version: 66.08
glider: 141
mission: 15
dive: 1040
start: 6 19 111 15 47 44
data:
$ID,141
$MISSION,15
$DIVE,1040
$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,-115526.51
$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,20
$R_STBD_OVSHOOT,36
$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
$GPS1,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.20
$_SM_ANGLEo,9.8
$GPS2,190611,124748,6715.065,-5659.520,0,10000.0,0,-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,197.2,23843,-17.5,-10.000
$D_GRID,262
$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,-5.62,0.000,2,0.000,0.000,2903,3686,3019,0,0,0,0,0,0
$GC,29,-0.62,-146.0,14.4,-0.0,1,48,0.93,0.35,-11.62,0.000,4,0.134,0.117,2671,3902,3628,0,0,0,0,0,0
$GC,305,-0.96,-146.0,55.4,-14.5,49,313,0.43,2.83,0.00,0.000,6,0.096,0.054,2559,2489,3629,0,0,0,0,0,0
$GC,655,-1.36,-146.0,90.9,-11.0,110,661,0.45,0.00,0.00,0.000,6,0.181,0.000,2438,2489,3627,0,0,0,0,0,0
$GC,992,-1.31,-146.0,144.9,-16.7,147,997,0.00,2.72,0.00,0.000,4,0.000,0.041,2437,3896,3626,0,0,0,0,0,0
$GC,1141,-1.55,-146.0,162.7,-11.4,159,1149,0.25,2.78,0.00,0.000,6,0.082,0.050,2364,2481,3626,0,0,0,0,0,0
$GC,1467,-1.43,-146.0,227.8,-19.7,190,1473,0.17,2.75,0.00,0.000,4,0.200,0.046,2395,3886,3625,0,0,0,0,0,0
$GC,1486,-1.43,-146.0,229.4,-12.8,191,1491,0.00,2.72,0.00,0.000,6,0.000,0.045,2396,2486,3625,0,0,0,0,0,0
$STATE,1629,end dive,NO_VERTICAL_VELOCITY
$STATE,1629,begin apogee
$GC,1638,-0.12,0.0,229.5,0.0,204,1792,1.67,0.00,146.30,1.022,6,0.141,0.000,2810,2265,3030,0,0,0,0,0,0
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1796,0.62,146.0,229.5,0.0,218,1954,0.98,3.08,148.40,0.975,4,0.116,0.062,3061,873,2433,0,0,0,0,0,0
$GC,2012,0.85,383.2,229.3,-0.9,237,2271,0.25,2.78,246.73,0.939,6,0.065,0.033,3136,2276,1467,0,0,0,0,0,0
$GC,2587,0.76,383.2,170.4,12.8,291,2592,0.00,2.95,0.00,0.000,4,0.000,0.068,3147,868,1459,0,0,0,0,0,0
$GC,2655,0.53,383.2,159.8,16.6,296,2663,0.55,2.78,0.00,0.000,6,0.205,0.037,3044,2267,1458,0,0,0,0,0,0
$GC,2982,0.78,417.2,126.3,8.4,327,3027,0.25,3.00,36.12,0.877,4,0.070,0.057,3135,872,1329,0,0,0,0,0,0
$GC,3060,0.70,417.2,117.3,14.0,333,3067,0.20,2.83,0.00,0.000,6,0.184,0.034,3098,2273,1327,0,0,0,0,0,0
$GC,3400,0.54,417.2,61.4,15.2,385,3408,0.25,2.90,0.00,0.000,4,0.189,0.051,3054,863,1326,0,0,0,0,0,0
$GC,3444,0.73,456.9,57.0,8.2,392,3497,0.15,2.78,43.55,0.860,6,0.075,0.031,3107,2286,1166,0,0,0,0,0,0
$GC,3840,0.96,472.5,22.1,9.3,461,3863,0.22,2.85,10.18,0.785,4,0.068,0.045,3182,3682,1102,0,0,0,0,0,0
$GC,3872,0.96,472.5,18.6,10.2,465,3879,0.00,2.92,0.00,0.000,6,0.000,0.054,3192,2274,1102,0,0,0,0,0,0
$FREEZE,8.83,0.025,-1.784,0,403,0
$FREEZE,8.14,-0.009,-1.782,0,403,0
$FREEZE,7.46,-0.045,-1.781,0,403,0
$FREEZE,6.76,-0.083,-1.780,0,403,0
$STATE,3963,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3963,begin subsurface finish
$FINISH1,6.8,1.026032,72
$GC,3971,0.09,72.0,6.8,-12.9,481,4063,1.33,2.80,-75.28,0.000,4,0.191,0.044,2901,3683,2738,0,0,0,0,0,0
$FINISH2,5.1
$STATE,4064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4064,begin surface
$RAFOS_CLK,220
$RAFOS,6,1308502142,16.833334,16.817223,70,65,55,54,53,49,206,175,113,190,156,166
$RAFOS,5,1308501663,16.700001,16.684166,67,61,57,55,53,51,151,193,214,163,118,174
$RAFOS,4,1308501187,16.566668,16.551945,73,70,58,51,51,50,208,191,115,130,182,169
$RAFOS,3,1308500706,16.433332,16.418333,64,62,57,57,56,52,208,166,135,258,182,225
$RAFOS,2,1308500223,16.299999,16.284166,65,59,59,58,54,53,206,193,178,167,232,216
$RAFOS,1,1308499747,16.166666,16.151945,65,64,60,55,49,48,142,199,173,216,118,235
$RAFOS,0,1308499261,16.033333,16.016945,62,62,60,57,56,53,182,216,168,202,149,127
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,121248
$TT8_MAMPS,0.026215
$HUMID,72.09
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.30
$XPDR_PINGS,33
$ALTIM_TOP_PING,20.0,17.8
$24V_AH,19.3,137.153
$10V_AH,9.8,64.232
$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,8.075,46.225,631.275,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,1069.525,1473.516,588.489,850.360,138.150,0.000,1141.858,0.000,844.683,2520.000,2.618,0.000
$DEVICE_MAMPS,205.020,117.045,1022.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.116,363.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,20170,496
$CAP_FILE_SIZE,58286,0
$CFSIZE,260165632,194473984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6