version: 66.08
glider: 141
mission: 15
dive: 818
start: 6 6 111 18 11 45
data:
$ID,141
$MISSION,15
$DIVE,818
$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,-63410.832
$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
$GPS1,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-75.7
$GPS2,060611,041820,6709.499,-5632.717,181,99.0,181,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,-146.0,0.0,0.0,0,173,0.00,0.00,-151.70,0.000,2,0.000,0.000,110,2479,3163,0,0,0,0,0,0
$GC,177,-0.62,-146.0,5.1,-6.6,27,208,14.00,2.30,-10.27,0.000,4,0.336,0.080,2654,1071,3628,0,0,0,0,0,0
$GC,287,-0.53,-146.0,31.7,-17.5,45,295,0.15,2.35,0.00,0.000,6,0.216,0.077,2690,2492,3629,0,0,0,0,0,0
$GC,635,-0.48,-146.0,81.3,-13.5,106,642,0.00,2.35,0.00,0.000,4,0.000,0.072,2690,1077,3629,0,0,0,0,0,0
$GC,672,-0.44,-146.0,86.4,-12.6,112,679,0.00,2.38,0.00,0.000,6,0.000,0.079,2691,2494,3629,0,0,0,0,0,0
$GC,1005,-0.44,-146.0,128.7,-12.2,152,1009,0.00,2.40,0.00,0.000,4,0.000,0.085,2690,3907,3628,0,0,0,0,0,0
$GC,1061,-0.48,-146.0,135.3,-10.4,156,1068,0.00,2.30,0.00,0.000,6,0.000,0.056,2690,2483,3628,0,0,0,0,0,0
$GC,1387,-0.48,-146.0,171.5,-11.7,187,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2483,3627,0,0,0,0,0,0
$GC,1709,-0.78,-146.0,198.9,-0.0,217,1716,0.22,0.00,0.00,0.000,6,0.102,0.000,2612,2483,3628,0,0,0,0,0,0
$STATE,1799,end dive,NO_VERTICAL_VELOCITY
$STATE,1799,begin apogee
$GC,1806,-0.12,0.0,198.9,0.0,226,1938,0.62,0.00,120.43,1.040,6,0.127,0.000,2813,2254,3030,0,0,0,0,0,0
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1942,0.62,146.0,198.9,0.0,238,2078,0.75,0.00,123.40,0.988,6,0.124,0.000,3051,2254,2433,0,0,0,0,0,0
$GC,2396,0.69,185.1,169.3,8.2,281,2440,0.10,2.50,33.28,0.935,4,0.119,0.071,3097,3693,2273,0,0,0,0,0,0
$GC,2471,0.60,185.1,160.6,14.0,287,2479,0.17,2.33,0.00,0.000,6,0.191,0.059,3064,2279,2272,0,0,0,0,0,0
$GC,2798,0.66,211.7,130.1,8.8,318,2831,0.00,2.42,23.15,0.911,4,0.000,0.073,3072,861,2165,0,0,0,0,0,0
$GC,2872,0.74,226.1,123.4,9.3,324,2890,0.00,2.33,13.77,0.869,6,0.000,0.067,3072,2288,2108,0,0,0,0,0,0
$GC,3215,0.85,261.6,92.0,8.4,364,3257,0.17,2.35,31.60,0.900,4,0.086,0.070,3148,3677,1962,0,0,0,0,0,0
$GC,3289,0.76,261.6,81.8,16.9,376,3297,0.20,2.28,0.00,0.000,6,0.190,0.067,3107,2269,1961,0,0,0,0,0,0
$GC,3639,0.79,261.6,44.1,10.4,437,3646,0.00,2.30,0.00,0.000,4,0.000,0.072,3111,864,1959,0,0,0,0,0,0
$GC,3722,0.85,261.6,35.5,10.3,451,3729,0.00,2.28,0.00,0.000,6,0.000,0.056,3112,2279,1957,0,0,0,0,0,0
$FREEZE,8.71,-0.884,-1.814,0,181,0
$FREEZE,8.18,-0.898,-1.814,0,181,0
$FREEZE,7.82,-0.892,-1.814,0,181,0
$FREEZE,7.30,-0.836,-1.812,0,181,0
$FREEZE,6.93,-0.810,-1.813,0,181,0
$FREEZE,6.50,-0.704,-1.810,0,181,0
$FREEZE,6.04,-0.656,-1.810,0,181,0
$FREEZE,5.62,-0.601,-1.809,0,181,0
$FREEZE,5.17,-0.604,-1.809,0,181,0
$FREEZE,4.50,-0.573,-1.809,0,181,0
$FREEZE,3.82,-0.534,-1.808,0,181,0
$FREEZE,2.88,-0.531,-1.808,0,181,0
$GC,4069,0.93,289.9,4.5,8.7,512,4087,0.15,1.20,13.55,0.801,3,0.093,0.070,3175,3008,1847,0,0,0,0,0,0
$STATE,4088,end climb,SURFACE_DEPTH_REACHED
$STATE,4088,begin surface coast
$FREEZE,1.84,-0.484,-0.934,0,181,0
$FREEZE,1.83,-0.305,-0.887,0,181,0
$FREEZE,1.76,-0.488,-0.996,0,181,0
$FREEZE,1.79,-0.493,-0.940,0,181,0
$FREEZE,1.82,-0.498,-0.818,0,181,0
$FREEZE,1.73,-0.493,-0.828,0,181,0
$FINISH,1.7,1.012205
$STATE,4124,end surface coast,CONTROL_FINISHED_OK
$STATE,4124,begin surface
$SM_CCo,4187,118.55,0.065,0,0,750,559.04
$SM_GC,2.71,0.00,0.00,118.55,0.000,0.000,0.065,110,2487,750,-8.61,-0.08,559.04
$RAFOS_CLK,278
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,50
$ALTIM_TOP_PING,20.0,18.5
$24V_AH,22.4,108.321
$10V_AH,9.8,54.062
$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,25.300,35.250,359.175,118.550,0.000,91.177,39.637,0.000,12.750,0.000,185.227,1177.142,1806.983,598.045,1129.712,564.257,0.000,1096.724,0.000,811.162,0.000,2.615,0.000
$DEVICE_MAMPS,335.835,84.915,1040.400,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.509,379.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20145,520
$CAP_FILE_SIZE,63300,0
$CFSIZE,260165632,202358784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6