version: 66.08
glider: 141
mission: 15
dive: 876
start: 6 10 111 3 10 28
data:
$ID,141
$MISSION,15
$DIVE,876
$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,-78193.609
$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,24
$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,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
$GPS1,090611,224737,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.3
$GPS2,090611,224737,6709.499,-5648.380,181,99.0,181,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-153.07,0.000,2,0.000,0.000,105,2503,3109,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.2,-7.6,27,211,13.48,2.42,-11.48,0.000,4,0.328,0.094,2652,3893,3629,0,0,0,0,0,0
$GC,383,-0.55,-146.0,47.6,-15.7,62,390,0.12,2.28,0.00,0.000,6,0.204,0.055,2682,2490,3631,0,0,0,0,0,0
$GC,730,-0.51,-146.0,96.9,-13.2,123,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2491,3630,0,0,0,0,0,0
$GC,1068,-0.48,-146.0,138.4,-12.5,156,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2490,3629,0,0,0,0,0,0
$GC,1396,-0.48,-146.0,178.4,-11.5,187,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2490,3629,0,0,0,0,0,0
$GC,1727,-0.80,-146.0,210.1,-0.0,218,1732,0.22,2.30,0.00,0.000,4,0.109,0.066,2607,1080,3629,0,0,0,0,0,0
$STATE,1835,end dive,NO_VERTICAL_VELOCITY
$STATE,1836,begin apogee
$GC,1844,-0.12,0.0,210.3,0.0,227,1977,0.65,0.00,120.55,1.043,6,0.122,0.000,2821,2273,3029,0,0,0,0,0,0
$STATE,1978,end apogee,CONTROL_FINISHED_OK
$STATE,1978,begin climb
$GC,1981,0.62,146.0,210.3,0.0,239,2117,0.75,2.53,122.82,0.994,4,0.131,0.070,3054,3690,2434,0,0,0,0,0,0
$GC,2153,0.67,189.3,203.5,8.0,254,2198,0.00,2.42,38.50,0.947,6,0.000,0.054,3064,2266,2258,0,0,0,0,0,0
$GC,2517,0.79,235.8,174.3,7.9,288,2565,0.15,2.40,40.25,0.935,4,0.096,0.071,3138,867,2067,0,0,0,0,0,0
$GC,2651,0.76,235.8,156.8,14.3,300,2656,0.00,2.28,0.00,0.000,6,0.000,0.053,3138,2280,2062,0,0,0,0,0,0
$GC,2983,0.70,235.8,107.9,14.7,331,2988,0.17,2.28,0.00,0.000,4,0.183,0.067,3092,3685,2060,0,0,0,0,0,0
$GC,3050,0.72,235.8,99.6,10.9,336,3057,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2264,2060,0,0,0,0,0,0
$GC,3400,0.79,255.0,65.3,9.1,397,3425,0.00,2.35,16.70,0.866,4,0.000,0.070,3111,865,1989,0,0,0,0,0,0
$GC,3493,0.86,278.1,56.8,8.9,412,3521,0.00,2.28,21.70,0.871,6,0.000,0.061,3111,2282,1896,0,0,0,0,0,0
$GC,3864,0.93,278.1,23.1,11.3,476,3871,0.15,2.30,0.00,0.000,4,0.095,0.067,3175,3680,1892,0,0,0,0,0,0
$FREEZE,8.64,-1.295,-1.814,0,239,0
$FREEZE,7.53,-1.295,-1.813,0,239,0
$GC,3971,0.82,278.1,7.5,18.4,494,3979,0.22,2.28,0.00,0.000,6,0.193,0.064,3128,2272,1892,0,0,0,0,0,0
$FREEZE,4.50,-1.293,-1.811,0,239,0
$FREEZE,3.88,-1.292,-1.810,0,239,0
$FREEZE,3.38,-1.287,-1.810,0,239,0
$FREEZE,2.71,-1.288,-1.809,0,239,0
$STATE,4001,end climb,SURFACE_DEPTH_REACHED
$STATE,4001,begin surface coast
$FREEZE,2.00,-1.288,-1.809,0,239,0
$FREEZE,1.87,-1.251,-1.806,0,239,0
$FREEZE,1.83,-1.170,-1.802,0,239,0
$FREEZE,1.76,-0.965,-1.763,0,239,0
$FINISH,1.8,1.025871
$STATE,4028,end surface coast,CONTROL_FINISHED_OK
$STATE,4028,begin surface
$SM_CCo,4102,124.20,0.065,0,0,750,559.04
$SM_GC,2.51,0.00,0.00,124.20,0.000,0.000,0.065,115,2507,750,-8.59,0.48,559.04
$RAFOS_CLK,280
$RAFOS,1,1307678945,4.166667,4.151389,58,56,55,55,53,51,222,184,149,170,158,201
$RAFOS,0,1307678465,4.033333,4.018055,65,60,55,54,49,46,163,212,146,201,123,174
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,090611,222237
$TT8_MAMPS,0.029211
$HUMID,73.66
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_TOP_PING,20.0,18.2
$24V_AH,22.4,114.460
$10V_AH,9.8,56.581
$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,24.600,32.725,360.525,124.200,0.000,103.920,54.599,0.000,9.500,0.000,183.285,1162.273,1747.308,586.056,1163.515,613.802,0.000,1094.829,0.000,816.650,1080.000,2.614,0.000
$DEVICE_MAMPS,328.185,94.095,1043.460,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.290,366.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150544
$DATA_FILE_SIZE,20125,503
$CAP_FILE_SIZE,61780,0
$CFSIZE,260165632,200380416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,090611,224737,6709.499,-5648.380,181,99.0,181,-37.6