version: 66.08
glider: 141
mission: 15
dive: 846
start: 6 8 111 8 55 56
data:
$ID,141
$MISSION,15
$DIVE,846
$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,-70447.562
$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,22
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.19
$_SM_ANGLEo,-4.3
$GPS2,080611,032949,6703.953,-5649.833,181,99.0,181,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,-0.65,-102.9,0.0,0.0,0,25,0.00,0.00,-6.43,0.000,2,0.000,0.000,2890,3693,3083,0,0,0,0,0,0
$GC,29,-0.71,-146.0,9.6,-0.0,1,54,0.73,4.28,-14.30,0.000,4,0.118,0.063,2641,1079,3629,0,0,0,0,0,0
$GC,219,-0.65,-146.0,44.0,-18.5,34,226,0.00,2.30,0.00,0.000,6,0.000,0.062,2641,2488,3629,0,0,0,0,0,0
$GC,569,-0.56,-146.0,110.6,-19.0,91,571,0.15,0.00,0.00,0.000,6,0.228,0.000,2675,2489,3630,0,0,0,0,0,0
$GC,890,-0.56,-146.0,157.5,-14.1,121,894,0.00,2.35,0.00,0.000,4,0.000,0.076,2675,3900,3629,0,0,0,0,0,0
$GC,960,-0.62,-146.0,167.0,-13.7,127,964,0.00,2.25,0.00,0.000,6,0.000,0.049,2675,2486,3628,0,0,0,0,0,0
$GC,1287,-0.62,-146.0,208.0,-12.4,157,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2486,3629,0,0,0,0,0,0
$STATE,1463,end dive,NO_VERTICAL_VELOCITY
$STATE,1463,begin apogee
$GC,1471,-0.12,0.0,208.4,0.0,174,1597,0.43,0.00,119.68,1.033,6,0.136,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1600,0.71,146.0,208.4,0.0,185,1733,0.88,2.45,122.68,0.985,4,0.140,0.067,3095,875,2433,0,0,0,0,0,0
$GC,1807,0.77,170.8,202.4,8.4,203,1837,0.00,2.35,22.00,0.920,6,0.000,0.057,3095,2282,2333,0,0,0,0,0,0
$GC,2155,0.81,170.8,165.3,11.0,236,2159,0.00,2.28,0.00,0.000,4,0.000,0.070,3095,3683,2328,0,0,0,0,0,0
$GC,2230,0.81,170.8,156.5,12.5,242,2235,0.00,2.25,0.00,0.000,6,0.000,0.056,3105,2285,2327,0,0,0,0,0,0
$GC,2556,0.85,170.8,120.2,11.2,272,2561,0.00,2.30,0.00,0.000,4,0.000,0.070,3115,864,2327,0,0,0,0,0,0
$GC,2620,0.88,170.8,113.5,10.3,277,2624,0.00,2.25,0.00,0.000,6,0.000,0.055,3116,2279,2326,0,0,0,0,0,0
$GC,2959,0.93,179.2,78.0,9.4,326,2974,0.12,2.38,7.93,0.793,4,0.103,0.070,3167,3691,2298,0,0,0,0,0,0
$GC,3044,0.82,179.2,66.6,15.2,340,3052,0.20,2.30,0.00,0.000,6,0.203,0.061,3129,2265,2298,0,0,0,0,0,0
$GC,3394,0.85,188.4,32.4,9.4,401,3408,0.00,2.28,6.97,0.793,4,0.000,0.068,3137,870,2260,0,0,0,0,0,0
$GC,3520,0.93,215.9,21.3,8.2,422,3541,0.00,2.28,14.00,0.863,6,0.000,0.067,3137,2285,2148,0,0,0,0,0,0
$FREEZE,8.73,-0.811,-1.814,0,209,0
$FREEZE,8.25,-0.813,-1.813,0,209,0
$FREEZE,7.78,-0.813,-1.813,0,209,0
$STATE,3659,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3659,begin subsurface finish
$FINISH1,7.8,1.026509,49
$GC,3667,0.06,48.6,7.8,-9.2,446,3698,0.82,2.38,-24.05,0.000,4,0.184,0.086,2890,3682,2834,0,0,0,0,0,0
$FINISH2,6.9
$STATE,3699,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3699,begin surface
$RAFOS_CLK,209
$RAFOS,6,1307522945,8.833333,8.818055,76,75,66,55,53,49,201,220,178,230,188,160
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.9,17.0
$24V_AH,22.6,111.258
$10V_AH,9.9,55.260
$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,3.325,36.975,293.250,0.000,0.000,0.000,0.000,0.000,16.250,0.000,0.000,1065.446,1561.916,291.523,726.546,107.315,0.000,709.024,0.000,731.676,0.000,2.617,0.000
$DEVICE_MAMPS,227.970,86.445,1032.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.935,330.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16803,451
$CAP_FILE_SIZE,47458,0
$CFSIZE,260165632,201420800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6