version: 66.08
glider: 141
mission: 15
dive: 880
start: 6 10 111 8 46 14
data:
$ID,141
$MISSION,15
$DIVE,880
$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,-78931.742
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,100611,043555,6709.499,-5646.748,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.80
$_SM_ANGLEo,-5.4
$GPS2,100611,043555,6709.499,-5646.748,0,10000.0,0,-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,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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.45,0.000,2,0.000,0.000,2890,858,3020,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.7,-0.0,1,52,0.62,0.35,-16.92,0.000,4,0.129,0.133,2669,1092,3627,0,0,0,0,0,0
$GC,200,-0.57,-146.0,33.6,-16.6,31,207,0.00,2.25,0.00,0.000,6,0.000,0.060,2669,2487,3628,0,0,0,0,0,0
$GC,546,-0.50,-146.0,86.4,-14.2,92,554,0.12,2.40,0.00,0.000,4,0.227,0.075,2696,3906,3626,0,0,0,0,0,0
$GC,579,-0.50,-146.0,91.0,-12.9,97,586,0.00,2.28,0.00,0.000,6,0.000,0.058,2696,2481,3626,0,0,0,0,0,0
$GC,912,-0.50,-146.0,128.0,-10.9,135,916,0.00,2.25,0.00,0.000,4,0.000,0.064,2696,1076,3625,0,0,0,0,0,0
$GC,962,-0.54,-146.0,133.7,-10.3,139,969,0.00,2.30,0.00,0.000,6,0.000,0.060,2696,2490,3625,0,0,0,0,0,0
$GC,1288,-0.54,-146.0,167.3,-10.1,170,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2490,3625,0,0,0,0,0,0
$GC,1612,-0.57,-146.0,199.6,-9.9,200,1616,0.00,2.35,0.00,0.000,4,0.000,0.074,2696,3906,3624,0,0,0,0,0,0
$GC,1665,-0.62,-146.0,204.8,-8.9,204,1669,0.00,2.25,0.00,0.000,6,0.000,0.046,2696,2478,3624,0,0,0,0,0,0
$STATE,1839,end dive,NO_VERTICAL_VELOCITY
$STATE,1839,begin apogee
$GC,1848,-0.12,0.0,205.5,0.0,220,1973,0.38,0.00,118.68,1.018,6,0.142,0.000,2815,2253,3030,0,0,0,0,0,0
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1977,0.62,146.0,205.4,0.0,231,2113,0.77,2.60,121.93,0.968,4,0.139,0.064,3053,3694,2433,0,0,0,0,0,0
$GC,2194,0.57,146.0,191.9,10.1,251,2198,0.00,2.30,0.00,0.000,6,0.000,0.051,3064,2289,2429,0,0,0,0,0,0
$GC,2521,0.60,164.1,162.3,9.2,281,2544,0.00,2.30,15.90,0.884,4,0.000,0.065,3075,867,2359,0,0,0,0,0,0
$GC,2608,0.62,181.1,154.2,9.2,288,2629,0.00,2.28,15.88,0.879,6,0.000,0.052,3075,2290,2290,0,0,0,0,0,0
$GC,2955,0.63,192.2,119.7,9.5,321,2970,0.00,2.28,10.40,0.833,4,0.000,0.066,3075,3690,2246,0,0,0,0,0,0
$GC,3029,0.60,192.2,111.5,12.0,327,3036,0.00,2.25,0.00,0.000,6,0.000,0.050,3085,2273,2245,0,0,0,0,0,0
$GC,3369,0.61,203.5,75.9,9.5,378,3388,0.00,2.28,11.38,0.833,4,0.000,0.064,3095,865,2199,0,0,0,0,0,0
$GC,3469,0.64,223.2,66.3,9.1,395,3494,0.00,2.25,18.33,0.864,6,0.000,0.060,3095,2277,2120,0,0,0,0,0,0
$GC,3836,0.71,243.7,33.7,9.1,459,3855,0.00,2.30,11.18,0.882,4,0.000,0.067,3095,3694,2036,0,0,0,0,0,0
$GC,3940,0.77,266.4,24.0,9.0,476,3959,0.00,2.28,12.07,0.842,6,0.000,0.058,3106,2264,1942,0,0,0,0,0,0
$FREEZE,8.96,-1.169,-1.811,0,243,0
$FREEZE,8.49,-1.174,-1.811,0,243,0
$FREEZE,8.08,-1.172,-1.811,0,243,0
$FREEZE,7.55,-1.172,-1.811,0,243,0
$FREEZE,6.97,-1.172,-1.810,0,243,0
$FREEZE,6.57,-1.172,-1.810,0,243,0
$FREEZE,5.95,-1.174,-1.809,0,243,0
$FREEZE,5.43,-1.173,-1.809,0,243,0
$FREEZE,4.91,-1.174,-1.809,0,243,0
$FREEZE,4.48,-1.174,-1.808,0,243,0
$FREEZE,3.94,-1.173,-1.808,0,243,0
$FREEZE,3.38,-1.174,-1.807,0,243,0
$FREEZE,2.71,-1.172,-1.807,0,243,0
$STATE,4166,end climb,SURFACE_DEPTH_REACHED
$STATE,4166,begin surface coast
$FREEZE,2.20,-1.171,-1.806,0,243,0
$FREEZE,1.75,-1.145,-1.205,0,243,0
$FREEZE,1.84,-0.980,-1.553,0,243,0
$FREEZE,1.82,-0.813,-1.364,0,243,0
$FREEZE,1.80,-0.800,-0.632,0,243,0
$FINISH,1.8,1.009261
$STATE,4195,end surface coast,CONTROL_FINISHED_OK
$STATE,4195,begin surface
$SM_CCo,4240,128.10,0.063,0,0,750,559.04
$SM_GC,2.60,0.00,0.00,128.10,0.000,0.000,0.063,112,2509,750,-8.60,0.54,559.04
$RAFOS_CLK,236
$RAFOS,6,1307695743,8.833333,8.817500,61,59,57,56,56,53,165,177,122,145,197,154
$RAFOS,5,1307695265,8.700000,8.684722,66,60,57,53,52,49,201,184,217,170,113,122
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,75.16
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,22.6,114.830
$10V_AH,9.8,56.750
$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,10.450,40.225,335.725,128.100,0.000,0.000,0.000,0.000,8.250,0.000,0.000,1241.752,1768.768,460.323,835.130,127.485,0.000,934.517,0.000,836.271,360.000,2.616,0.000
$DEVICE_MAMPS,227.205,133.110,1018.215,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.569,383.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,522
$CAP_FILE_SIZE,57512,0
$CFSIZE,260165632,200241152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6