version: 66.08
glider: 141
mission: 15
dive: 1003
start: 6 17 111 8 44 49
data:
$ID,141
$MISSION,15
$DIVE,1003
$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,-105165.25
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-76.5
$GPS2,160611,173016,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.43,0.000,2,0.000,0.000,116,2509,2546,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.5,-7.8,19,176,12.73,2.42,-22.27,0.000,4,0.317,0.085,2652,1085,3628,0,0,0,0,0,0
$GC,221,-0.83,-146.0,21.4,-9.5,33,229,0.17,2.17,0.00,0.000,6,0.099,0.044,2589,2488,3629,0,0,0,0,0,0
$GC,569,-1.22,-146.0,58.8,-13.6,94,576,0.35,2.25,0.00,0.000,4,0.200,0.050,2478,3892,3628,0,0,0,0,0,0
$GC,701,-1.54,-146.0,75.0,-12.2,116,708,0.32,2.28,0.00,0.000,6,0.098,0.063,2367,2499,3629,0,0,0,0,0,0
$GC,1036,-1.40,-146.0,145.8,-20.9,157,1041,0.17,2.25,0.00,0.000,4,0.220,0.050,2408,3877,3627,0,0,0,0,0,0
$GC,1048,-1.32,-146.0,148.6,-20.7,157,1055,0.12,2.30,0.00,0.000,6,0.184,0.066,2438,2487,3628,0,0,0,0,0,0
$GC,1374,-1.27,-146.0,205.2,-17.2,188,1378,0.00,2.38,0.00,0.000,4,0.000,0.075,2439,1081,3627,0,0,0,0,0,0
$GC,1398,-1.08,-146.0,210.2,-20.7,190,1403,0.30,2.17,0.00,0.000,6,0.232,0.036,2510,2481,3627,0,0,0,0,0,0
$STATE,1607,end dive,NO_VERTICAL_VELOCITY
$STATE,1607,begin apogee
$GC,1616,-0.12,0.0,216.1,0.0,209,1748,0.95,0.00,119.88,1.038,6,0.119,0.000,2815,2269,3030,0,0,0,0,0,0
$STATE,1748,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1752,0.62,146.0,216.1,0.0,221,1890,0.75,2.58,127.30,0.991,4,0.100,0.045,3055,3674,2432,0,0,0,0,0,0
$GC,1897,1.11,356.9,216.1,0.3,233,2101,0.50,2.58,194.62,0.955,6,0.066,0.052,3221,2274,1574,0,0,0,0,0,0
$GC,2421,0.89,356.9,150.5,16.4,282,2426,0.28,2.55,0.00,0.000,4,0.212,0.063,3166,858,1566,0,0,0,0,0,0
$GC,2440,0.67,356.9,147.2,16.6,283,2445,0.35,2.42,0.00,0.000,6,0.219,0.043,3089,2268,1564,0,0,0,0,0,0
$GC,2768,0.65,356.9,110.3,10.5,313,2772,0.00,2.30,0.00,0.000,4,0.000,0.050,3089,3695,1564,0,0,0,0,0,0
$GC,2778,0.65,356.9,108.8,10.8,313,2785,0.00,2.35,0.00,0.000,6,0.000,0.048,3097,2265,1563,0,0,0,0,0,0
$GC,3120,0.65,370.4,76.7,9.4,366,3139,0.00,2.35,11.57,0.827,4,0.000,0.070,3108,859,1520,0,0,0,0,0,0
$GC,3210,0.54,370.4,67.0,11.5,381,3217,0.25,2.25,0.00,0.000,6,0.185,0.047,3045,2296,1519,0,0,0,0,0,0
$GC,3561,0.78,413.3,42.8,8.0,442,3603,0.20,2.47,35.45,0.911,4,0.096,0.063,3126,865,1345,0,0,0,0,0,0
$GC,3671,0.78,413.3,31.8,10.8,460,3678,0.00,2.22,0.00,0.000,6,0.000,0.045,3126,2277,1342,0,0,0,0,0,0
$FREEZE,8.61,-0.720,-1.790,0,366,0
$FREEZE,8.23,-0.726,-1.788,0,366,0
