version: 66.08
glider: 141
mission: 15
dive: 1002
start: 6 17 111 7 10 6
data:
$ID,141
$MISSION,15
$DIVE,1002
$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,-104795.35
$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,33
$R_STBD_OVSHOOT,45
$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,12.17
$_SM_ANGLEo,1.0
$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,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.60,0.000,2,0.000,0.000,2897,875,3055,0,0,0,0,0,0
$GC,29,-0.62,-146.0,15.5,-0.0,1,48,0.75,0.28,-10.65,0.000,4,0.166,0.164,2669,1077,3630,0,0,0,0,0,0
$GC,176,-1.01,-146.0,33.8,-13.8,26,184,0.40,2.17,0.00,0.000,6,0.116,0.041,2543,2520,3631,0,0,0,0,0,0
$GC,526,-1.31,-146.0,69.2,-7.0,87,533,0.25,2.15,0.00,0.000,4,0.100,0.047,2447,3875,3630,0,0,0,0,0,0
$GC,588,-1.57,-146.0,75.2,-9.9,97,595,0.25,2.25,0.00,0.000,6,0.096,0.050,2360,2492,3630,0,0,0,0,0,0
$GC,923,-1.42,-146.0,143.8,-22.1,139,928,0.17,2.38,0.00,0.000,4,0.226,0.067,2400,1085,3629,0,0,0,0,0,0
$GC,946,-1.18,-146.0,149.8,-24.9,140,953,0.32,2.12,0.00,0.000,6,0.236,0.034,2474,2473,3628,0,0,0,0,0,0
$GC,1272,-1.18,-146.0,204.6,-16.4,171,1276,0.00,2.25,0.00,0.000,4,0.000,0.048,2474,3890,3628,0,0,0,0,0,0
$GC,1330,-1.48,-146.0,211.3,-11.1,176,1335,0.28,2.25,0.00,0.000,6,0.108,0.052,2386,2497,3628,0,0,0,0,0,0
$STATE,1539,end dive,NO_VERTICAL_VELOCITY
$STATE,1539,begin apogee
$GC,1547,-0.12,0.0,215.9,0.0,195,1679,1.38,0.00,119.53,1.019,6,0.129,0.000,2818,2261,3030,0,0,0,0,0,0
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1683,0.62,146.0,215.8,0.0,207,1821,0.73,2.65,126.60,0.976,4,0.091,0.069,3059,879,2434,0,0,0,0,0,0
$GC,2078,1.07,365.2,215.8,-0.1,242,2287,0.43,2.28,198.15,0.954,6,0.068,0.033,3214,2268,1541,0,0,0,0,0,0
$GC,2605,0.87,365.2,157.9,16.0,291,2610,0.25,2.40,0.00,0.000,4,0.209,0.047,3150,3672,1532,0,0,0,0,0,0
$GC,2618,0.69,365.2,156.0,15.3,291,2625,0.25,2.42,0.00,0.000,6,0.159,0.057,3091,2287,1530,0,0,0,0,0,0
$GC,2944,0.71,381.7,123.9,9.2,322,2967,0.00,2.42,14.02,0.848,4,0.000,0.063,3099,863,1473,0,0,0,0,0,0
$GC,3020,0.69,381.7,116.4,10.3,328,3026,0.00,2.22,0.00,0.000,6,0.000,0.036,3099,2283,1472,0,0,0,0,0,0
$GC,3358,0.64,381.7,73.7,12.8,377,3364,0.00,2.22,0.00,0.000,4,0.000,0.051,3099,3680,1470,0,0,0,0,0,0
$GC,3379,0.64,381.7,71.3,12.1,380,3386,0.15,2.30,0.00,0.000,6,0.159,0.057,3067,2266,1469,0,0,0,0,0,0
$GC,3729,0.81,451.4,41.4,6.8,441,3782,0.17,0.00,47.55,0.942,6,0.088,0.000,3136,2265,1189,0,0,0,0,0,0
$FREEZE,8.82,-0.606,-1.794,0,365,1
$FREEZE,8.38,-0.607,-1.794,0,365,1
$FREEZE,7.92,-0.609,-1.793,0,365,1
$FREEZE,7.51,-0.618,-1.793,0,365,1
$FREEZE,6.87,-0.650,-1.792,0,365,1
$FREEZE,6.45,-0.674,-1.789,0,365,1
$FREEZE,5.98,-0.673,-1.788,0,365,1
$FREEZE,5.54,-0.677,-1.787,0,365,1
$GC,4120,0.81,456.9,5.5,9.7,510,4127,0.00,2.35,1.73,0.084,4,0.000,0.060,3146,867,1166,0,0,0,0,0,0
$FREEZE,3.98,-0.673,-1.785,0,365,1
$FREEZE,3.45,-0.672,-1.784,0,365,1
$FREEZE,2.91,-0.674,-1.784,0,365,1
$STATE,4145,end climb,SURFACE_DEPTH_REACHED
$STATE,4145,begin surface coast
$FREEZE,2.23,-0.672,-1.783,0,365,1
$FREEZE,2.00,-0.655,-0.887,0,365,1
$FREEZE,1.91,-0.611,-1.710,0,365,1
$FREEZE,1.91,-0.645,-1.422,0,365,1
$FREEZE,1.99,-0.637,-1.068,0,365,1
$FREEZE,1.84,-0.574,-0.644,0,365,1
$FINISH,1.8,1.009450
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4181,begin surface
$SM_CCo,4325,46.45,0.063,0,0,751,559.04
$SM_GC,2.64,0.00,0.00,46.45,0.000,0.000,0.063,116,2509,751,-8.59,0.54,559.04
$RAFOS_CLK,236
$RAFOS,1,1308298143,8.166667,8.150833,64,60,57,54,53,53,210,133,174,156,199,147
$RAFOS,0,1308297662,8.033334,8.017222,74,59,58,57,52,51,206,158,175,196,708,219
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.028462
$HUMID,73.27
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.70
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,21.4,131.399
$10V_AH,9.8,62.396
$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,14.650,40.025,507.575,46.450,0.000,0.000,0.000,0.000,5.750,0.000,0.000,1223.547,1690.709,502.336,874.892,144.670,0.000,1040.881,0.000,872.251,1080.000,2.619,0.000
$DEVICE_MAMPS,236.385,164.475,1018.980,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.865,381.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,20191,520
$CAP_FILE_SIZE,60959,0
$CFSIZE,260165632,195899392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6