version: 66.08
glider: 141
mission: 15
dive: 805
start: 6 6 111 1 5 59
data:
$ID,141
$MISSION,15
$DIVE,805
$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,-58965.418
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.34
$_SM_ANGLEo,-4.0
$GPS2,050611,192910,6715.065,-5621.740,181,99.0,181,-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,257.9,29307,-17.5,-10.000
$D_GRID,130
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2888,3689,3031,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.6,-0.0,1,53,0.62,4.32,-16.15,0.000,4,0.100,0.077,2667,1077,3629,0,0,0,0,0,0
$GC,241,-0.57,-146.0,41.7,-14.5,38,248,0.00,2.35,0.00,0.000,6,0.000,0.080,2667,2488,3630,0,0,0,0,0,0
$GC,594,-0.47,-146.0,101.8,-15.6,99,599,0.17,2.42,0.00,0.000,4,0.219,0.086,2709,3906,3630,0,0,0,0,0,0
$GC,646,-0.53,-146.0,108.4,-10.0,103,651,0.00,2.30,0.00,0.000,6,0.000,0.057,2709,2476,3629,0,0,0,0,0,0
$STATE,858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,858,begin apogee
$GC,866,-0.12,0.0,131.1,10.5,123,992,0.38,0.00,120.12,1.002,6,0.191,0.000,2815,2270,3030,0,0,0,0,0,0
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,993,begin climb
$GC,996,0.62,146.0,137.1,0.0,134,1124,0.82,0.00,123.07,0.955,6,0.160,0.000,3056,2270,2433,0,0,0,0,0,0
$GC,1443,0.72,201.1,109.7,7.5,177,1499,0.12,2.45,46.75,0.919,4,0.103,0.077,3112,3690,2209,0,0,0,0,0,0
$GC,1547,0.64,201.1,97.5,13.4,187,1554,0.20,2.35,0.00,0.000,6,0.192,0.068,3073,2275,2207,0,0,0,0,0,0
$GC,1898,0.73,240.0,65.8,8.2,248,1940,0.00,2.38,33.97,0.899,4,0.000,0.079,3081,862,2050,0,0,0,0,0,0
$GC,2012,0.90,299.9,57.1,7.2,267,2072,0.20,2.33,53.42,0.890,6,0.084,0.063,3163,2278,1807,0,0,0,0,0,0
$FREEZE,8.67,-0.502,-1.813,0,168,0
$FREEZE,8.12,-0.412,-1.813,0,168,0
$FREEZE,7.43,-0.405,-1.813,0,168,0
$FREEZE,6.70,-0.396,-1.813,0,168,0
$FREEZE,6.07,-0.381,-1.813,0,168,0
$FREEZE,5.37,-0.375,-1.813,0,168,0
$FREEZE,4.64,-0.364,-1.812,0,168,0
$GC,2410,0.88,299.9,4.6,13.0,337,2417,0.00,2.33,0.00,0.000,4,0.000,0.084,3163,3687,1797,0,0,0,0,0,0
$FREEZE,2.30,-0.359,-1.811,0,168,0
$STATE,2423,end climb,SURFACE_DEPTH_REACHED
$STATE,2423,begin surface coast
$FREEZE,2.05,-0.362,-1.720,0,168,0
$FREEZE,1.93,-0.351,-1.690,0,168,0
$FREEZE,1.92,-0.384,-1.341,0,168,0
$FREEZE,1.93,-0.359,-0.916,0,168,0
$FINISH,1.9,1.013509
$STATE,2444,end surface coast,CONTROL_FINISHED_OK
$STATE,2444,begin surface
$SM_CCo,2587,113.80,0.067,0,0,750,559.04
$SM_GC,2.86,0.00,0.00,113.80,0.000,0.000,0.067,113,2486,750,-8.60,-0.11,559.04
$RAFOS_CLK,158
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5621.74,050611,191910
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.3,17.3
$24V_AH,22.5,106.843
$10V_AH,10.0,53.477
$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,11.300,25.525,377.350,113.800,0.000,0.000,0.000,0.000,6.250,0.000,0.000,807.501,871.918,468.966,533.787,81.073,0.000,803.778,0.000,538.806,0.000,2.613,0.000
$DEVICE_MAMPS,218.790,85.680,1002.150,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.785,249.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,13480,343
$CAP_FILE_SIZE,39023,0
$CFSIZE,260165632,202817536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.3
$GPS,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6