version: 66.08
glider: 141
mission: 15
dive: 1008
start: 6 17 111 16 20 55
data:
$ID,141
$MISSION,15
$DIVE,1008
$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,-107018.62
$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,73
$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,2.91
$_SM_ANGLEo,-76.9
$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,-146.0,0.0,0.0,0,125,0.00,0.00,-106.72,0.000,2,0.000,0.000,115,2531,2536,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.5,-7.9,19,173,13.00,2.50,-23.05,0.000,4,0.323,0.086,2650,1081,3629,0,0,0,0,0,0
$GC,201,-0.91,-146.0,19.1,-9.0,30,208,0.25,2.15,0.00,0.000,6,0.104,0.041,2570,2471,3629,0,0,0,0,0,0
$GC,549,-1.27,-146.0,53.2,-10.9,91,556,0.30,2.35,0.00,0.000,4,0.115,0.070,2465,1087,3629,0,0,0,0,0,0
$GC,577,-1.35,-146.0,56.6,-12.2,95,584,0.12,2.20,0.00,0.000,6,0.145,0.046,2425,2490,3629,0,0,0,0,0,0
$GC,918,-1.28,-146.0,120.0,-18.9,146,922,0.00,2.42,0.00,0.000,4,0.000,0.074,2425,1081,3628,0,0,0,0,0,0
$GC,935,-1.13,-146.0,124.0,-19.6,147,943,0.30,2.17,0.00,0.000,6,0.234,0.037,2493,2489,3628,0,0,0,0,0,0
$GC,1263,-1.15,-146.0,173.8,-14.9,178,1267,0.00,2.38,0.00,0.000,4,0.000,0.074,2493,1088,3628,0,0,0,0,0,0
$GC,1274,-1.15,-146.0,175.9,-14.9,178,1281,0.00,2.20,0.00,0.000,6,0.000,0.034,2493,2503,3627,0,0,0,0,0,0
$GC,1601,-1.40,-146.0,216.2,-0.0,209,1606,0.22,2.40,0.00,0.000,4,0.095,0.067,2411,1080,3628,0,0,0,0,0,0
$GC,1614,-1.65,-146.0,216.3,-0.0,209,1621,0.22,2.25,0.00,0.000,6,0.094,0.040,2329,2491,3627,0,0,0,0,0,0
$STATE,1714,end dive,NO_VERTICAL_VELOCITY
$STATE,1714,begin apogee
$GC,1722,-0.12,0.0,216.2,0.0,219,1854,1.58,0.00,120.60,1.028,6,0.130,0.000,2815,2263,3029,0,0,0,0,0,0
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1858,0.62,146.0,216.2,0.0,231,1997,0.75,2.62,127.95,0.983,4,0.102,0.044,3051,3682,2434,0,0,0,0,0,0
$GC,2251,1.03,371.3,216.0,-0.4,265,2466,0.43,2.47,205.50,0.957,6,0.064,0.054,3206,2280,1516,0,0,0,0,0,0
$GC,2796,0.85,371.3,148.0,15.3,316,2801,0.25,2.45,0.00,0.000,4,0.197,0.047,3145,3679,1508,0,0,0,0,0,0
$GC,2808,0.68,371.3,145.8,15.2,316,2815,0.25,2.47,0.00,0.000,6,0.150,0.058,3088,2270,1506,0,0,0,0,0,0
$GC,3134,0.70,384.1,112.9,9.4,347,3150,0.00,2.40,11.15,0.816,4,0.000,0.062,3097,858,1465,0,0,0,0,0,0
$GC,3202,0.70,384.8,106.1,10.0,352,3209,0.00,2.28,0.00,0.000,6,0.000,0.036,3097,2285,1463,0,0,0,0,0,0
$GC,3545,0.65,384.8,62.2,11.9,408,3552,0.00,2.38,0.00,0.000,4,0.000,0.067,3107,862,1463,0,0,0,0,0,0
$GC,3582,0.62,384.8,58.1,10.8,414,3590,0.15,2.25,0.00,0.000,6,0.183,0.046,3071,2279,1463,0,0,0,0,0,0
$GC,3935,0.92,467.5,31.7,6.2,475,3994,0.25,2.35,49.40,0.922,4,0.074,0.059,3181,3668,1122,0,0,0,0,0,0
$GC,4036,1.02,467.5,21.4,10.1,492,4043,0.00,2.35,0.00,0.000,6,0.000,0.051,3191,2263,1119,0,0,0,0,0,0
$FREEZE,8.68,-0.527,-1.789,0,371,0
$FREEZE,8.03,-0.524,-1.788,0,371,0
$FREEZE,7.44,-0.523,-1.788,0,371,0
$FREEZE,6.90,-0.518,-1.787,0,371,0
$STATE,4163,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4164,begin subsurface finish
$FINISH1,6.9,1.026147,66
$GC,4172,0.08,66.3,6.9,-11.4,514,4258,1.02,0.00,-79.38,0.000,6,0.186,0.000,2896,2263,2760,0,0,0,0,0,0
$FINISH2,4.5
$STATE,4259,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4259,begin surface
$RAFOS_CLK,288
$RAFOS,6,1308329347,16.833334,16.818611,64,59,58,54,54,54,123,145,162,134,203,218
$RAFOS,5,1308328871,16.700001,16.686388,57,52,52,51,49,49,190,149,223,117,140,208
$RAFOS,4,1308328384,16.566668,16.551111,84,63,59,51,49,48,201,212,166,224,147,181
$RAFOS,3,1308327902,16.433332,16.417223,64,54,52,51,49,48,204,119,178,214,187,131
$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,73.27
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.10
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,21.2,132.272
$10V_AH,9.8,62.705
$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,19.100,47.425,514.600,0.000,0.000,94.664,34.757,0.000,10.000,0.000,185.645,1155.964,1678.717,606.661,1204.165,673.158,0.000,1179.393,0.000,884.229,1440.000,2.619,0.000
$DEVICE_MAMPS,322.830,85.680,1028.160,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.473,384.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20088,529
$CAP_FILE_SIZE,68694,0
$CFSIZE,260165632,195665920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6