version: 66.08
glider: 141
mission: 15
dive: 1004
start: 6 17 111 10 18 32
data:
$ID,141
$MISSION,15
$DIVE,1004
$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,-105534.82
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.15
$_SM_ANGLEo,-67.9
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,109,0.00,0.00,-90.18,0.000,2,0.000,0.000,97,2508,2427,0,0,0,0,0,0
$GC,113,-0.62,-146.0,5.7,-9.1,16,162,12.85,2.47,-27.20,0.000,4,0.318,0.090,2651,1091,3629,0,0,0,0,0,0
$GC,171,-0.81,-146.0,16.7,-10.6,25,178,0.15,2.20,0.00,0.000,6,0.109,0.039,2600,2492,3630,0,0,0,0,0,0
$GC,520,-1.24,-146.0,52.3,-10.4,86,527,0.38,2.25,0.00,0.000,4,0.123,0.050,2469,3886,3629,0,0,0,0,0,0
$GC,684,-1.56,-146.0,70.7,-11.9,114,691,0.32,2.30,0.00,0.000,6,0.103,0.056,2360,2489,3629,0,0,0,0,0,0
$GC,1026,-1.41,-146.0,145.0,-21.5,157,1031,0.20,2.40,0.00,0.000,4,0.220,0.074,2407,1084,3628,0,0,0,0,0,0
$GC,1045,-1.20,-146.0,149.5,-22.3,158,1050,0.28,2.17,0.00,0.000,6,0.233,0.037,2471,2489,3627,0,0,0,0,0,0
$GC,1377,-1.20,-146.0,205.1,-16.0,189,1381,0.00,2.28,0.00,0.000,4,0.000,0.053,2471,3891,3628,0,0,0,0,0,0
$GC,1422,-1.46,-146.0,211.3,-12.1,192,1429,0.25,2.28,0.00,0.000,6,0.099,0.054,2389,2490,3628,0,0,0,0,0,0
$STATE,1617,end dive,NO_VERTICAL_VELOCITY
$STATE,1617,begin apogee
$GC,1626,-0.12,0.0,214.9,0.0,211,1759,1.33,0.00,120.80,1.036,6,0.113,0.000,2820,2271,3029,0,0,0,0,0,0
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1763,0.62,146.0,214.9,0.0,223,1902,0.75,2.72,127.60,0.991,4,0.105,0.072,3058,867,2434,0,0,0,0,0,0
$GC,1910,1.10,363.7,214.9,-0.0,236,2121,0.50,2.45,201.35,0.955,6,0.070,0.031,3221,2282,1547,0,0,0,0,0,0
$GC,2440,0.88,363.7,152.7,14.6,285,2447,0.30,0.00,0.00,0.000,6,0.203,0.000,3155,2282,1539,0,0,0,0,0,0
$GC,2767,0.77,363.7,112.8,12.2,316,2772,0.15,2.28,0.00,0.000,4,0.197,0.050,3116,3671,1539,0,0,0,0,0,0
$GC,2801,0.80,363.7,108.7,10.8,318,2808,0.00,2.35,0.00,0.000,6,0.000,0.052,3124,2265,1537,0,0,0,0,0,0
$GC,3143,0.75,363.7,69.1,10.9,372,3149,0.00,2.35,0.00,0.000,4,0.000,0.073,3134,868,1538,0,0,0,0,0,0
$GC,3228,0.60,363.7,58.8,14.0,386,3235,0.30,2.22,0.00,0.000,6,0.195,0.047,3060,2279,1537,0,0,0,0,0,0
$GC,3579,0.87,429.7,29.7,7.0,447,3622,0.25,2.33,36.30,0.923,4,0.078,0.049,3167,3673,1277,0,0,0,0,0,0
$GC,3647,0.94,429.7,22.4,10.8,458,3654,0.00,2.33,0.00,0.000,6,0.000,0.050,3177,2271,1275,0,0,0,0,0,0
$FREEZE,8.64,-0.545,-1.793,0,367,0
$FREEZE,8.19,-0.553,-1.793,0,367,0
$FREEZE,7.57,-0.555,-1.793,0,367,0
$FREEZE,6.68,-0.558,-1.792,0,367,0
$FREEZE,6.13,-0.557,-1.792,0,367,0
$FREEZE,5.59,-0.559,-1.791,0,367,0
$FREEZE,5.01,-0.565,-1.790,0,367,0
$FREEZE,4.45,-0.599,-1.790,0,367,0
$FREEZE,3.79,-0.617,-1.788,0,367,0
$FREEZE,3.24,-0.623,-1.787,0,367,0
$FREEZE,2.59,-0.624,-1.786,0,367,0
$STATE,3820,end climb,SURFACE_DEPTH_REACHED
$STATE,3820,begin surface coast
$FREEZE,2.02,-0.620,-1.785,0,367,0
$FREEZE,1.94,-0.429,-0.889,0,367,0
$FREEZE,1.92,-0.591,-0.920,0,367,0
$FREEZE,1.89,-0.602,-0.334,0,367,0
$FREEZE,1.91,-0.606,-0.900,0,367,0
$FINISH,1.9,1.013269
$STATE,3847,end surface coast,CONTROL_FINISHED_OK
$STATE,3847,begin surface
$SM_CCo,3989,58.55,0.065,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,58.55,0.000,0.000,0.065,114,2520,751,-8.60,0.85,559.04
$RAFOS_CLK,270
$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,74.57
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.4,17.5
$24V_AH,21.2,131.686
$10V_AH,9.8,62.499
$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,27.050,38.050,486.050,58.550,0.000,98.344,17.338,0.000,7.750,0.000,183.286,1142.495,1617.410,574.830,1104.922,671.823,0.000,1096.456,0.000,796.370,0.000,2.617,0.000
$DEVICE_MAMPS,318.240,89.505,1035.810,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.843,356.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20145,494
$CAP_FILE_SIZE,63373,0
$CFSIZE,260165632,195817472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6