version: 66.08
glider: 141
mission: 15
dive: 1022
start: 6 18 111 12 39 23
data:
$ID,141
$MISSION,15
$DIVE,1022
$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,-110716.26
$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,28
$R_STBD_OVSHOOT,59
$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
$GPS1,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-77.6
$GPS2,180611,081642,6715.065,-5701.191,181,99.0,181,-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,194.5,24291,-17.5,-10.000
$D_GRID,274
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-102.90,0.000,2,0.000,0.000,116,2524,2499,0,0,0,0,0,0
$GC,126,-0.62,-146.0,5.0,-5.6,18,175,13.00,2.53,-24.98,0.000,4,0.319,0.083,2652,1092,3629,0,0,0,0,0,0
$GC,189,-0.86,-146.0,17.4,-10.4,28,196,0.20,2.20,0.00,0.000,6,0.096,0.046,2584,2480,3629,0,0,0,0,0,0
$GC,537,-1.29,-146.0,52.0,-10.6,89,544,0.38,2.30,0.00,0.000,4,0.100,0.047,2448,3885,3629,0,0,0,0,0,0
$GC,604,-1.56,-146.0,60.1,-12.1,100,612,0.25,2.30,0.00,0.000,6,0.093,0.061,2359,2493,3629,0,0,0,0,0,0
$GC,952,-1.40,-146.0,132.0,-21.4,148,956,0.20,2.28,0.00,0.000,4,0.227,0.047,2406,3882,3629,0,0,0,0,0,0
$GC,1210,-1.47,-146.0,173.2,-16.1,170,1217,0.00,2.35,0.00,0.000,6,0.000,0.061,2406,2488,3628,0,0,0,0,0,0
$GC,1537,-1.73,-146.0,217.1,-0.0,201,1542,0.25,2.33,0.00,0.000,4,0.095,0.054,2310,3877,3628,0,0,0,0,0,0
$STATE,1613,end dive,NO_VERTICAL_VELOCITY
$STATE,1613,begin apogee
$GC,1624,-0.12,0.0,217.1,0.0,207,1761,1.65,0.00,124.40,1.034,6,0.129,0.000,2816,2272,3029,0,0,0,0,0,0
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1765,0.62,146.0,217.0,0.0,220,1911,0.77,2.62,132.32,0.986,4,0.083,0.047,3058,3660,2433,0,0,0,0,0,0
$GC,2166,1.00,359.3,216.6,0.2,255,2377,0.38,2.53,198.52,0.959,6,0.068,0.060,3187,2276,1563,0,0,0,0,0,0
$GC,2696,0.83,359.3,161.4,13.4,305,2701,0.22,2.62,0.00,0.000,4,0.190,0.063,3146,865,1556,0,0,0,0,0,0
$GC,2743,0.72,359.3,154.8,14.7,308,2750,0.20,2.40,0.00,0.000,6,0.204,0.035,3104,2266,1553,0,0,0,0,0,0
$GC,3069,0.48,359.3,101.8,16.4,339,3074,0.30,2.47,0.00,0.000,4,0.212,0.050,3030,3676,1553,0,0,0,0,0,0
$GC,3100,0.53,359.3,98.1,10.4,342,3107,0.00,2.47,0.00,0.000,6,0.000,0.059,3031,2266,1553,0,0,0,0,0,0
$GC,3449,0.77,454.4,75.0,5.6,403,3542,0.25,2.67,87.12,0.885,4,0.073,0.057,3141,864,1176,0,0,0,0,0,0
$GC,3575,0.77,454.4,61.9,12.2,424,3582,0.00,2.50,0.00,0.000,6,0.000,0.047,3141,2278,1175,0,0,0,0,0,0
$FREEZE,8.67,-0.276,-1.792,0,385,1
$FREEZE,8.03,-0.202,-1.790,0,385,1
$FREEZE,7.48,-0.142,-1.789,0,385,1
$GC,3925,0.72,454.4,7.5,12.6,485,3933,0.17,2.50,0.00,0.000,4,0.174,0.052,3100,3679,1170,0,0,0,0,0,0
$FREEZE,5.26,-0.123,-1.785,0,385,1
$STATE,3938,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3939,begin subsurface finish
$FINISH1,5.3,1.026115,68
$GC,3951,0.08,67.9,5.3,-11.7,487,4045,0.70,2.50,-87.97,0.000,4,0.129,0.050,2897,3700,2754,0,0,0,0,0,0
$FINISH2,3.8
$STATE,4049,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$RAFOS_CLK,271
$RAFOS,6,1308401341,12.833333,12.816944,67,59,59,52,49,48,174,199,213,138,82,152
$RAFOS,5,1308400864,12.700000,12.684444,59,55,54,53,53,50,219,180,145,199,234,189
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.026964
$HUMID,73.42
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.30
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,21.1,134.313
$10V_AH,9.8,63.360
$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,18.925,46.775,542.375,0.000,0.000,98.743,17.173,0.000,10.250,0.000,183.287,1078.253,1529.562,631.419,1190.043,699.820,0.000,1200.282,0.000,879.709,720.000,2.622,0.000
$DEVICE_MAMPS,319.005,83.385,1033.515,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.872,366.448,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20107,503
$CAP_FILE_SIZE,64336,0
$CFSIZE,260165632,195153920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6