version: 66.08
glider: 141
mission: 15
dive: 790
start: 6 5 111 10 8 23
data:
$ID,141
$MISSION,15
$DIVE,790
$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,-56751.078
$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,23
$R_STBD_OVSHOOT,23
$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,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.78
$_SM_ANGLEo,-7.4
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,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,-5.62,0.000,2,0.000,0.000,2888,3693,3036,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.3,-0.0,1,52,0.60,0.38,-15.95,0.000,4,0.084,0.175,2665,3907,3629,0,0,0,0,0,0
$GC,286,-0.52,-146.0,55.2,-18.1,46,293,0.12,2.25,0.00,0.000,6,0.219,0.055,2692,2489,3631,0,0,0,0,0,0
$GC,630,-0.43,-146.0,112.4,-15.9,100,634,0.12,2.33,0.00,0.000,4,0.223,0.070,2722,1074,3629,0,0,0,0,0,0
$GC,688,-0.46,-146.0,120.3,-12.1,105,692,0.00,2.30,0.00,0.000,6,0.000,0.066,2722,2489,3629,0,0,0,0,0,0
$GC,1013,-0.46,-146.0,158.3,-11.9,135,1017,0.00,2.38,0.00,0.000,4,0.000,0.081,2722,3909,3628,0,0,0,0,0,0
$GC,1086,-0.51,-146.0,166.7,-10.4,141,1093,0.00,2.28,0.00,0.000,6,0.000,0.052,2722,2480,3628,0,0,0,0,0,0
$STATE,1294,end dive,NO_VERTICAL_VELOCITY
$STATE,1294,begin apogee
$GC,1301,-0.12,0.0,170.6,0.0,161,1426,0.28,0.00,120.15,1.020,6,0.136,0.000,2816,2274,3030,0,0,0,0,0,0
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1430,0.62,146.0,170.7,0.0,172,1564,0.75,2.58,122.70,0.968,4,0.125,0.072,3063,862,2433,0,0,0,0,0,0
$GC,1679,0.83,253.0,163.8,5.1,194,1781,0.20,2.35,91.70,0.933,6,0.080,0.060,3143,2281,1997,0,0,0,0,0,0
$GC,2097,0.80,253.0,112.6,13.0,233,2101,0.00,2.33,0.00,0.000,4,0.000,0.076,3143,3693,1987,0,0,0,0,0,0
$GC,2166,0.75,253.0,102.8,14.0,239,2171,0.17,2.28,0.00,0.000,6,0.186,0.060,3108,2278,1986,0,0,0,0,0,0
$GC,2511,0.82,253.0,66.9,10.4,297,2518,0.00,2.30,0.00,0.000,4,0.000,0.075,3111,865,1985,0,0,0,0,0,0
$GC,2599,0.94,279.0,58.4,8.8,312,2630,0.15,2.28,22.08,0.882,6,0.096,0.060,3176,2285,1891,0,0,0,0,0,0
$GC,2970,0.92,279.0,13.6,11.2,377,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2285,1888,0,0,0,0,0,0
$FREEZE,8.88,-1.118,-1.817,3,153,0
$FREEZE,8.31,-0.973,-1.814,3,153,0
$FREEZE,7.85,-0.987,-1.814,3,153,0
$FREEZE,7.22,-0.961,-1.816,3,153,0
$FREEZE,6.60,-0.882,-1.813,3,153,0
$FREEZE,6.10,-0.847,-1.813,3,153,0
$FREEZE,5.52,-0.843,-1.812,3,153,0
$FREEZE,4.92,-0.884,-1.812,3,153,0
$FREEZE,4.32,-0.867,-1.812,3,153,0
$FREEZE,3.75,-0.842,-1.811,3,153,0
$FREEZE,3.20,-0.833,-1.811,3,153,0
$FREEZE,2.62,-0.847,-1.811,3,153,0
$STATE,3068,end climb,SURFACE_DEPTH_REACHED
$STATE,3068,begin surface coast
$FREEZE,2.00,-0.810,-1.110,3,153,0
$FREEZE,2.09,-0.823,-1.810,3,153,0
$FREEZE,2.15,-0.815,-1.810,3,153,0
$FREEZE,1.95,-0.749,-1.799,3,153,0
$FREEZE,1.97,-0.767,-1.798,3,153,0
$FINISH,2.0,1.026364
$STATE,3096,end surface coast,CONTROL_FINISHED_OK
$STATE,3096,begin surface
$RAFOS_CLK,185
$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,48.22
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,16.90
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.3,17.4
$24V_AH,22.5,104.990
$10V_AH,9.8,53.022
$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,2.400,26.325,356.625,0.000,0.000,0.000,0.000,0.000,7.250,0.000,0.000,967.642,1242.343,314.935,670.444,82.151,0.000,720.946,0.000,671.033,0.000,2.615,0.000
$DEVICE_MAMPS,223.380,175.185,1019.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.843,290.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13497,400
$CAP_FILE_SIZE,44834,0
$CFSIZE,260165632,203223040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6