version: 66.08
glider: 141
mission: 15
dive: 1000
start: 6 17 111 4 25 54
data:
$ID,141
$MISSION,15
$DIVE,1000
$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,-104426.77
$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,29
$R_STBD_OVSHOOT,61
$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,2.81
$_SM_ANGLEo,-75.2
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.88,0.000,2,0.000,0.000,110,2521,2547,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.4,-8.0,19,177,12.90,2.42,-22.08,0.000,4,0.321,0.081,2654,1080,3627,0,0,0,0,0,0
$GC,260,-1.07,-146.0,24.9,-8.9,40,267,0.40,2.17,0.00,0.000,6,0.087,0.036,2516,2494,3628,0,0,0,0,0,0
$GC,608,-1.13,-146.0,71.6,-13.9,101,614,0.00,2.22,0.00,0.000,4,0.000,0.050,2516,3887,3627,0,0,0,0,0,0
$GC,642,-1.41,-146.0,75.8,-11.5,106,650,0.30,2.28,0.00,0.000,6,0.104,0.057,2416,2488,3628,0,0,0,0,0,0
$GC,984,-1.32,-146.0,138.4,-19.0,149,988,0.00,2.22,0.00,0.000,4,0.000,0.048,2416,3880,3627,0,0,0,0,0,0
$GC,1246,-1.41,-146.0,177.9,-14.1,172,1250,0.00,2.28,0.00,0.000,6,0.000,0.054,2416,2494,3627,0,0,0,0,0,0
$GC,1578,-1.88,-146.0,214.6,0.0,203,1583,0.45,2.35,0.00,0.000,4,0.137,0.063,2270,1078,3626,0,0,0,0,0,0
$STATE,1608,end dive,NO_VERTICAL_VELOCITY
$STATE,1608,begin apogee
$GC,1619,-0.12,0.0,214.7,0.0,205,1746,1.65,0.00,119.53,1.036,6,0.109,0.000,2825,2269,3030,0,0,0,0,0,0
$STATE,1747,end apogee,CONTROL_FINISHED_OK
$STATE,1747,begin climb
$GC,1750,0.62,146.0,214.7,0.0,217,1888,0.73,2.53,126.80,0.990,4,0.103,0.045,3058,3668,2434,0,0,0,0,0,0
$GC,1897,0.93,349.9,214.3,0.6,230,2098,0.28,2.58,188.00,0.956,6,0.070,0.052,3161,2277,1603,0,0,0,0,0,0
$GC,2417,0.80,349.9,158.5,12.7,278,2422,0.17,2.50,0.00,0.000,4,0.191,0.063,3131,866,1595,0,0,0,0,0,0
$GC,2448,0.66,349.9,154.9,12.3,280,2453,0.22,2.40,0.00,0.000,6,0.201,0.041,3082,2271,1593,0,0,0,0,0,0
$GC,2775,0.68,370.7,124.8,9.0,310,2799,0.00,2.38,18.17,0.872,4,0.000,0.050,3082,3693,1518,0,0,0,0,0,0
$GC,2817,0.76,396.1,120.8,8.8,313,2847,0.00,2.38,24.42,0.878,6,0.000,0.050,3088,2262,1414,0,0,0,0,0,0
$GC,3175,0.80,408.5,86.6,9.4,358,3194,0.00,2.30,12.05,0.832,4,0.000,0.055,3088,3692,1363,0,0,0,0,0,0
$GC,3225,0.94,424.0,81.6,9.3,366,3250,0.20,2.33,15.38,0.847,6,0.078,0.051,3181,2272,1300,0,0,0,0,0,0
$GC,3592,0.86,424.0,32.2,12.6,430,3599,0.15,2.35,0.00,0.000,4,0.190,0.071,3153,856,1298,0,0,0,0,0,0
$GC,3614,0.79,424.0,29.6,12.2,433,3622,0.12,2.28,0.00,0.000,6,0.174,0.050,3122,2283,1298,0,0,0,0,0,0
$FREEZE,8.53,-0.594,-1.792,0,363,0
$FREEZE,8.01,-0.584,-1.792,0,363,0
$FREEZE,7.51,-0.592,-1.792,0,363,0
$FREEZE,7.10,-0.589,-1.791,0,363,0
$FREEZE,6.50,-0.644,-1.792,0,363,0
$FREEZE,6.12,-0.658,-1.790,0,363,0
$FREEZE,5.61,-0.661,-1.789,0,363,0
$FREEZE,5.14,-0.663,-1.788,0,363,0
$FREEZE,4.65,-0.671,-1.787,0,363,0
$FREEZE,4.19,-0.672,-1.787,0,363,0
$FREEZE,3.74,-0.668,-1.786,0,363,0
$FREEZE,3.18,-0.673,-1.786,0,363,0
$FREEZE,2.71,-0.683,-1.785,0,363,0
$STATE,3907,end climb,SURFACE_DEPTH_REACHED
$STATE,3907,begin surface coast
$FREEZE,1.92,-0.677,-1.784,0,363,0
$FREEZE,1.86,-0.607,-1.397,0,363,0
$FREEZE,1.81,-0.625,-1.107,0,363,0
$FREEZE,1.83,-0.557,-1.651,0,363,0
$FREEZE,1.86,-0.626,-1.560,0,363,0
$FREEZE,1.86,-0.651,-1.630,0,363,0
$FINISH,1.9,1.023957
$STATE,3938,end surface coast,CONTROL_FINISHED_OK
$STATE,3939,begin surface
$SM_CCo,4056,61.67,0.064,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,61.67,0.000,0.000,0.064,115,2526,751,-8.59,1.02,559.04
$RAFOS_CLK,277
$RAFOS,6,1308286147,4.833333,4.818611,66,63,62,59,58,57,167,158,137,191,214,120
$RAFOS,5,1308285670,4.700000,4.686111,72,63,60,58,55,55,213,152,174,201,124,547
$RAFOS,4,1308285183,4.566667,4.550833,67,59,59,56,53,49,198,157,214,144,126,175
$RAFOS,0,1308283266,4.033333,4.018333,60,58,57,56,55,54,197,158,209,176,139,232
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026964
$HUMID,73.70
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,21.3,131.119
$10V_AH,9.8,62.310
$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,26.425,42.150,504.350,61.675,0.000,98.544,17.360,0.000,8.750,0.000,183.289,1146.341,1622.487,596.927,1132.695,688.460,0.000,1133.420,0.000,826.091,1080.000,2.621,0.000
$DEVICE_MAMPS,320.535,81.090,1035.810,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.438,357.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20168,491
$CAP_FILE_SIZE,66042,0
$CFSIZE,260165632,195964928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6