version: 66.08
glider: 141
mission: 15
dive: 1042
start: 6 19 111 18 7 0
data:
$ID,141
$MISSION,15
$DIVE,1042
$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,24
$R_STBD_OVSHOOT,24
$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,11.60
$_SM_ANGLEo,4.3
$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,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2903,865,2753,0,0,0,0,1,0
$GC,29,-0.62,-146.0,14.9,-0.0,1,60,0.95,6.05,-16.80,0.000,4,0.125,0.040,2674,3899,3628,0,0,0,0,0,0
$GC,318,-0.96,-146.0,55.7,-15.1,51,325,0.45,2.88,0.00,0.000,6,0.096,0.053,2559,2494,3629,0,0,0,0,0,0
$GC,667,-1.37,-146.0,94.2,-9.5,112,675,0.47,2.97,0.00,0.000,4,0.144,0.060,2429,1075,3628,0,0,0,0,0,0
$GC,710,-1.15,-146.0,101.6,-19.1,118,718,0.32,2.80,0.00,0.000,6,0.223,0.036,2485,2506,3627,0,0,0,0,0,0
$GC,1037,-1.19,-146.0,148.3,-14.0,149,1041,0.00,2.78,0.00,0.000,4,0.000,0.044,2485,3895,3626,0,0,0,0,0,0
$GC,1089,-1.52,-146.0,154.2,-10.0,153,1095,0.40,2.88,0.00,0.000,6,0.083,0.045,2380,2494,3626,0,0,0,0,0,0
$GC,1416,-1.40,-146.0,215.9,-19.7,183,1422,0.15,3.00,0.00,0.000,4,0.212,0.067,2404,1081,3626,0,0,0,0,0,0
$GC,1447,-1.15,-146.0,222.9,-23.6,185,1452,0.45,2.75,0.00,0.000,6,0.223,0.029,2485,2490,3625,0,0,0,0,0,0
$STATE,1678,end dive,NO_VERTICAL_VELOCITY
$STATE,1678,begin apogee
$GC,1685,-0.12,0.0,231.7,0.0,206,1841,1.17,0.00,149.90,1.019,6,0.071,0.000,2817,2266,3030,0,0,0,0,0,0
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1845,0.62,146.0,231.7,0.0,220,2004,0.85,3.12,150.93,0.972,4,0.060,0.066,3066,869,2433,0,0,0,0,0,0
$GC,2258,0.94,357.5,231.5,0.2,256,2494,0.35,2.80,223.43,0.948,6,0.058,0.035,3170,2281,1572,0,0,0,0,0,0
$GC,2811,0.79,357.5,172.6,13.2,308,2817,0.25,3.05,0.00,0.000,4,0.174,0.055,3128,865,1565,0,0,0,0,0,0
$GC,2831,0.66,357.5,170.1,13.2,309,2837,0.25,2.88,0.00,0.000,6,0.196,0.036,3083,2268,1563,0,0,0,0,0,0
$GC,3157,0.67,367.9,138.9,9.5,339,3173,0.00,3.03,10.65,0.797,4,0.000,0.057,3092,866,1530,0,0,0,0,0,0
$GC,3180,0.52,369.8,136.5,9.9,340,3188,0.28,2.90,0.00,0.000,6,0.162,0.048,3039,2273,1529,0,0,0,0,0,0
$GC,3507,0.64,410.9,110.7,8.1,371,3573,0.00,3.10,50.60,0.865,4,0.000,0.057,3042,866,1355,0,0,1,0,1,0
$GC,3713,1.08,425.8,94.9,9.3,395,3738,0.68,2.85,17.77,0.843,6,0.125,0.038,3202,2288,1294,0,0,0,0,0,0
$GC,4080,0.97,425.8,39.2,13.7,459,4087,0.00,2.88,0.00,0.000,4,0.000,0.047,3202,3679,1290,0,0,0,0,0,0
$GC,4101,0.89,425.8,36.5,13.7,462,4109,0.28,2.95,0.00,0.000,6,0.159,0.047,3157,2273,1290,0,0,0,0,0,0
$FREEZE,8.31,-0.097,-1.786,0,405,1
$FREEZE,7.90,-0.139,-1.787,0,405,1
$FREEZE,7.52,-0.174,-1.786,0,405,1
$FREEZE,7.00,-0.172,-1.785,0,405,1
$STATE,4404,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4404,begin subsurface finish
$FINISH1,7.0,1.026099,69
$GC,4416,0.08,68.7,7.0,-9.7,516,4487,1.12,3.05,-60.17,0.000,4,0.176,0.072,2907,870,2753,0,0,0,0,0,0
$FINISH2,6.0
$STATE,4488,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4488,begin surface
$RAFOS_CLK,247
$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,73.23
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.80
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,19.0,137.487
$10V_AH,9.8,64.301
$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,8.425,59.175,603.275,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,1162.765,1760.599,565.998,915.167,143.469,0.000,1140.251,0.000,910.606,0.000,2.621,0.000
$DEVICE_MAMPS,222.615,71.910,1018.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.107,385.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20181,528
$CAP_FILE_SIZE,61778,0
$CFSIZE,260165632,194404352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$SOUNDSPEED,1460.9
$GPS,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6