version: 66.06
glider: 141
mission: 9
dive: 21
start: 8 20 109 10 40 39
data:
$ID,141
$MISSION,9
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51430
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15812.876
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,4041
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4044
$C_VBD,3389
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-33.255871
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043482846
$SEABIRD_T_H,0.00064259337
$SEABIRD_T_I,2.4116636e-05
$SEABIRD_T_J,2.3731232e-06
$SEABIRD_C_G,-9.926631
$SEABIRD_C_H,1.0917815
$SEABIRD_C_I,-0.00047649047
$SEABIRD_C_J,0.00015061456
$GPS1,103522,4807.046,-12222.979,5,7.2,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.3
$GPS2,103946,4807.032,-12222.940,10,8.9,29,18.3
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.129,-0.176
$KALMAN_X,-483.2,-195.2,-25.8,1613.1,-11.5
$KALMAN_Y,-88.3,14.4,17.4,-1075.5,-78.7
$MHEAD_RNG_PITCHd_Wd,125.3,2238,-16.0,-8.000
$D_GRID,105
$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,-0.64,-117.3,0.0,0.0,0,113,0.00,0.00,-94.18,0.000,2,0.000,0.000,76,2211,2975,0,0,0,0,0,0
$GC,116,-0.64,-117.3,3.2,-3.4,19,158,12.43,2.28,-23.98,0.000,4,0.308,0.074,2741,3608,3869,0,0,0,0,0,0
$GC,410,-0.52,-117.3,44.5,-15.2,58,417,0.17,2.15,0.00,0.000,6,0.210,0.041,2785,2186,3872,0,0,0,0,0,0
$GC,608,-0.48,-117.3,68.1,-11.8,77,612,0.00,2.22,0.00,0.000,4,0.000,0.059,2785,3608,3873,0,0,0,0,0,0
$GC,707,-0.45,-117.3,79.7,-11.9,85,718,0.00,2.12,0.00,0.000,6,0.000,0.041,2786,2195,3872,0,0,0,0,0,0
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,941,-0.16,0.0,105.8,11.3,107,1093,0.40,0.00,122.82,0.625,6,0.179,0.000,2904,2084,3388,0,0,0,0,5,0
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1097,0.64,117.3,112.4,0.0,122,1220,0.82,2.33,100.90,0.690,4,0.146,0.052,3167,704,2904,0,0,0,0,2,0
$GC,1450,0.53,124.5,94.7,7.7,154,1461,0.15,2.15,4.80,0.489,6,0.211,0.044,3132,2092,2881,0,0,0,0,0,0
$GC,1786,0.48,148.6,71.5,6.9,186,1820,0.00,2.25,24.50,0.607,4,0.000,0.056,3132,3513,2781,0,0,0,0,1,0
$GC,1950,0.38,148.6,57.6,8.9,201,1955,0.20,2.15,0.00,0.000,6,0.196,0.042,3085,2114,2770,0,0,0,0,0,0
$GC,2275,0.47,206.5,40.1,5.3,231,2349,0.00,2.30,57.67,0.657,4,0.000,0.056,3085,3506,2542,0,0,0,0,2,0
$GC,2413,0.53,226.2,31.2,7.1,244,2438,0.15,2.20,14.88,0.550,6,0.107,0.043,3138,2096,2466,0,0,0,0,1,0
$GC,2635,0.53,226.2,11.8,8.4,273,2640,0.00,2.22,0.00,0.000,4,0.000,0.055,3138,3507,2466,0,0,0,0,0,0
$GC,2688,0.51,226.2,7.0,9.7,282,2693,0.00,2.17,0.00,0.000,6,0.000,0.044,3139,2104,2467,0,0,0,0,0,0
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2748,begin surface coast
$FINISH,1.9,1.019885
$STATE,2833,end surface coast,CONTROL_FINISHED_OK
$STATE,2833,begin surface
$SM_CCo,2850,104.93,0.742,0,0,1553,450.13
$SM_GC,1.93,0.00,0.00,104.93,0.000,0.000,0.742,79,2212,1553,-9.01,0.34,450.13
$RAFOS_CLK,118
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,141198,090933
$TT8_MAMPS,0.026845
$HUMID,1078614829
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,42.5
$24V_AH,24.3,2.241
$10V_AH,10.4,0.598
$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,23.400,26.825,325.575,104.925,0.000,27.286,35.960,91.845,0.750,0.000,31.508,502.871,1357.446,531.694,605.768,232.815,33.338,904.879,0.000,576.962,0.000,7.385,0.000
$DEVICE_MAMPS,307.567,90.506,689.533,742.456,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.194,226.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264140
$DATA_FILE_SIZE,12755,308
$CAP_FILE_SIZE,46445,0
$CFSIZE,260165632,256315392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$SOUNDSPEED,1485.0
$GPS,200809,113106,4806.812,-12222.827,12,0.9,29,18.3