version: 66.08
glider: 141
mission: 15
dive: 1016
start: 6 18 111 3 38 9
data:
$ID,141
$MISSION,15
$DIVE,1016
$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,-108870.95
$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,72
$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,2.88
$_SM_ANGLEo,-77.4
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.12,0.000,2,0.000,0.000,111,2526,2608,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.8,-9.5,19,175,12.90,2.55,-20.67,0.000,4,0.317,0.093,2654,1083,3630,0,0,0,0,0,0
$GC,286,-1.07,-146.0,27.2,-9.5,45,294,0.40,2.17,0.00,0.000,6,0.084,0.038,2517,2474,3630,0,0,0,0,0,0
$GC,635,-1.13,-146.0,75.1,-15.2,106,642,0.00,2.30,0.00,0.000,4,0.000,0.051,2517,3876,3630,0,0,0,0,0,0
$GC,674,-1.46,-146.0,79.6,-10.8,112,681,0.38,2.28,0.00,0.000,6,0.101,0.050,2392,2484,3629,0,0,0,0,0,0
$GC,1015,-1.35,-146.0,144.2,-19.4,153,1020,0.15,2.33,0.00,0.000,4,0.224,0.050,2426,3884,3629,0,0,0,0,0,0
$GC,1273,-1.47,-146.0,182.5,-14.6,175,1280,0.12,2.33,0.00,0.000,6,0.111,0.055,2383,2490,3629,0,0,0,0,0,0
$GC,1600,-1.66,-146.0,222.6,-0.0,206,1605,0.15,2.40,0.00,0.000,4,0.110,0.064,2326,1074,3629,0,0,0,0,0,0
$STATE,1642,end dive,NO_VERTICAL_VELOCITY
$STATE,1642,begin apogee
$GC,1652,-0.12,0.0,222.6,0.0,209,1783,1.55,0.00,122.43,1.036,6,0.119,0.000,2815,2267,3030,0,0,0,0,0,0
$STATE,1784,end apogee,CONTROL_FINISHED_OK
$STATE,1784,begin climb
$GC,1787,0.62,146.0,222.6,0.0,221,1929,0.80,2.60,130.95,0.988,4,0.119,0.047,3054,3674,2433,0,0,0,0,0,0
$GC,1947,0.93,348.7,222.2,0.6,235,2148,0.32,2.60,188.60,0.953,6,0.067,0.051,3172,2276,1607,0,0,0,0,0,0
$GC,2468,0.78,348.7,163.9,14.0,284,2473,0.22,2.60,0.00,0.000,4,0.184,0.063,3130,865,1599,0,0,0,0,0,0
$GC,2502,0.60,348.7,158.7,14.1,286,2509,0.32,2.42,0.00,0.000,6,0.210,0.038,3061,2277,1597,0,0,0,0,0,0
$GC,2831,0.61,355.2,127.4,9.7,317,2843,0.00,2.38,5.75,0.692,4,0.000,0.047,3061,3694,1581,0,0,0,0,0,0
$GC,2880,0.72,365.5,122.4,9.5,321,2896,0.00,2.47,11.23,0.825,6,0.000,0.049,3069,2269,1540,0,0,0,0,0,0
$GC,3222,0.80,403.2,90.6,8.3,361,3265,0.15,2.53,35.72,0.884,4,0.093,0.060,3140,864,1386,0,0,0,0,0,0
$GC,3279,0.72,403.2,84.9,10.8,370,3287,0.17,2.38,0.00,0.000,6,0.174,0.038,3101,2276,1385,0,0,0,0,0,0
$GC,3627,0.72,403.2,43.2,10.8,431,3633,0.00,2.40,0.00,0.000,4,0.000,0.067,3109,861,1383,0,0,0,0,0,0
$GC,3681,0.72,403.2,37.6,10.3,440,3688,0.00,2.28,0.00,0.000,6,0.000,0.036,3109,2284,1383,0,0,0,0,0,0
$FREEZE,8.88,-0.224,-1.789,0,379,0
$FREEZE,8.51,-0.221,-1.789,0,379,0
$FREEZE,8.22,-0.221,-1.789,0,379,0
$FREEZE,7.19,-0.210,-1.788,0,379,0
$FREEZE,6.64,-0.206,-1.788,0,379,0
$FREEZE,6.13,-0.250,-1.787,0,379,0
$FREEZE,5.57,-0.258,-1.786,0,379,0
$GC,4031,0.82,461.9,8.2,7.3,501,4067,0.00,2.28,29.42,0.830,4,0.000,0.050,3109,3675,1144,0,0,0,0,0,0
$FREEZE,4.29,-0.290,-1.785,0,379,0
$FREEZE,3.80,-0.285,-1.784,0,379,0
$FREEZE,3.31,-0.304,-1.785,0,379,0
$FREEZE,2.98,-0.298,-1.783,0,379,0
$STATE,4089,end climb,SURFACE_DEPTH_REACHED
$STATE,4089,begin surface coast
$FREEZE,2.36,-0.315,-1.784,0,379,0
$FINISH,2.4,1.026141
$STATE,4098,end surface coast,CONTROL_FINISHED_OK
$STATE,4098,begin surface
$SM_CCo,4122,44.38,0.064,0,0,751,559.04
$SM_GC,2.54,0.00,0.00,44.38,0.000,0.000,0.064,117,2474,751,-8.59,-0.45,559.04
$RAFOS_CLK,272
$RAFOS,4,1308371586,4.566667,4.551667,59,57,55,54,54,52,204,219,150,185,1120,165
$RAFOS,3,1308371103,4.433333,4.417500,64,60,59,55,50,49,206,128,188,167,149,139
$RAFOS,2,1308370625,4.300000,4.284722,59,58,58,54,51,50,211,157,141,193,174,116
$RAFOS,1,1308370146,4.166667,4.151667,66,63,62,59,59,54,196,214,175,152,225,137
$RAFOS,0,1308369662,4.033333,4.017222,66,65,56,55,53,52,193,124,202,156,222,211
$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,72.68
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,21.1,133.425
$10V_AH,9.8,63.064
$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,26.700,47.200,524.100,44.375,0.000,98.923,17.381,0.000,8.750,0.000,184.648,1160.162,1615.324,604.655,1164.458,684.313,0.000,1151.766,0.000,858.437,2160.000,2.621,0.000
$DEVICE_MAMPS,317.475,93.330,1035.810,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.856,373.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20158,511
$CAP_FILE_SIZE,66933,0
$CFSIZE,260165632,195371008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6