version: 66.08
glider: 141
mission: 12
dive: 2
start: 8 20 110 16 47 34
data:
$ID,141
$MISSION,12
$DIVE,2
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$D_NO_BLEED,50
$D_BOOST,3
$T_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,40
$T_MISSION,55
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51548
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,446.0127
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-20165.088
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2099
$C_ROLL_CLIMB,2099
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,2610
$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,-32.594627
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043389718
$SEABIRD_T_H,0.00062576612
$SEABIRD_T_I,2.3935872e-05
$SEABIRD_T_J,2.5729423e-06
$SEABIRD_C_G,-9.9350653
$SEABIRD_C_H,1.1074669
$SEABIRD_C_I,-0.0013234058
$SEABIRD_C_J,0.00018881446
$GPS1,200810,164108,4743.034,-12224.229,12,1.5,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-78.1
$GPS2,200810,164701,4743.037,-12224.263,8,1.5,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,294.9,1257,-17.5,-10.000
$D_GRID,176
$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,15,-0.62,-146.6,0.0,0.0,0,137,0.00,0.00,-115.45,0.000,6,0.000,0.000,121,2117,3208,0,0,0,0,0,0
$GC,140,-0.62,-146.6,3.1,-6.2,21,160,11.85,2.17,0.00,0.000,4,0.293,0.044,2790,681,3208,0,0,0,0,0,0
$GC,381,-0.54,-146.6,45.3,-13.6,63,388,0.12,2.15,0.00,0.000,6,0.216,0.046,2821,2090,3209,0,0,0,0,0,0
$GC,526,-0.51,-146.6,59.9,-10.1,88,532,0.00,2.17,0.00,0.000,4,0.000,0.055,2821,3523,3208,0,0,0,0,0,0
$GC,698,-0.47,-146.6,80.1,-12.2,118,704,0.00,2.12,0.00,0.000,6,0.000,0.037,2822,2098,3208,0,0,0,0,0,0
$GC,841,-0.44,-146.6,98.2,-13.8,143,848,0.12,2.17,0.00,0.000,4,0.210,0.056,2853,3513,3208,0,0,0,0,0,0
$GC,957,-0.52,-146.6,110.9,-10.9,163,964,0.00,2.10,0.00,0.000,6,0.000,0.036,2854,2094,3209,0,0,0,0,0,0
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1060,-0.12,0.0,120.3,8.5,180,1175,0.30,0.00,105.95,0.804,6,0.168,0.000,2949,2090,2609,0,0,0,0,0,0
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1178,0.62,146.6,124.2,0.0,200,1300,0.75,2.30,112.28,0.783,4,0.132,0.048,3200,694,2011,0,0,0,0,0,0
$GC,1357,0.51,146.6,104.1,14.2,231,1365,0.12,2.20,0.00,0.000,6,0.207,0.042,3172,2113,2004,0,0,0,0,0,0
$GC,1502,0.41,146.6,82.6,15.7,256,1509,0.15,2.15,0.00,0.000,4,0.210,0.050,3134,3506,2003,0,0,0,0,0,0
$GC,1567,0.36,146.6,73.2,13.2,267,1574,0.00,2.15,0.00,0.000,6,0.000,0.038,3139,2092,2002,0,0,0,0,0,0
$GC,1711,0.34,146.6,56.2,11.8,292,1718,0.00,2.20,0.00,0.000,4,0.000,0.050,3139,3516,2002,0,0,0,0,0,0
$GC,1809,0.29,146.6,42.9,12.9,309,1817,0.20,2.15,0.00,0.000,6,0.195,0.037,3095,2087,2002,0,0,0,0,0,0
$GC,1954,0.44,188.3,31.1,8.1,334,1985,0.15,2.25,22.12,0.776,4,0.103,0.051,3151,3503,1842,0,0,0,0,0,0
$GC,2070,0.41,188.3,16.0,13.4,354,2077,0.00,2.12,0.00,0.000,6,0.000,0.037,3159,2096,1840,0,0,0,0,0,0
$STATE,2183,end climb,SURFACE_DEPTH_REACHED
$STATE,2183,begin surface coast
$FINISH,0.4,1.007364
$STATE,2206,end surface coast,CONTROL_FINISHED_OK
$STATE,2206,begin surface
$SM_CCo,2222,106.07,0.046,0,0,791,446.20
$SM_GC,1.27,0.00,0.00,106.07,0.000,0.000,0.046,120,2094,791,-9.00,-0.14,446.20
$RAFOS_CLK,70
$RAFOS,0,1282323845,17.083334,17.068056,57,54,52,50,49,48,216,185,115,160,142,129
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,200810,161648
$TT8_MAMPS,0.028462
$HUMID,45.98
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,63.1
$24V_AH,24.6,2.232
$10V_AH,10.7,0.778
$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,22.225,30.425,240.350,106.075,0.000,0.000,0.000,0.000,1.250,0.000,15.914,822.213,524.920,452.586,568.779,50.492,0.000,795.140,0.000,552.909,780.000,10.278,0.000
$DEVICE_MAMPS,292.995,55.845,804.015,45.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.462,268.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,281448
$DATA_FILE_SIZE,13530,378
$CAP_FILE_SIZE,51093,0
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1492.0
$GPS,200810,172714,4743.046,-12224.615,8,1.3,8,18.2