334,0.00,2.40,61.30,0.946,6,0.000,0.054,3066,2280,2149,0,0,0,0,0,0
$GC,2660,0.62,215.6,174.9,11.2,298,2664,0.00,2.30,0.00,0.000,4,0.000,0.069,3066,3693,2142,0,0,0,0,0,0
$GC,2727,0.62,215.6,166.2,12.7,303,2734,0.00,2.25,0.00,0.000,6,0.000,0.054,3076,2270,2141,0,0,0,0,0,0
$GC,3053,0.62,215.6,127.1,12.1,334,3057,0.00,2.28,0.00,0.000,4,0.000,0.070,3086,869,2140,0,0,0,0,0,0
$GC,3074,0.62,215.6,124.3,12.1,335,3081,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2283,2138,0,0,0,0,0,0
$GC,3407,0.62,215.6,84.4,12.2,377,3413,0.00,2.25,0.00,0.000,4,0.000,0.070,3086,3686,2139,0,0,0,0,0,0
$GC,3432,0.60,215.6,81.2,12.4,381,3439,0.15,2.22,0.00,0.000,6,0.175,0.054,3057,2275,2139,0,0,0,0,0,0
$GC,3785,0.71,254.3,47.9,8.2,442,3827,0.10,2.38,31.48,0.895,4,0.116,0.070,3116,862,1992,0,0,0,0,0,0
$GC,3876,0.71,254.3,37.8,11.5,457,3883,0.00,2.30,0.00,0.000,6,0.000,0.058,3117,2278,1988,0,0,0,0,0,0
$FREEZE,8.94,-1.032,-1.817,3,110,2
$FREEZE,8.54,-1.034,-1.816,3,110,2
$FREEZE,8.04,-1.051,-1.816,3,110,2
$FREEZE,7.45,-1.050,-1.815,3,110,2
$FREEZE,6.75,-1.045,-1.815,3,110,2
$FREEZE,6.31,-1.048,-1.815,3,110,2
$FREEZE,5.89,-1.060,-1.815,3,110,2
$FREEZE,5.35,-1.066,-1.814,3,110,2
$FREEZE,4.90,-1.074,-1.813,3,110,2
$FREEZE,4.47,-1.075,-1.813,3,110,2
$FREEZE,4.17,-1.089,-1.813,3,110,2
$FREEZE,3.61,-1.087,-1.812,3,110,2
$FREEZE,3.35,-1.091,-1.812,3,110,2
$FREEZE,2.76,-1.091,-1.811,3,110,2
$STATE,4216,end climb,SURFACE_DEPTH_REACHED
$STATE,4217,begin surface coast
$FREEZE,2.82,-1.118,-1.811,3,110,2
$FREEZE,2.89,-1.138,-1.813,3,110,2
$FREEZE,2.88,-1.134,-1.813,3,110,2
$FREEZE,2.77,-1.044,-1.807,3,110,2
$FREEZE,2.81,-1.137,-1.812,3,110,2
$FREEZE,2.73,-1.021,-1.806,3,110,2
$FREEZE,2.73,-1.145,-1.812,3,110,2
$FREEZE,2.78,-1.146,-1.812,3,110,2
$FINISH,2.8,1.026564
$STATE,4259,end surface coast,CONTROL_FINISHED_OK
$STATE,4260,begin surface
$SM_CCo,4400,133.80,0.063,0,0,750,559.04
$SM_GC,2.58,0.00,0.00,133.80,0.000,0.000,0.063,114,2496,750,-8.60,0.17,559.04
$RAFOS_CLK,250
$RAFOS,6,1307105343,12.833333,12.817500,62,58,56,55,54,51,191,171,209,228,114,130
$RAFOS,5,1307104863,12.700000,12.684167,119,60,57,57,55,55,741,166,210,201,181,118
$RAFOS,4,1307104382,12.566667,12.550555,63,62,59,56,53,52,199,214,190,152,179,121
$RAFOS,3,1307103904,12.433333,12.417778,61,55,51,47,47,45,156,199,1922,134,121,213
$RAFOS,2,1307103423,12.300000,12.284166,62,59,57,50,49,45,154,118,193,336,210,220
$RAFOS,1,1307102945,12.166667,12.151389,62,57,57,56,52,48,136,161,186,223,206,197
$RAFOS,0,1307102467,12.033333,12.018611,62,58,55,53,52,50,214,194,181,157,116,141
$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,45.90
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.30
$XPDR_PINGS,60
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.8,100.254
$10V_AH,9.9,51.747
$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,11.600,44.850,333.650,133.800,0.000,0.000,0.000,0.000,15.250,0.000,0.000,1268.319,1915.239,465.939,836.459,114.196,0.000,955.994,0.000,835.356,2520.000,2.816,0.000
$DEVICE_MAMPS,211.140,84.150,1030.455,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.198,385.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20139,526
$CAP_FILE_SIZE,59271,0
$CFSIZE,260165632,204525568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.1
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6