version: 66.08
glider: 141
mission: 15
dive: 1011
start: 6 17 111 19 47 7
data:
$ID,141
$MISSION,15
$DIVE,1011
$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,42
$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,14.00
$_SM_ANGLEo,8.0
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.53,0.000,2,0.000,0.000,2897,3698,3067,0,0,0,0,0,0
$GC,29,-0.62,-146.0,17.9,-0.0,1,43,0.68,0.32,-9.43,0.000,4,0.135,0.157,2670,3905,3629,0,0,0,0,0,0
$GC,90,-0.99,-146.0,27.2,-16.6,11,98,0.38,2.30,0.00,0.000,6,0.107,0.057,2548,2487,3630,0,0,0,0,0,0
$GC,439,-1.26,-146.0,62.9,-9.2,72,447,0.25,2.33,0.00,0.000,4,0.099,0.060,2451,1082,3629,0,0,0,0,0,0
$GC,480,-1.03,-146.0,69.6,-21.4,78,487,0.32,2.20,0.00,0.000,6,0.231,0.033,2526,2502,3629,0,0,0,0,0,0
$GC,821,-1.14,-146.0,116.6,-12.9,127,825,0.00,2.40,0.00,0.000,4,0.000,0.070,2526,1088,3628,0,0,0,0,0,0
$GC,832,-1.20,-146.0,118.3,-12.5,127,841,0.15,2.12,0.00,0.000,6,0.126,0.031,2478,2506,3627,0,0,0,0,0,0
$GC,1161,-1.20,-146.0,170.1,-16.2,158,1165,0.00,2.40,0.00,0.000,4,0.000,0.070,2478,1082,3627,0,0,0,0,0,0
$GC,1194,-0.99,-146.0,177.3,-20.7,160,1202,0.25,2.15,0.00,0.000,6,0.224,0.033,2536,2478,3626,0,0,0,0,0,0
$GC,1522,-1.20,-146.0,213.5,-10.0,191,1527,0.17,2.25,0.00,0.000,4,0.099,0.049,2468,3878,3626,0,0,0,0,0,0
$STATE,1739,end dive,NO_VERTICAL_VELOCITY
$STATE,1739,begin apogee
$GC,1749,-0.12,0.0,221.3,0.0,210,1882,1.00,0.00,119.82,1.017,6,0.079,0.000,2825,2275,3030,0,0,0,0,0,0
$STATE,1882,end apogee,CONTROL_FINISHED_OK
$STATE,1882,begin climb
$GC,1886,0.62,146.0,221.3,0.0,222,2029,0.68,2.75,127.78,0.977,4,0.068,0.066,3070,872,2433,0,0,0,0,0,0
$GC,2283,0.83,367.7,221.1,-0.2,257,2493,0.20,2.35,202.77,0.952,6,0.083,0.033,3142,2270,1530,0,0,0,0,0,0
$GC,2812,0.74,367.7,166.4,12.7,307,2817,0.17,2.45,0.00,0.000,4,0.184,0.056,3103,3670,1521,0,0,0,0,0,0
$GC,2823,0.65,367.7,164.8,12.5,307,2831,0.15,2.45,0.00,0.000,6,0.155,0.050,3074,2265,1520,0,0,0,0,0,0
$GC,3150,0.67,367.7,133.1,10.1,338,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2265,1520,0,0,0,0,0,0
$GC,3471,0.70,367.7,99.5,10.2,368,3478,0.00,2.30,0.00,0.000,4,0.000,0.050,3074,3682,1520,0,0,0,0,0,0
$GC,3486,0.75,367.7,97.6,10.3,370,3493,0.00,2.33,0.00,0.000,6,0.000,0.047,3081,2266,1519,0,0,0,0,0,0
$GC,3834,0.83,439.5,68.0,6.7,431,3904,0.15,2.38,62.35,0.890,4,0.093,0.045,3142,3675,1238,0,0,0,0,0,0
$GC,3921,0.86,439.5,59.9,10.8,445,3928,0.00,2.38,0.00,0.000,6,0.000,0.056,3152,2276,1238,0,0,0,0,0,0
$GC,4270,0.87,447.8,23.0,9.6,506,4283,0.00,2.28,4.03,0.616,4,0.000,0.046,3152,3674,1202,0,0,0,0,0,0
$GC,4298,0.88,459.7,20.4,9.5,510,4312,0.00,2.30,5.90,0.718,6,0.000,0.050,3158,2266,1156,0,0,0,0,0,0
$FREEZE,8.52,-0.473,-1.791,0,374,0
$FREEZE,7.80,-0.468,-1.790,0,374,0
$FREEZE,7.14,-0.487,-1.790,0,374,0
$FREEZE,6.75,-0.488,-1.790,0,374,0
$FREEZE,6.20,-0.468,-1.789,0,374,0
$FREEZE,5.66,-0.452,-1.788,0,374,0
$FREEZE,5.23,-0.420,-1.787,0,374,0
$FREEZE,4.63,-0.304,-1.784,0,374,0
$FREEZE,4.11,-0.348,-1.785,0,374,0
$FREEZE,3.60,-0.367,-1.785,0,374,0
$FREEZE,3.16,-0.368,-1.784,0,374,0
$FREEZE,2.56,-0.264,-1.778,0,374,0
$STATE,4472,end climb,SURFACE_DEPTH_REACHED
$STATE,4472,begin surface coast
$FREEZE,2.05,-0.005,-1.779,0,374,0
$FREEZE,1.83,0.219,-1.505,0,374,0
$FREEZE,1.81,0.157,-0.955,0,374,0
$FREEZE,1.73,0.151,-0.155,0,374,0
$FREEZE,1.77,0.132,-0.828,0,374,0
$FINISH,1.8,1.012216
$STATE,4499,end surface coast,CONTROL_FINISHED_OK
$STATE,4502,begin surface
$SM_CCo,4523,45.22,0.063,0,0,750,559.04
$SM_GC,2.65,0.00,0.00,45.22,0.000,0.000,0.063,109,2516,750,-8.61,0.74,559.04
$RAFOS_CLK,242
$RAFOS,6,1308343744,20.833334,20.817778,57,56,55,54,54,53,156,200,169,191,181,118
$RAFOS,5,1308343268,20.700001,20.685556,60,56,55,52,52,51,213,166,189,141,177,232
$RAFOS,4,1308342782,20.566668,20.550556,60,57,57,51,50,48,191,170,209,140,227,155
$RAFOS,3,1308342301,20.433332,20.416945,61,57,54,49,45,44,161,192,178,112,217,147
$RAFOS,2,1308341822,20.299999,20.283890,69,57,54,52,50,49,218,192,161,142,170,204
$RAFOS,1,1308341342,20.166666,20.150555,61,60,58,55,54,51,188,224,213,163,152,175
$RAFOS,0,1308340864,20.033333,20.017778,62,58,57,53,48,45,152,222,169,140,191,119
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026215
$HUMID,73.07
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.30
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,21.3,132.689
$10V_AH,9.8,62.803
$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,13.500,45.425,522.650,45.225,0.000,0.000,0.000,0.000,7.250,0.000,0.000,1257.402,1780.096,515.444,933.028,148.734,0.000,1074.583,0.000,924.757,2520.000,2.811,0.000
$DEVICE_MAMPS,231.030,156.825,1016.685,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.077,399.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20134,546
$CAP_FILE_SIZE,64455,0
$CFSIZE,260165632,195563520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6