$FREEZE,7.85,-0.725,-1.787,0,366,0
$FREEZE,7.65,-0.723,-1.787,0,366,0
$FREEZE,7.36,-0.721,-1.787,0,366,0
$FREEZE,7.16,-0.727,-1.786,0,366,0
$FREEZE,6.72,-0.727,-1.786,0,366,0
$FREEZE,6.39,-0.721,-1.785,0,366,0
$FREEZE,5.96,-0.729,-1.785,0,366,0
$FREEZE,5.71,-0.732,-1.785,0,366,0
$FREEZE,5.42,-0.738,-1.784,0,366,0
$FREEZE,5.08,-0.748,-1.784,0,366,0
$FREEZE,4.61,-0.719,-1.783,0,366,0
$FREEZE,4.08,-0.708,-1.782,0,366,0
$FREEZE,3.47,-0.755,-1.784,0,366,0
$FREEZE,3.11,-0.823,-1.783,0,366,0
$FREEZE,3.21,-0.833,-1.784,0,366,0
$FREEZE,3.17,-0.834,-1.784,0,366,0
$FREEZE,3.16,-0.839,-1.784,0,366,0
$FREEZE,3.16,-0.845,-1.785,0,366,0
$FREEZE,3.17,-0.827,-1.784,0,366,0
$FREEZE,3.07,-0.852,-1.786,0,366,0
$FREEZE,3.03,-0.857,-1.785,0,366,0
$FREEZE,2.95,-0.852,-1.783,0,366,0
$GC,4012,1.32,626.4,3.2,0.2,521,4036,0.43,0.00,21.38,0.819,2,0.082,0.000,3286,2283,1164,0,0,0,0,0,0
$STATE,4037,end climb,SURFACE_DEPTH_REACHED
$STATE,4037,begin surface coast
$FREEZE,2.95,-0.884,-1.781,0,366,0
$FREEZE,2.94,-0.863,-1.779,0,366,0
$FREEZE,3.02,-0.866,-1.779,0,366,0
$FREEZE,2.94,-0.880,-1.781,0,366,0
$FREEZE,2.91,-0.891,-1.782,0,366,0
$FREEZE,2.87,-0.921,-1.783,0,366,0
$FREEZE,2.90,-0.933,-1.784,0,366,0
$FREEZE,2.90,-0.938,-1.783,0,366,0
$FREEZE,2.98,-0.950,-1.782,0,366,0
$FREEZE,2.96,-0.951,-1.781,0,366,0
$FREEZE,2.96,-0.924,-1.778,0,366,0
$FREEZE,2.94,-0.923,-1.778,0,366,0
$FREEZE,2.86,-0.936,-1.779,0,366,0
$FREEZE,2.95,-0.888,-1.775,0,366,0
$FREEZE,2.93,-1.112,-1.790,0,366,0
$FREEZE,2.91,-1.189,-1.794,0,366,0
$FINISH,2.9,1.026308
$STATE,4123,end surface coast,NO_VERTICAL_VELOCITY
$STATE,4123,begin surface
$SM_CCo,4265,46.20,0.067,0,0,751,559.04
$SM_GC,3.96,0.00,0.00,46.20,0.000,0.000,0.067,102,2504,751,-8.63,0.40,559.04
$RAFOS_CLK,284
$RAFOS,6,1308300545,8.833333,8.818055,57,56,56,53,50,46,206,164,147,224,173,134
$RAFOS,2,1308298623,8.300000,8.284166,69,64,58,58,56,53,190,122,147,138,207,178
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026215
$HUMID,74.25
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,21.2,131.545
$10V_AH,9.8,62.449
$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,27.400,42.950,510.200,46.200,0.000,89.152,30.959,0.000,9.250,0.000,184.611,1257.315,1669.616,591.327,1171.083,688.716,0.000,1148.969,0.000,859.289,360.000,2.622,0.000
$DEVICE_MAMPS,317.475,84.915,1038.105,67.320,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.807,390.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20166,540
$CAP_FILE_SIZE,69718,0
$CFSIZE,260165632,195846144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6