version: 66.08
glider: 141
mission: 15
dive: 821
start: 6 6 111 22 19 55
data:
$ID,141
$MISSION,15
$DIVE,821
$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,-64151.934
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-76.0
$GPS2,060611,041820,6709.499,-5632.717,181,99.0,181,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,16,-0.62,-146.0,0.0,0.0,0,178,0.00,0.00,-156.82,0.000,2,0.000,0.000,109,2500,3280,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.9,-9.5,28,213,13.70,2.40,-7.18,0.000,4,0.331,0.080,2654,1083,3630,0,0,0,0,0,0
$GC,363,-0.54,-146.0,47.7,-17.5,59,370,0.12,2.33,0.00,0.000,6,0.220,0.069,2683,2482,3632,0,0,0,0,0,0
$GC,711,-0.49,-146.0,99.0,-13.2,120,717,0.00,2.40,0.00,0.000,4,0.000,0.083,2683,3900,3630,0,0,0,0,0,0
$GC,782,-0.49,-146.0,108.4,-12.7,127,786,0.00,2.28,0.00,0.000,6,0.000,0.054,2683,2488,3630,0,0,0,0,0,0
$GC,1109,-0.47,-146.0,150.9,-12.2,157,1113,0.00,2.30,0.00,0.000,4,0.000,0.070,2683,1083,3630,0,0,0,0,0,0
$GC,1138,-0.47,-146.0,154.7,-12.8,159,1142,0.00,2.33,0.00,0.000,6,0.000,0.067,2683,2490,3630,0,0,0,0,0,0
$GC,1464,-0.47,-146.0,193.2,-11.6,189,1468,0.00,2.40,0.00,0.000,4,0.000,0.083,2683,3910,3629,0,0,0,0,0,0
$STATE,1643,end dive,NO_VERTICAL_VELOCITY
$STATE,1644,begin apogee
$GC,1653,-0.12,0.0,197.2,0.0,205,1785,0.40,0.00,121.05,1.043,6,0.121,0.000,2816,2265,3029,0,0,0,0,0,0
$STATE,1786,end apogee,CONTROL_FINISHED_OK
$STATE,1786,begin climb
$GC,1789,0.62,146.0,197.3,0.0,217,1922,0.77,2.60,123.05,0.993,4,0.138,0.072,3054,3685,2433,0,0,0,0,0,0
$GC,1999,0.59,157.3,186.5,9.5,236,2014,0.00,2.38,10.68,0.859,6,0.000,0.057,3065,2277,2388,0,0,0,0,0,0
$GC,2336,0.62,176.5,156.4,9.1,267,2356,0.00,0.00,17.52,0.901,6,0.000,0.000,3065,2277,2310,0,0,0,0,0,0
$GC,2676,0.67,204.0,126.1,8.7,299,2705,0.00,2.40,24.48,0.911,4,0.000,0.073,3075,864,2198,0,0,0,0,0,0
$GC,2735,0.75,222.8,120.7,9.1,304,2757,0.00,2.28,17.70,0.885,6,0.000,0.057,3075,2278,2121,0,0,0,0,0,0
$GC,3085,0.83,253.9,86.8,8.6,348,3121,0.15,2.35,27.70,0.893,4,0.094,0.072,3142,3691,1993,0,0,0,0,0,0
$GC,3189,0.75,253.9,72.7,15.7,365,3196,0.17,2.28,0.00,0.000,6,0.194,0.057,3109,2273,1992,0,0,0,0,0,0
$GC,3539,0.82,282.1,36.3,8.7,426,3564,0.00,2.38,16.00,0.929,4,0.000,0.073,3111,858,1879,0,0,0,0,0,0
$GC,3601,0.94,307.0,30.7,8.8,436,3621,0.15,2.30,13.85,0.883,6,0.097,0.067,3176,2277,1778,0,0,0,0,0,0
$FREEZE,8.85,-1.257,-1.819,0,184,0
$FREEZE,7.98,-0.999,-1.815,0,184,0
$FREEZE,7.12,-0.824,-1.812,0,184,0
$FREEZE,6.38,-0.793,-1.812,0,184,0
$FREEZE,5.53,-0.762,-1.811,0,184,0
$FREEZE,4.74,-0.755,-1.811,0,184,0
$FREEZE,4.02,-0.748,-1.811,0,184,0
$FREEZE,3.22,-0.748,-1.810,0,184,0
$FREEZE,2.54,-0.745,-1.810,0,184,0
$STATE,3797,end climb,SURFACE_DEPTH_REACHED
$STATE,3797,begin surface coast
$FREEZE,1.89,-0.744,-1.810,0,184,0
$FREEZE,1.81,-0.653,-1.803,0,184,0
$FREEZE,1.77,-0.657,-1.202,0,184,0
$FREEZE,1.78,-0.731,-1.632,0,184,0
$FINISH,1.8,1.023998
$STATE,3824,end surface coast,CONTROL_FINISHED_OK
$STATE,3824,begin surface
$SM_CCo,3862,110.22,0.065,0,0,751,559.04
$SM_GC,2.60,0.00,0.00,110.22,0.000,0.000,0.065,110,2503,751,-8.61,0.37,559.04
$RAFOS_CLK,266
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.4,108.626
$10V_AH,9.8,54.191
$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,24.225,38.400,372.025,110.225,0.000,100.993,17.365,0.000,12.500,0.000,185.239,1073.834,1636.910,578.721,1081.442,549.325,0.000,1057.295,0.000,777.636,0.000,2.811,0.000
$DEVICE_MAMPS,331.245,83.385,1043.460,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.721,346.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,16804,475
$CAP_FILE_SIZE,59967,0
$CFSIZE,260165632,202256384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6