version: 66.08
glider: 141
mission: 15
dive: 868
start: 6 9 111 16 8 54
data:
$ID,141
$MISSION,15
$DIVE,868
$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,-76717.328
$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,28
$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,-5700.938,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.5
$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,16,-0.62,-146.0,0.0,0.0,0,219,0.00,0.00,-199.05,0.000,6,0.000,0.000,111,2497,3626,0,0,0,0,0,0
$GC,222,-0.62,-146.0,3.2,-0.2,35,241,11.82,2.42,0.00,0.000,4,0.287,0.089,2662,3893,3629,0,0,0,0,0,0
$GC,267,-0.46,-146.0,4.8,-4.6,42,274,0.20,2.28,0.00,0.000,6,0.214,0.055,2712,2479,3629,0,0,0,0,0,0
$GC,614,-0.46,-146.0,50.7,-12.8,103,621,0.00,2.42,0.00,0.000,4,0.000,0.082,2712,3895,3629,0,0,0,0,0,0
$GC,691,-0.49,-146.0,59.6,-11.2,116,698,0.00,2.28,0.00,0.000,6,0.000,0.056,2712,2493,3629,0,0,0,0,0,0
$GC,1039,-0.51,-146.0,99.7,-11.9,177,1046,0.00,2.35,0.00,0.000,4,0.000,0.073,2712,1080,3628,0,0,0,0,0,0
$GC,1053,-0.51,-146.0,101.5,-11.5,179,1058,0.00,2.33,0.00,0.000,6,0.000,0.070,2712,2480,3628,0,0,0,0,0,0
$GC,1380,-0.55,-146.0,136.0,-9.8,209,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2480,3627,0,0,0,0,0,0
$GC,1701,-0.60,-146.0,163.4,-8.4,239,1708,0.15,0.00,0.00,0.000,6,0.115,0.000,2659,2480,3627,0,0,0,0,0,0
$GC,2027,-0.53,-146.0,207.3,-15.1,270,2032,0.12,2.45,0.00,0.000,4,0.204,0.083,2688,3902,3627,0,0,0,0,0,0
$STATE,2181,end dive,NO_VERTICAL_VELOCITY
$STATE,2181,begin apogee
$GC,2191,-0.12,0.0,209.0,0.0,283,2318,0.40,0.00,120.20,1.049,6,0.163,0.000,2820,2264,3030,0,0,0,0,0,0
$STATE,2319,end apogee,CONTROL_FINISHED_OK
$STATE,2319,begin climb
$GC,2323,0.62,146.0,209.1,0.0,295,2458,0.73,2.60,123.75,0.997,4,0.119,0.075,3060,867,2433,0,0,0,0,0,0
$GC,2495,0.71,189.3,201.3,8.0,310,2540,0.00,2.42,38.88,0.951,6,0.000,0.058,3059,2277,2258,0,0,0,0,0,0
$GC,2859,0.78,210.0,168.7,9.0,344,2883,0.15,2.42,18.25,0.903,4,0.092,0.073,3126,3697,2173,0,0,0,0,0,0
$GC,2999,0.67,210.0,147.5,15.8,356,3004,0.20,2.30,0.00,0.000,6,0.193,0.059,3086,2267,2170,0,0,0,0,0,0
$GC,3325,0.68,217.5,113.9,9.7,386,3337,0.00,2.38,7.35,0.778,4,0.000,0.073,3095,865,2143,0,0,0,0,0,0
$GC,3430,0.72,217.5,103.4,10.4,395,3434,0.00,2.28,0.00,0.000,6,0.000,0.057,3095,2284,2142,0,0,0,0,0,0
$GC,3774,0.76,221.7,65.8,9.8,453,3787,0.00,2.33,5.32,0.688,4,0.000,0.072,3095,3687,2126,0,0,0,0,0,0
$GC,3840,0.76,221.7,58.6,11.2,464,3847,0.00,2.28,0.00,0.000,6,0.000,0.056,3106,2270,2125,0,0,0,0,0,0
$GC,4188,0.85,274.2,26.8,7.6,525,4224,0.00,0.00,30.67,0.909,6,0.000,0.000,3106,2270,1911,0,0,0,0,0,0
$FREEZE,8.46,-1.264,-1.813,1,231,0
$FREEZE,7.88,-1.261,-1.811,1,231,0
$FREEZE,7.46,-1.262,-1.811,1,231,0
$FREEZE,6.97,-1.262,-1.810,1,231,0
$FREEZE,6.78,-1.265,-1.810,1,231,0
$FREEZE,6.30,-1.266,-1.810,1,231,0
$FREEZE,5.65,-1.260,-1.809,1,231,0
$FREEZE,5.18,-1.261,-1.809,1,231,0
$FREEZE,4.50,-1.262,-1.808,1,231,0
$FREEZE,4.01,-1.267,-1.808,1,231,0
$FREEZE,3.55,-1.265,-1.807,1,231,0
$FREEZE,3.16,-1.268,-1.807,1,231,0
$FREEZE,2.51,-1.267,-1.806,1,231,0
$STATE,4451,end climb,SURFACE_DEPTH_REACHED
$STATE,4451,begin surface coast
$FREEZE,1.97,-1.263,-1.806,1,231,0
$FREEZE,1.78,-1.122,-1.797,1,231,0
$FREEZE,1.69,-1.150,-1.799,1,231,0
$FREEZE,1.71,-1.140,-1.713,1,231,0
$FREEZE,1.68,-1.182,-1.801,1,231,0
$FINISH,1.7,1.026423
$STATE,4479,end surface coast,CONTROL_FINISHED_OK
$STATE,4479,begin surface
$SM_CCo,4499,125.43,0.065,0,0,750,559.04
$SM_GC,2.60,0.00,0.00,125.43,0.000,0.000,0.065,112,2496,750,-8.60,0.20,559.04
$RAFOS_CLK,303
$RAFOS,6,1307638142,16.833334,16.817223,69,66,57,54,52,51,202,166,124,143,225,182
$RAFOS,5,1307637662,16.700001,16.683889,69,61,58,55,55,54,193,211,139,118,165,174
$RAFOS,4,1307637184,16.566668,16.551111,69,65,58,56,53,51,191,203,166,134,144,217
$RAFOS,3,1307636703,16.433332,16.417500,59,58,53,52,51,49,192,176,201,144,117,133
$RAFOS,2,1307636221,16.299999,16.283611,66,62,60,59,55,52,212,191,148,158,129,171
$RAFOS,1,1307635755,16.166666,16.154167,57,56,55,52,49,48,195,211,170,133,1214,113
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5700.94,090611,121243
$TT8_MAMPS,0.026964
$HUMID,68.90
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,22.2,113.656
$10V_AH,9.8,56.250
$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,22.400,38.550,344.425,125.425,0.000,101.370,17.423,0.000,12.500,0.000,183.288,1319.822,1856.831,591.686,1239.588,644.894,0.000,1148.128,0.000,932.248,2160.000,2.617,0.000
$DEVICE_MAMPS,286.875,88.740,1048.815,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.491,421.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,20106,577
$CAP_FILE_SIZE,68890,0
$CFSIZE,260165632,200650752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,090611,123143,6709.499,-5700.938,181,99.0,181,-37.6