version: 66.08
glider: 141
mission: 15
dive: 873
start: 6 9 111 22 54 8
data:
$ID,141
$MISSION,15
$DIVE,873
$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,-77455.477
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,090611,173745,6709.499,-5819.472,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.3
$GPS2,090611,173745,6709.499,-5819.472,181,99.0,181,-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,137.9,67143,-17.5,-10.000
$D_GRID,1158
$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,16,-0.62,-146.0,0.0,0.0,0,149,0.00,0.00,-129.38,0.000,2,0.000,0.000,112,2509,2821,0,0,0,0,0,0
$GC,155,-0.62,-146.0,5.5,-9.3,23,198,13.32,2.35,-21.80,0.000,4,0.325,0.094,2652,3892,3627,0,0,0,0,0,0
$GC,296,-0.54,-146.0,32.8,-17.1,47,304,0.12,2.28,0.00,0.000,6,0.204,0.064,2682,2492,3629,0,0,0,0,0,0
$GC,644,-0.50,-146.0,82.2,-13.0,108,651,0.00,2.33,0.00,0.000,4,0.000,0.082,2682,1080,3629,0,0,0,0,0,0
$GC,688,-0.47,-146.0,88.0,-12.9,115,695,0.00,2.33,0.00,0.000,6,0.000,0.067,2682,2480,3628,0,0,0,0,0,0
$GC,1026,-0.45,-146.0,130.7,-12.1,154,1031,0.12,2.42,0.00,0.000,4,0.220,0.082,2712,3909,3627,0,0,0,0,0,0
$GC,1079,-0.54,-146.0,136.0,-8.7,158,1083,0.00,2.30,0.00,0.000,6,0.000,0.054,2712,2479,3627,0,0,0,0,0,0
$GC,1405,-0.59,-146.0,165.0,-9.3,188,1407,0.12,0.00,0.00,0.000,6,0.125,0.000,2667,2479,3626,0,0,0,0,0,0
$GC,1723,-0.55,-146.0,204.9,-12.4,218,1727,0.00,2.40,0.00,0.000,4,0.000,0.076,2666,3903,3627,0,0,0,0,0,0
$GC,1742,-0.51,-146.0,207.2,-12.8,219,1747,0.12,2.28,0.00,0.000,6,0.116,0.050,2707,2480,3627,0,0,0,0,0,0
$STATE,1906,end dive,NO_VERTICAL_VELOCITY
$STATE,1906,begin apogee
$GC,1913,-0.12,0.0,207.7,0.0,234,2046,0.30,0.00,120.22,1.039,6,0.109,0.000,2817,2267,3030,0,0,0,0,0,0
$STATE,2047,end apogee,CONTROL_FINISHED_OK
$STATE,2047,begin climb
$GC,2050,0.62,146.0,207.8,0.0,246,2183,0.75,2.55,122.78,0.990,4,0.126,0.072,3055,870,2433,0,0,0,0,0,0
$GC,2292,0.89,268.2,201.2,4.4,267,2409,0.28,2.35,105.30,0.950,6,0.073,0.057,3165,2291,1935,0,0,0,0,0,0
$GC,2730,0.80,268.2,134.2,17.8,308,2735,0.17,2.25,0.00,0.000,4,0.185,0.068,3120,3690,1925,0,0,0,0,0,0
$GC,2764,0.77,268.2,127.4,16.9,310,2771,0.00,2.30,0.00,0.000,6,0.000,0.057,3125,2275,1923,0,0,0,0,0,0
$GC,3098,0.77,268.2,82.8,12.2,353,3105,0.00,2.30,0.00,0.000,4,0.000,0.070,3136,857,1923,0,0,0,0,0,0
$GC,3203,0.77,268.2,70.0,12.2,371,3210,0.00,2.28,0.00,0.000,6,0.000,0.054,3136,2279,1922,0,0,0,0,0,0
$GC,3549,0.77,268.2,31.1,11.9,432,3556,0.00,2.30,0.00,0.000,4,0.000,0.069,3136,3689,1922,0,0,0,0,0,0
$GC,3610,0.73,268.2,24.1,13.2,442,3617,0.17,2.25,0.00,0.000,6,0.170,0.047,3100,2263,1923,0,0,0,0,0,0
$FREEZE,8.80,-1.325,-1.811,2,236,0
$FREEZE,8.07,-1.325,-1.811,2,236,0
$FREEZE,7.61,-1.324,-1.811,2,236,0
$FREEZE,7.24,-1.324,-1.810,2,236,0
$FREEZE,6.77,-1.323,-1.810,2,236,0
$FREEZE,6.34,-1.323,-1.810,2,236,0
$FREEZE,5.84,-1.323,-1.809,2,236,0
$FREEZE,5.25,-1.323,-1.809,2,236,0
$FREEZE,4.82,-1.323,-1.809,2,236,0
$FREEZE,4.27,-1.323,-1.808,2,236,0
$FREEZE,3.70,-1.323,-1.808,2,236,0
$FREEZE,3.15,-1.323,-1.807,2,236,0
$FREEZE,2.61,-1.324,-1.807,2,236,0
$STATE,3879,end climb,SURFACE_DEPTH_REACHED
$STATE,3879,begin surface coast
$FREEZE,1.93,-1.318,-1.806,2,236,0
$FREEZE,1.75,-1.264,-1.804,2,236,0
$FREEZE,1.77,-1.286,-1.631,2,236,0
$FREEZE,1.73,-0.906,-1.764,2,236,0
$FREEZE,1.72,-1.323,-1.806,2,236,0
$FINISH,1.7,1.026492
$STATE,3907,end surface coast,CONTROL_FINISHED_OK
$STATE,3907,begin surface
$SM_CCo,3927,129.20,0.065,0,0,751,559.04
$SM_GC,2.87,0.00,0.00,129.20,0.000,0.000,0.065,111,2498,751,-8.60,0.23,559.04
$RAFOS_CLK,269
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5819.47,090611,171745
$TT8_MAMPS,0.026964
$HUMID,73.11
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.6,19.3
$24V_AH,22.4,114.150
$10V_AH,9.8,56.446
$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,24.175,37.950,348.300,129.200,0.000,102.034,56.689,0.000,9.000,0.000,183.282,1137.151,1643.204,569.243,1141.101,630.200,0.000,1056.221,0.000,797.840,0.000,2.616,0.000
$DEVICE_MAMPS,325.125,94.095,1038.870,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.504,362.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20089,495
$CAP_FILE_SIZE,62081,0
$CFSIZE,260165632,200486912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,090611,173745,6709.499,-5819.472,181,99.0,181,-37.6