version: 66.08
glider: 141
mission: 15
dive: 1015
start: 6 18 111 2 7 1
data:
$ID,141
$MISSION,15
$DIVE,1015
$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,-108501.02
$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,30
$R_STBD_OVSHOOT,66
$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,2.83
$_SM_ANGLEo,-77.5
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,128,0.00,0.00,-108.45,0.000,2,0.000,0.000,115,2522,2633,0,0,0,0,0,0
$GC,132,-0.62,-146.0,6.1,-10.3,19,170,12.82,2.55,-19.83,0.000,4,0.314,0.085,2652,1081,3630,0,0,0,0,0,0
$GC,264,-0.95,-146.0,25.7,-10.2,41,271,0.32,2.17,0.00,0.000,6,0.174,0.037,2568,2484,3630,0,0,0,0,0,0
$GC,612,-1.33,-146.0,59.3,-12.8,102,620,0.38,2.38,0.00,0.000,4,0.180,0.068,2447,1087,3630,0,0,0,0,0,0
$GC,646,-1.40,-146.0,63.5,-12.8,107,653,0.00,2.17,0.00,0.000,6,0.000,0.037,2447,2479,3629,0,0,0,0,0,0
$GC,986,-1.37,-146.0,124.4,-17.3,155,990,0.00,2.25,0.00,0.000,4,0.000,0.051,2446,3881,3629,0,0,0,0,0,0
$GC,998,-1.37,-146.0,126.6,-17.2,155,1006,0.00,2.28,0.00,0.000,6,0.000,0.056,2446,2496,3629,0,0,0,0,0,0
$GC,1325,-1.34,-146.0,182.9,-17.4,186,1329,0.00,2.42,0.00,0.000,4,0.000,0.073,2446,1076,3628,0,0,0,0,0,0
$GC,1355,-1.14,-146.0,189.2,-22.1,188,1360,0.20,2.22,0.00,0.000,6,0.225,0.034,2490,2499,3628,0,0,0,0,0,0
$GC,1682,-1.40,-146.0,218.6,0.0,218,1687,0.22,2.38,0.00,0.000,4,0.093,0.060,2408,1078,3629,0,0,0,0,0,0
$STATE,1713,end dive,NO_VERTICAL_VELOCITY
$STATE,1713,begin apogee
$GC,1723,-0.12,0.0,218.6,0.0,220,1854,1.30,0.00,121.80,1.030,6,0.126,0.000,2814,2268,3030,0,0,0,0,0,0
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1859,0.62,146.0,218.5,0.0,232,2001,0.77,2.62,129.95,0.983,4,0.138,0.048,3054,3679,2433,0,0,0,0,0,0
$GC,2008,1.10,360.9,218.6,0.1,245,2221,0.52,2.62,199.55,0.952,6,0.070,0.051,3222,2272,1558,0,0,0,0,0,0
$GC,2540,0.88,360.9,156.5,15.9,295,2546,0.28,2.50,0.00,0.000,4,0.210,0.045,3158,3685,1551,0,0,0,0,0,0
$GC,2552,0.68,360.9,154.1,15.9,295,2560,0.32,2.50,0.00,0.000,6,0.154,0.050,3083,2271,1549,0,0,0,0,0,0
$GC,2878,0.70,381.7,123.2,9.0,326,2901,0.00,0.00,18.92,0.861,6,0.000,0.000,3083,2271,1473,0,0,0,0,0,0
$GC,3227,0.71,388.3,91.0,9.7,366,3241,0.00,2.45,7.32,0.751,4,0.000,0.063,3092,868,1447,0,0,0,0,0,0
$GC,3305,0.71,388.3,82.9,10.9,379,3312,0.00,2.30,0.00,0.000,6,0.000,0.044,3092,2282,1447,0,0,0,0,0,0
$GC,3652,0.77,401.1,41.0,9.4,440,3671,0.00,2.30,10.68,0.873,4,0.000,0.058,3092,3683,1394,0,0,0,0,0,0
$GC,3691,0.88,441.9,37.6,8.1,446,3723,0.15,2.35,24.77,0.930,6,0.092,0.057,3159,2274,1228,0,0,0,0,0,0
$FREEZE,8.80,-0.408,-1.793,0,378,0
$FREEZE,8.21,-0.410,-1.792,0,378,0
$FREEZE,7.83,-0.413,-1.791,0,378,0
$FREEZE,7.15,-0.395,-1.788,0,378,0
$FREEZE,6.64,-0.371,-1.787,0,378,0
$FREEZE,5.85,-0.342,-1.785,0,378,0
$FREEZE,5.23,-0.254,-1.781,0,378,0
$FREEZE,4.79,-0.214,-1.780,0,378,0
$FREEZE,4.26,-0.208,-1.780,0,378,0
$FREEZE,3.80,-0.208,-1.780,0,378,0
$FREEZE,3.32,-0.209,-1.780,0,378,0
$FREEZE,2.69,-0.214,-1.780,0,378,0
$STATE,4041,end climb,SURFACE_DEPTH_REACHED
$STATE,4041,begin surface coast
$FREEZE,2.26,-0.227,-1.780,0,378,0
$FREEZE,1.87,-0.227,-1.038,0,378,0
$FREEZE,1.77,-0.236,-0.999,0,378,0
$FREEZE,1.80,-0.229,-0.352,0,378,0
$FREEZE,1.75,-0.230,-0.885,0,378,0
$FINISH,1.7,1.013057
$STATE,4069,end surface coast,CONTROL_FINISHED_OK
$STATE,4069,begin surface
$SM_CCo,4109,53.25,0.063,0,0,750,559.04
$SM_GC,2.89,0.00,0.00,53.25,0.000,0.000,0.063,111,2526,750,-8.60,1.02,559.04
$RAFOS_CLK,272
$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,73.54
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,21.1,133.277
$10V_AH,9.8,63.011
$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,26.325,42.725,513.000,53.250,0.000,99.054,16.954,0.000,10.000,0.000,185.637,1173.119,1642.021,599.629,1131.935,679.533,0.000,1128.054,0.000,825.603,0.000,2.622,0.000
$DEVICE_MAMPS,314.415,84.915,1029.690,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.879,373.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20151,513
$CAP_FILE_SIZE,64424,0
$CFSIZE,260165632,195416064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6