version: 66.08
glider: 141
mission: 15
dive: 867
start: 6 9 111 14 31 39
data:
$ID,141
$MISSION,15
$DIVE,867
$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,-76348.75
$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,18
$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
$GPS1,090611,123143,6709.499,-5700.938,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.96
$_SM_ANGLEo,-31.0
$GPS2,090611,123143,6709.499,-5700.938,181,99.0,181,-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,179.8,15236,-17.5,-10.000
$D_GRID,445
$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,19,-0.62,-146.0,0.0,0.0,0,129,0.00,0.00,-106.82,0.000,2,0.000,0.000,105,2493,2778,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.5,-4.0,19,181,13.52,2.40,-26.17,0.000,4,0.330,0.086,2657,1073,3629,0,0,0,0,0,0
$GC,196,-0.44,-146.0,13.6,-14.2,29,203,0.22,2.40,0.00,0.000,6,0.224,0.079,2712,2495,3629,0,0,0,0,0,0
$GC,543,-0.44,-146.0,59.7,-12.8,90,549,0.00,2.42,0.00,0.000,4,0.000,0.094,2712,3900,3630,0,0,0,0,0,0
$GC,621,-0.49,-146.0,68.8,-11.1,103,628,0.00,2.33,0.00,0.000,6,0.000,0.059,2712,2482,3629,0,0,0,0,0,0
$GC,965,-0.49,-146.0,106.0,-10.9,159,969,0.00,2.33,0.00,0.000,4,0.000,0.074,2712,1078,3629,0,0,0,0,0,0
$GC,982,-0.49,-146.0,108.2,-10.9,160,989,0.00,2.33,0.00,0.000,6,0.000,0.070,2712,2488,3629,0,0,0,0,0,0
$GC,1311,-0.52,-146.0,140.4,-9.3,191,1315,0.00,2.42,0.00,0.000,4,0.000,0.086,2712,3906,3627,0,0,0,0,0,0
$GC,1356,-0.61,-146.0,144.8,-8.7,194,1363,0.15,2.28,0.00,0.000,6,0.115,0.057,2663,2485,3627,0,0,0,0,0,0
$GC,1683,-0.54,-146.0,187.1,-13.7,225,1687,0.00,2.33,0.00,0.000,4,0.000,0.071,2663,1071,3627,0,0,0,0,0,0
$GC,1710,-0.48,-146.0,191.6,-14.9,227,1718,0.17,2.38,0.00,0.000,6,0.212,0.068,2703,2494,3627,0,0,0,0,0,0
$GC,2040,-0.82,-146.0,210.2,-0.2,258,2046,0.28,0.00,0.00,0.000,6,0.100,0.000,2602,2493,3628,0,0,0,0,0,0
$STATE,2055,end dive,NO_VERTICAL_VELOCITY
$STATE,2055,begin apogee
$GC,2062,-0.12,0.0,210.2,0.0,260,2194,0.65,0.00,120.70,1.048,6,0.116,0.000,2815,2262,3029,0,0,0,0,0,0
$STATE,2195,end apogee,CONTROL_FINISHED_OK
$STATE,2195,begin climb
$GC,2199,0.62,146.0,210.2,0.0,272,2336,0.75,2.65,123.62,0.999,4,0.119,0.072,3055,3688,2434,0,0,0,0,0,0
$GC,2492,0.59,147.4,190.6,9.9,298,2499,0.00,2.30,0.00,0.000,6,0.000,0.058,3066,2282,2429,0,0,0,0,0,0
$GC,2820,0.61,167.0,159.8,9.1,329,2843,0.00,2.42,18.15,0.908,4,0.000,0.073,3077,862,2349,0,0,0,0,0,0
$GC,2913,0.63,181.9,151.1,9.3,337,2936,0.00,2.30,14.23,0.887,6,0.000,0.059,3077,2291,2287,0,0,0,0,0,0
$GC,3255,0.63,181.9,116.1,10.9,369,3259,0.00,2.28,0.00,0.000,4,0.000,0.072,3077,3684,2285,0,0,0,0,0,0
$GC,3317,0.59,181.9,108.2,12.4,374,3325,0.12,2.30,0.00,0.000,6,0.183,0.057,3056,2264,2285,0,0,0,0,0,0
$GC,3658,0.74,252.5,82.2,6.7,427,3730,0.12,2.40,61.53,0.911,4,0.103,0.073,3125,866,1998,0,0,0,0,0,0
$GC,3772,0.76,252.5,70.6,11.2,446,3778,0.00,2.30,0.00,0.000,6,0.000,0.060,3125,2285,1994,0,0,0,0,0,0
$GC,4120,0.76,252.5,30.9,12.1,507,4127,0.00,2.33,0.00,0.000,4,0.000,0.081,3125,3694,1991,0,0,0,0,0,0
$GC,4226,0.74,252.5,17.8,12.3,525,4233,0.12,2.30,0.00,0.000,6,0.181,0.065,3104,2264,1990,0,0,0,0,0,0
$FREEZE,8.96,-1.250,-1.814,1,230,2
$FREEZE,8.50,-1.245,-1.813,1,230,2
$FREEZE,7.97,-1.245,-1.813,1,230,2
$FREEZE,7.60,-1.243,-1.812,1,230,2
$FREEZE,7.13,-1.247,-1.812,1,230,2
$FREEZE,6.37,-1.251,-1.812,1,230,2
$FREEZE,5.94,-1.247,-1.811,1,230,2
$FREEZE,5.49,-1.243,-1.810,1,230,2
$FREEZE,4.88,-1.242,-1.810,1,230,2
$FREEZE,4.39,-1.241,-1.809,1,230,2
$FREEZE,3.79,-1.241,-1.809,1,230,2
$FREEZE,3.37,-1.240,-1.808,1,230,2
$FREEZE,2.77,-1.232,-1.807,1,230,2
$STATE,4381,end climb,SURFACE_DEPTH_REACHED
$STATE,4381,begin surface coast
$FREEZE,2.27,-1.228,-1.807,1,230,2
$FREEZE,1.76,-1.221,-1.807,1,230,2
$FREEZE,1.78,-0.956,-1.422,1,230,2
$FREEZE,1.73,-1.196,-1.804,1,230,2
$FREEZE,1.70,-1.126,-0.923,1,230,2
$FINISH,1.7,1.013605
$STATE,4408,end surface coast,CONTROL_FINISHED_OK
$STATE,4408,begin surface
$SM_CCo,4429,135.85,0.065,0,0,751,559.04
$SM_GC,2.56,0.00,0.00,135.85,0.000,0.000,0.065,112,2497,751,-8.60,0.20,559.04
$RAFOS_CLK,305
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5700.94,090611,121243
$TT8_MAMPS,0.026215
$HUMID,67.60
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.2,113.553
$10V_AH,9.7,56.195
$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,24.650,47.925,338.225,135.850,0.000,101.064,16.927,0.000,11.250,0.000,183.288,1294.365,1865.657,582.629,1198.017,664.496,0.000,1111.991,0.000,894.862,0.000,2.811,0.000
$DEVICE_MAMPS,330.480,94.095,1048.050,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.501,408.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20127,558
$CAP_FILE_SIZE,68800,0
$CFSIZE,260165632,200687616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,090611,123143,6709.499,-5700.938,181,99.0,181,-37.6