version: 66.08
glider: 141
mission: 15
dive: 1043
start: 6 19 111 19 23 45
data:
$ID,141
$MISSION,15
$DIVE,1043
$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,-115526.51
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.46
$_SM_ANGLEo,8.7
$GPS2,190611,124748,6715.065,-5659.520,0,10000.0,0,-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,197.2,23843,-17.5,-10.000
$D_GRID,262
$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,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2907,870,2759,0,0,0,0,1,0
$GC,29,-0.62,-146.0,18.5,-0.0,1,55,0.98,6.15,-14.55,0.000,4,0.139,0.033,2673,3898,3631,0,0,0,0,0,0
$GC,313,-0.97,-146.0,61.4,-14.0,50,321,0.45,2.92,0.00,0.000,6,0.100,0.046,2560,2493,3633,0,0,0,0,0,0
$GC,663,-1.34,-146.0,98.8,-13.0,111,670,0.50,2.85,0.00,0.000,4,0.195,0.037,2438,3897,3631,0,0,0,0,0,0
$GC,810,-1.63,-146.0,115.5,-10.9,124,817,0.35,2.92,0.00,0.000,6,0.079,0.048,2341,2487,3631,0,0,0,0,0,0
$GC,1136,-1.45,-146.0,184.5,-22.6,155,1142,0.25,3.00,0.00,0.000,4,0.209,0.061,2386,1081,3630,0,0,0,0,0,0
$GC,1159,-1.18,-146.0,190.4,-23.9,156,1166,0.52,2.80,0.00,0.000,6,0.229,0.029,2475,2492,3630,0,0,0,0,0,0
$GC,1486,-1.51,-146.0,230.6,-0.0,187,1491,0.32,3.03,0.00,0.000,4,0.086,0.062,2386,1084,3631,0,0,0,0,0,0
$STATE,1573,end dive,NO_VERTICAL_VELOCITY
$STATE,1573,begin apogee
$GC,1584,-0.12,0.0,230.6,0.0,194,1742,1.67,0.00,151.70,1.018,6,0.102,0.000,2819,2278,3030,0,0,0,0,0,0
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1746,0.62,146.0,230.6,0.0,209,1905,0.90,3.20,151.18,0.972,4,0.090,0.066,3055,865,2433,0,0,1,0,0,0
$GC,2144,0.94,362.1,230.4,0.0,244,2386,0.38,2.88,229.77,0.949,6,0.060,0.029,3164,2280,1553,0,0,0,0,0,0
$GC,2706,0.81,362.1,174.1,12.8,296,2712,0.17,3.10,0.00,0.000,4,0.179,0.057,3143,865,1545,0,0,0,0,0,0
$GC,2731,0.67,362.1,170.2,13.2,297,2738,0.32,2.90,0.00,0.000,6,0.198,0.037,3086,2267,1545,0,0,0,0,0,0
$GC,3058,0.67,384.1,139.1,9.0,328,3092,0.00,3.12,23.48,0.871,4,0.000,0.057,3094,865,1463,0,0,0,0,0,0
$GC,3146,0.65,384.1,130.5,10.1,335,3153,0.00,2.90,0.00,0.000,6,0.000,0.034,3095,2284,1462,0,0,0,0,0,0
$GC,3479,0.55,384.1,87.9,12.7,374,3487,0.25,3.05,0.00,0.000,4,0.164,0.059,3051,862,1461,0,0,0,0,0,0
$GC,3523,0.71,417.1,83.8,8.5,381,3571,0.12,2.88,37.90,0.874,6,0.086,0.042,3092,2283,1329,0,0,0,0,0,0
$GC,3910,0.92,457.6,50.9,8.1,449,3963,0.22,3.12,42.12,0.906,4,0.069,0.057,3171,872,1164,0,0,1,0,0,0
$GC,3987,0.66,457.6,42.8,12.0,461,3994,0.45,2.90,0.00,0.000,6,0.177,0.034,3085,2273,1163,0,0,0,0,0,0
$FREEZE,8.90,0.019,-1.788,0,406,0
$FREEZE,8.29,-0.010,-1.787,0,406,0
$GC,4338,0.95,526.9,12.5,6.8,522,4395,0.25,3.05,43.90,0.793,4,0.067,0.047,3164,3684,880,0,0,0,0,0,0
$FREEZE,6.72,-0.038,-1.782,0,406,0
$FREEZE,6.24,-0.053,-1.781,0,406,0
$FREEZE,5.73,-0.035,-1.780,0,406,0
$FREEZE,4.94,-0.048,-1.780,0,406,0
$FREEZE,4.39,-0.056,-1.779,0,406,0
$FREEZE,3.88,-0.055,-1.778,0,406,0
$FREEZE,3.14,-0.046,-1.776,0,406,0
$GC,4433,1.14,533.4,3.9,9.7,537,4448,0.22,3.00,3.45,0.435,6,0.079,0.050,3224,2266,854,0,0,0,0,0,0
$FREEZE,2.13,-0.045,-0.958,0,406,0
$STATE,4454,end climb,SURFACE_DEPTH_REACHED
$STATE,4454,begin surface coast
$FREEZE,2.06,-0.049,-0.905,0,406,0
$FREEZE,2.06,-0.047,-0.346,0,406,0
$FREEZE,2.00,0.031,-0.865,0,406,0
$FREEZE,2.00,-0.054,-1.118,0,406,0
$FREEZE,2.02,-0.050,-0.147,0,406,0
$FREEZE,2.03,-0.043,-1.775,0,406,0
$FREEZE,1.95,-0.001,-0.914,0,406,0
$FINISH,1.9,1.013495
$STATE,4493,end surface coast,CONTROL_FINISHED_OK
$STATE,4494,begin surface
$SM_CCo,4639,14.35,0.056,0,0,751,559.04
$SM_GC,2.96,0.00,0.00,14.35,0.000,0.000,0.056,118,2508,751,-8.58,0.48,559.04
$RAFOS_CLK,250
$RAFOS,3,1308515101,20.433332,20.416945,73,70,55,54,53,49,207,222,135,166,156,189
$RAFOS,2,1308514628,20.299999,20.285555,62,60,60,56,55,55,189,137,213,223,168,157
$RAFOS,1,1308514141,20.166666,20.150278,62,59,58,56,56,54,186,234,205,145,131,196
$RAFOS,0,1308513665,20.033333,20.018055,57,56,56,56,50,49,221,182,202,120,155,166
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,121248
$TT8_MAMPS,0.028462
$HUMID,73.15
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.50
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,19.0,137.670
$10V_AH,9.8,64.339
$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,20.350,62.675,683.500,14.350,0.000,0.000,0.000,0.000,8.750,0.000,0.000,1232.307,1756.080,619.229,951.150,161.875,0.000,1222.437,0.000,944.413,1800.000,2.623,0.000
$DEVICE_MAMPS,228.735,65.790,1018.215,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.118,397.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20183,547
$CAP_FILE_SIZE,67709,0
$CFSIZE,260165632,194359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1459.8
$GPS,190611,124748,6715.065,-5659.520,181,99.0,181,-37.6