version: 66.08
glider: 141
mission: 15
dive: 1005
start: 6 17 111 11 47 39
data:
$ID,141
$MISSION,15
$DIVE,1005
$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,-105905.8
$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,30
$R_STBD_OVSHOOT,68
$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,2.86
$_SM_ANGLEo,-76.7
$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,17,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.43,0.000,2,0.000,0.000,114,2521,2548,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.5,-8.4,19,174,12.82,2.45,-22.40,0.000,4,0.318,0.082,2653,1084,3629,0,0,0,0,0,0
$GC,205,-0.84,-146.0,21.2,-12.0,31,213,0.20,2.15,0.00,0.000,6,0.106,0.037,2588,2482,3629,0,0,0,0,0,0
$GC,554,-1.21,-146.0,53.9,-9.4,92,562,0.32,2.25,0.00,0.000,4,0.146,0.045,2484,3892,3629,0,0,0,0,0,0
$GC,735,-1.56,-146.0,73.2,-11.5,123,743,0.38,2.28,0.00,0.000,6,0.113,0.052,2362,2495,3629,0,0,0,0,0,0
$GC,1076,-1.43,-146.0,145.6,-20.5,165,1083,0.17,0.00,0.00,0.000,6,0.220,0.000,2403,2495,3628,0,0,0,0,0,0
$GC,1403,-1.34,-146.0,207.0,-19.1,196,1408,0.12,2.25,0.00,0.000,4,0.230,0.048,2432,3890,3627,0,0,0,0,0,0
$GC,1457,-1.51,-146.0,214.4,-13.1,200,1462,0.17,2.28,0.00,0.000,6,0.096,0.054,2369,2488,3628,0,0,0,0,0,0
$STATE,1642,end dive,NO_VERTICAL_VELOCITY
$STATE,1644,begin apogee
$GC,1652,-0.12,0.0,216.6,0.0,217,1786,1.45,0.00,120.32,1.036,6,0.132,0.000,2814,2267,3030,0,0,0,0,0,0
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1790,0.62,146.0,216.6,0.0,229,1935,0.80,2.58,128.43,0.991,4,0.125,0.044,3054,3662,2433,0,0,0,0,0,0
$GC,1983,1.09,354.1,216.4,0.4,246,2184,0.50,2.53,192.02,0.960,6,0.070,0.050,3219,2281,1585,0,0,0,0,0,0
$GC,2512,0.91,354.1,160.4,15.0,295,2517,0.28,2.58,0.00,0.000,4,0.210,0.070,3164,863,1577,0,0,0,0,0,0
$GC,2542,0.70,354.1,155.8,15.4,297,2547,0.30,2.40,0.00,0.000,6,0.214,0.042,3099,2259,1575,0,0,0,0,0,0
$GC,2869,0.71,361.6,122.8,9.7,327,2882,0.00,2.33,6.12,0.710,4,0.000,0.047,3100,3694,1556,0,0,0,0,0,0
$GC,2900,0.79,379.2,119.7,9.2,329,2922,0.00,2.40,17.58,0.864,6,0.000,0.060,3107,2262,1484,0,0,0,0,0,0
$GC,3251,0.81,400.2,86.4,9.0,373,3281,0.00,2.40,19.98,0.868,4,0.000,0.048,3107,3694,1397,0,0,0,0,0,0
$GC,3312,0.96,438.0,80.8,8.3,383,3353,0.17,2.35,34.85,0.874,6,0.086,0.054,3182,2271,1244,0,0,0,0,0,0
$GC,3694,0.90,438.0,29.2,12.4,450,3701,0.00,2.30,0.00,0.000,4,0.000,0.050,3182,3693,1239,0,0,0,0,0,0
$GC,3725,0.90,438.0,25.6,11.2,455,3733,0.15,2.33,0.00,0.000,6,0.182,0.058,3155,2275,1238,0,0,0,0,0,0
$FREEZE,8.68,-0.583,-1.790,0,368,0
$FREEZE,8.22,-0.582,-1.789,0,368,0
$FREEZE,7.76,-0.577,-1.789,0,368,0
$FREEZE,7.41,-0.578,-1.789,0,368,0
$FREEZE,6.98,-0.575,-1.788,0,368,0
$FREEZE,6.52,-0.568,-1.788,0,368,0
$FREEZE,6.02,-0.569,-1.788,0,368,0
$FREEZE,5.57,-0.584,-1.788,0,368,0
$FREEZE,5.04,-0.562,-1.786,0,368,0
$FREEZE,4.70,-0.550,-1.786,0,368,0
$FREEZE,4.23,-0.555,-1.786,0,368,0
$FREEZE,3.79,-0.559,-1.786,0,368,0
$FREEZE,3.35,-0.567,-1.786,0,368,0
$FREEZE,2.78,-0.558,-1.785,0,368,0
$STATE,3973,end climb,SURFACE_DEPTH_REACHED
$STATE,3973,begin surface coast
$FREEZE,2.41,-0.533,-1.784,0,368,0
$FREEZE,1.85,-0.408,-0.899,0,368,0
$FREEZE,1.84,-0.431,-1.112,0,368,0
$FREEZE,1.93,-0.435,-1.778,0,368,0
$FREEZE,1.79,-0.495,-0.881,0,368,0
$FREEZE,1.83,-0.423,-1.550,0,368,0
$FINISH,1.8,1.022799
$STATE,4008,end surface coast,CONTROL_FINISHED_OK
$STATE,4009,begin surface
$SM_CCo,4150,55.33,0.064,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,55.33,0.000,0.000,0.064,115,2517,751,-8.59,0.74,559.04
$RAFOS_CLK,279
$RAFOS,5,1308314466,12.700000,12.685000,66,58,56,56,53,46,184,225,152,171,205,117
$RAFOS,4,1308313986,12.566667,12.551666,63,56,55,54,51,51,215,177,166,125,194,145
$RAFOS,3,1308313501,12.433333,12.416945,63,58,55,54,51,51,207,155,191,119,177,224
$RAFOS,2,1308313022,12.300000,12.283889,77,55,51,49,47,45,210,183,160,129,149,227
$RAFOS,1,1308312552,12.166667,12.153334,65,62,53,52,52,51,220,204,232,178,166,189
$RAFOS,0,1308312063,12.033333,12.017500,60,59,53,53,52,46,217,191,208,173,147,157
$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,73.46
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.30
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,21.2,131.833
$10V_AH,9.8,62.551
$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,26.825,38.525,519.300,55.325,0.000,98.439,17.374,0.000,9.500,0.000,185.705,1161.678,1692.622,604.237,1129.730,675.104,0.000,1149.588,0.000,822.995,2520.000,2.619,0.000
$DEVICE_MAMPS,318.240,81.855,1035.810,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.484,368.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20132,506
$CAP_FILE_SIZE,66582,0
$CFSIZE,260165632,195772416
$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