version: 66.08
glider: 141
mission: 15
dive: 836
start: 6 7 111 19 28 10
data:
$ID,141
$MISSION,15
$DIVE,836
$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,-68595.68
$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,23
$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
$GPS1,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-75.6
$GPS2,070611,142946,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-157.50,0.000,2,0.000,0.000,116,2497,3244,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.6,-8.6,28,214,13.85,2.40,-8.15,0.000,4,0.335,0.083,2654,1080,3630,0,0,0,0,0,0
$GC,222,0.08,-146.0,20.4,-34.6,34,229,0.90,2.35,0.00,0.000,6,0.227,0.079,2878,2482,3632,0,0,0,0,0,0
$GC,569,-0.35,-146.0,52.3,-10.3,95,576,0.35,0.00,0.00,0.000,6,0.175,0.000,2760,2482,3632,0,0,0,0,0,0
$GC,919,-0.59,-146.0,78.2,-7.3,156,926,0.25,0.00,0.00,0.000,6,0.094,0.000,2662,2483,3632,0,0,0,0,0,0
$GC,1254,-0.51,-146.0,128.0,-15.2,200,1259,0.12,2.35,0.00,0.000,4,0.223,0.073,2690,1079,3631,0,0,0,0,0,0
$GC,1298,-0.51,-146.0,134.3,-12.0,203,1306,0.00,2.35,0.00,0.000,6,0.000,0.070,2690,2492,3630,0,0,0,0,0,0
$GC,1624,-0.51,-146.0,170.5,-10.6,234,1628,0.00,2.40,0.00,0.000,4,0.000,0.085,2690,3900,3629,0,0,0,0,0,0
$GC,1653,-0.51,-146.0,173.6,-11.0,236,1657,0.00,2.30,0.00,0.000,6,0.000,0.056,2690,2481,3629,0,0,0,0,0,0
$GC,1982,-0.57,-146.0,207.9,-9.3,266,1987,0.00,2.42,0.00,0.000,4,0.000,0.081,2690,3903,3630,0,0,0,0,0,0
$STATE,2128,end dive,NO_VERTICAL_VELOCITY
$STATE,2128,begin apogee
$GC,2138,-0.12,0.0,207.7,0.0,278,2267,0.40,0.00,121.43,1.044,6,0.142,0.000,2817,2275,3030,0,0,0,0,0,0
$STATE,2268,end apogee,CONTROL_FINISHED_OK
$STATE,2268,begin climb
$GC,2271,0.62,146.0,207.8,0.0,290,2405,0.77,2.62,123.95,0.999,4,0.142,0.073,3054,3687,2433,0,0,0,0,0,0
$GC,2458,0.59,156.5,198.4,9.5,307,2476,0.00,2.42,9.88,0.855,6,0.000,0.059,3065,2275,2392,0,0,0,0,0,0
$GC,2795,0.59,161.4,166.5,9.8,339,2807,0.00,2.35,5.85,0.731,4,0.000,0.074,3075,864,2370,0,0,0,0,0,0
$GC,2846,0.59,161.4,161.0,10.4,343,2853,0.00,2.30,0.00,0.000,6,0.000,0.060,3075,2278,2369,0,0,0,0,0,0
$GC,3172,0.59,162.4,127.9,10.0,374,3176,0.00,2.30,0.00,0.000,4,0.000,0.073,3075,3689,2370,0,0,0,0,0,0
$GC,3281,0.54,162.4,115.3,12.3,383,3286,0.17,2.30,0.00,0.000,6,0.182,0.059,3040,2273,2369,0,0,0,0,0,0
$GC,3617,0.66,209.7,86.8,7.8,427,3670,0.12,2.42,42.33,0.916,4,0.103,0.073,3109,861,2173,0,0,0,0,0,0
$GC,3723,0.66,209.7,75.2,11.5,445,3731,0.12,2.33,0.00,0.000,6,0.187,0.060,3080,2282,2170,0,0,0,0,0,0
$GC,4073,0.74,235.7,42.8,8.8,506,4102,0.00,2.38,20.98,0.900,4,0.000,0.082,3080,3687,2069,0,0,0,0,0,0
$GC,4139,0.79,235.7,36.4,10.0,517,4145,0.00,2.30,0.00,0.000,6,0.000,0.067,3087,2271,2069,0,0,0,0,0,0
$FREEZE,8.72,-1.093,-1.816,1,199,0
$FREEZE,8.36,-1.081,-1.816,1,199,0
$FREEZE,7.46,-1.080,-1.815,1,199,0
$FREEZE,6.65,-1.061,-1.815,1,199,0
$FREEZE,5.58,-1.038,-1.813,1,199,0
$GC,4489,0.93,287.5,8.4,7.6,578,4521,0.20,2.40,25.83,0.828,4,0.082,0.075,3179,870,1856,0,0,0,0,0,0
$FREEZE,3.41,-1.036,-1.812,1,199,0
$FREEZE,2.53,-1.030,-1.811,1,199,0
$STATE,4531,end climb,SURFACE_DEPTH_REACHED
$STATE,4531,begin surface coast
$FREEZE,1.80,-1.028,-1.811,1,199,0
$FREEZE,1.89,-0.961,-0.983,1,199,0
$FREEZE,1.75,-0.992,-1.808,1,199,0
$FREEZE,1.82,-1.016,-1.810,1,199,0
$FINISH,1.8,1.026541
$STATE,4555,end surface coast,CONTROL_FINISHED_OK
$STATE,4556,begin surface
$SM_CCo,4596,118.78,0.065,0,0,750,559.04
$SM_GC,2.64,0.00,0.00,118.78,0.000,0.000,0.065,117,2498,750,-8.59,0.23,559.04
$RAFOS_CLK,305
$RAFOS,4,1307478782,20.566668,20.550556,66,58,58,57,55,46,207,190,169,155,223,133
$RAFOS,3,1307478303,20.433332,20.417500,60,60,55,55,49,48,207,217,159,194,138,169
$RAFOS,2,1307477826,20.299999,20.285000,57,55,54,51,50,50,203,164,214,128,182,145
$RAFOS,1,1307477344,20.166666,20.151112,66,60,56,53,53,49,193,152,218,203,107,171
$RAFOS,0,1307476866,20.033333,20.018333,58,55,54,54,53,50,211,171,193,180,158,135
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,070611,141446
$TT8_MAMPS,0.028462
$HUMID,45.82
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.3,110.328
$10V_AH,9.8,54.862
$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,26.025,48.075,350.225,118.775,0.000,98.338,17.117,0.000,13.750,0.000,185.269,1340.014,1912.041,599.259,1241.269,585.898,0.000,1149.398,0.000,936.420,2160.000,2.615,0.000
$DEVICE_MAMPS,335.070,84.915,1044.225,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.195,429.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,23398,588
$CAP_FILE_SIZE,70134,0
$CFSIZE,260165632,201728000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.7
$GPS,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6