version: 66.08
glider: 141
mission: 15
dive: 1030
start: 6 19 111 0 34 11
data:
$ID,141
$MISSION,15
$DIVE,1030
$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,-112943.1
$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,27
$R_STBD_OVSHOOT,51
$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,2.92
$_SM_ANGLEo,-76.3
$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,-102.95,0.000,2,0.000,0.000,118,2514,2510,0,0,0,0,0,0
$GC,126,-0.62,-146.0,5.1,-6.3,18,176,14.27,2.42,-24.30,0.000,4,0.316,0.060,2655,3882,3629,0,0,0,0,0,0
$GC,432,-1.00,-146.0,53.5,-14.7,71,440,0.38,2.45,0.00,0.000,6,0.098,0.063,2541,2488,3630,0,0,0,0,0,0
$GC,781,-1.28,-146.0,89.8,-10.9,132,789,0.25,2.50,0.00,0.000,4,0.096,0.069,2449,1077,3629,0,0,0,0,0,0
$GC,821,-1.05,-146.0,97.0,-21.5,138,828,0.32,2.33,0.00,0.000,6,0.226,0.044,2520,2487,3629,0,0,0,0,0,0
$GC,1155,-1.13,-146.0,145.4,-14.1,170,1159,0.00,2.35,0.00,0.000,4,0.000,0.050,2520,3893,3629,0,0,0,0,0,0
$GC,1416,-1.50,-146.0,175.7,-12.3,193,1421,0.47,2.40,0.00,0.000,6,0.136,0.053,2391,2487,3629,0,0,0,0,0,0
$GC,1743,-1.73,-146.0,225.5,-0.3,223,1748,0.22,2.42,0.00,0.000,4,0.085,0.064,2303,1075,3628,0,0,0,0,0,0
$GC,1775,-1.88,-146.0,225.5,-0.1,225,1780,0.12,2.30,0.00,0.000,6,0.112,0.043,2259,2485,3628,0,0,0,0,0,0
$STATE,1853,end dive,NO_VERTICAL_VELOCITY
$STATE,1853,begin apogee
$GC,1861,-0.12,0.0,225.5,0.0,232,2000,1.95,0.00,128.73,1.034,6,0.151,0.000,2814,2252,3030,0,0,0,0,0,0
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2001,begin climb
$GC,2004,0.62,146.0,225.5,0.0,244,2152,0.82,2.70,135.43,0.983,4,0.103,0.047,3052,3676,2433,0,0,0,0,0,0
$GC,2397,1.00,355.6,225.1,0.3,279,2609,0.40,2.55,199.55,0.957,6,0.066,0.063,3192,2287,1580,0,0,0,0,0,0
$GC,2929,0.82,355.6,167.6,14.6,329,2934,0.25,2.67,0.00,0.000,4,0.191,0.061,3142,870,1571,0,0,0,0,0,0
$GC,2982,0.70,355.6,159.7,14.5,333,2987,0.22,2.50,0.00,0.000,6,0.207,0.036,3097,2278,1569,0,0,0,0,0,0
$GC,3308,0.46,355.6,105.1,17.1,363,3314,0.30,2.53,0.00,0.000,4,0.210,0.050,3023,3679,1569,0,0,0,0,0,0
$GC,3328,0.29,355.6,102.2,16.5,364,3333,0.22,2.53,0.00,0.000,6,0.096,0.045,2954,2262,1567,0,0,0,0,0,0
$GC,3674,0.74,387.0,73.0,8.6,421,3711,0.50,2.60,29.00,0.873,4,0.171,0.043,3095,3694,1453,0,0,0,0,0,0
$GC,3727,0.93,409.6,68.1,9.0,429,3758,0.20,2.62,24.05,0.854,6,0.079,0.054,3168,2279,1360,0,0,0,0,0,0
$GC,4100,0.86,409.6,24.0,10.7,494,4107,0.00,2.65,0.00,0.000,4,0.000,0.067,3179,861,1357,0,0,0,0,0,0
$GC,4127,0.72,409.6,21.0,11.3,498,4138,0.35,2.53,0.00,0.000,6,0.195,0.047,3101,2274,1356,0,0,0,0,0,0
$FREEZE,8.90,0.497,-1.793,0,393,0
$FREEZE,8.43,0.511,-1.791,0,393,0
$FREEZE,7.96,0.517,-1.790,0,393,0
$FREEZE,7.67,0.519,-1.790,0,393,0
$FREEZE,7.27,0.519,-1.789,0,393,0
$FREEZE,6.91,0.519,-1.789,0,393,0
$FREEZE,6.48,0.515,-1.788,0,393,0
$FREEZE,6.11,0.512,-1.788,0,393,0
$FREEZE,5.72,0.502,-1.788,0,393,0
$FREEZE,5.42,0.499,-1.788,0,393,0
$FREEZE,5.02,0.498,-1.787,0,393,0
$FREEZE,4.54,0.461,-1.787,0,393,0
$FREEZE,4.25,0.458,-1.786,0,393,0
$FREEZE,3.81,0.454,-1.786,0,393,0
$FREEZE,3.57,0.447,-1.786,0,393,0
$FREEZE,3.09,0.446,-1.785,0,393,0
$FREEZE,2.81,0.418,-1.784,0,393,0
$STATE,4352,end climb,SURFACE_DEPTH_REACHED
$STATE,4352,begin surface coast
$FREEZE,2.34,0.408,-1.784,0,393,0
$FREEZE,1.94,0.396,-1.783,0,393,0
$FREEZE,1.82,0.422,-0.915,0,393,0
$FREEZE,1.85,0.409,-0.901,0,393,0
$FREEZE,1.86,0.427,-0.863,0,393,0
$FREEZE,1.83,0.413,-0.258,0,393,0
$FREEZE,1.86,0.409,-0.107,0,393,0
$FREEZE,1.87,0.395,-0.138,0,393,0
$FINISH,1.9,1.001875
$STATE,4397,end surface coast,CONTROL_FINISHED_OK
$STATE,4397,begin surface
$SM_CCo,4540,75.05,0.060,0,0,751,559.04
$SM_GC,2.87,0.00,0.00,75.05,0.000,0.000,0.060,115,2514,751,-8.59,0.68,559.04
$RAFOS_CLK,304
$RAFOS,6,1308444548,0.833333,0.818889,63,56,55,55,51,49,230,211,179,190,199,147
$RAFOS,5,1308444062,0.700000,0.683889,64,58,57,55,55,52,156,209,174,191,234,109
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.026215
$HUMID,73.62
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,20.7,135.506
$10V_AH,9.8,63.746
$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,30.975,45.775,516.750,75.050,0.000,98.348,64.307,0.000,8.500,0.000,185.689,1289.416,1827.059,625.333,1293.505,690.404,0.000,1219.364,0.000,937.699,720.000,2.806,0.000
$DEVICE_MAMPS,315.945,68.850,1034.280,59.670,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.207,398.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,20127,546
$CAP_FILE_SIZE,71767,0
$CFSIZE,260165632,194846720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6