version: 66.08
glider: 141
mission: 15
dive: 889
start: 6 10 111 22 3 8
data:
$ID,141
$MISSION,15
$DIVE,889
$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,-81513.781
$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,24
$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,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-74.6
$GPS2,100611,043555,6709.499,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,179,0.00,0.00,-156.62,0.000,2,0.000,0.000,109,2495,3157,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.2,-7.2,28,214,13.57,2.35,-10.45,0.000,4,0.330,0.079,2656,1074,3630,0,0,0,0,0,0
$GC,286,-0.55,-146.0,30.2,-15.8,45,293,0.12,2.35,0.00,0.000,6,0.225,0.074,2685,2486,3632,0,0,0,0,0,0
$GC,633,-0.55,-146.0,76.9,-12.5,106,640,0.00,2.33,0.00,0.000,4,0.000,0.071,2685,1078,3631,0,0,0,0,0,0
$GC,677,-0.55,-146.0,82.7,-12.5,113,684,0.00,2.35,0.00,0.000,6,0.000,0.066,2685,2494,3631,0,0,0,0,0,0
$GC,1012,-0.55,-146.0,122.8,-11.8,156,1016,0.00,2.40,0.00,0.000,4,0.000,0.082,2685,3903,3630,0,0,0,0,0,0
$GC,1046,-0.55,-146.0,126.8,-11.7,158,1052,0.00,2.28,0.00,0.000,6,0.000,0.053,2685,2493,3630,0,0,0,0,0,0
$GC,1372,-0.55,-146.0,162.8,-10.0,189,1376,0.00,2.33,0.00,0.000,4,0.000,0.070,2685,1075,3630,0,0,0,0,0,0
$GC,1385,-0.55,-146.0,164.1,-10.0,190,1389,0.00,2.35,0.00,0.000,6,0.000,0.065,2685,2492,3630,0,0,0,0,0,0
$GC,1711,-0.57,-146.0,196.4,-9.9,220,1715,0.00,2.38,0.00,0.000,4,0.000,0.080,2685,3905,3630,0,0,0,0,0,0
$GC,1762,-0.63,-146.0,201.8,-10.0,224,1769,0.00,2.28,0.00,0.000,6,0.000,0.051,2685,2488,3630,0,0,0,0,0,0
$STATE,1958,end dive,NO_VERTICAL_VELOCITY
$STATE,1958,begin apogee
$GC,1966,-0.12,0.0,204.4,0.0,243,2094,0.40,0.00,120.45,1.030,6,0.135,0.000,2816,2257,3030,0,0,0,0,0,0
$STATE,2095,end apogee,CONTROL_FINISHED_OK
$STATE,2095,begin climb
$GC,2098,0.62,146.0,204.5,0.0,254,2235,0.77,2.53,122.72,0.978,4,0.129,0.071,3068,878,2432,0,0,0,0,0,0
$GC,2310,0.68,195.8,193.5,7.7,273,2360,0.00,2.38,43.50,0.931,6,0.000,0.057,3067,2286,2231,0,0,0,0,0,0
$GC,2679,0.69,206.7,158.6,9.5,308,2693,0.00,2.35,9.73,0.823,4,0.000,0.071,3068,3683,2187,0,0,0,0,0,0
$GC,2742,0.69,206.7,151.9,11.2,313,2749,0.00,2.28,0.00,0.000,6,0.000,0.054,3078,2273,2186,0,0,0,0,0,0
$GC,3068,0.69,206.7,118.1,10.3,344,3072,0.00,2.28,0.00,0.000,4,0.000,0.069,3087,867,2186,0,0,0,0,0,0
$GC,3170,0.69,206.7,107.0,11.0,352,3177,0.00,2.28,0.00,0.000,6,0.000,0.055,3088,2280,2184,0,0,0,0,0,0
$GC,3512,0.69,206.7,71.2,11.0,407,3519,0.00,2.33,0.00,0.000,4,0.000,0.079,3088,3687,2184,0,0,0,0,0,0
$GC,3593,0.66,206.7,61.8,11.6,421,3600,0.00,2.28,0.00,0.000,6,0.000,0.052,3098,2263,2184,0,0,0,0,0,0
$GC,3941,0.73,241.2,28.9,8.4,482,3966,0.00,2.35,18.67,0.903,4,0.000,0.068,3109,868,2045,0,0,0,0,0,0
$GC,4087,0.84,272.2,16.3,8.6,507,4112,0.00,2.30,15.68,0.838,6,0.000,0.061,3109,2285,1919,0,0,0,0,0,0
$FREEZE,8.65,-1.273,-1.803,0,252,0
$FREEZE,8.24,-1.271,-1.802,0,252,0
$FREEZE,7.91,-1.257,-1.802,0,252,0
$FREEZE,7.51,-1.259,-1.802,0,252,0
$FREEZE,6.97,-1.266,-1.801,0,252,0
$FREEZE,6.30,-1.264,-1.801,0,252,0
$FREEZE,5.82,-1.262,-1.800,0,252,0
$FREEZE,5.33,-1.263,-1.800,0,252,0
$FREEZE,5.06,-1.254,-1.800,0,252,0
$FREEZE,4.60,-1.260,-1.799,0,252,0
$FREEZE,4.29,-1.256,-1.799,0,252,0
$FREEZE,3.79,-1.264,-1.799,0,252,0
$FREEZE,3.30,-1.260,-1.798,0,252,0
$FREEZE,2.85,-1.257,-1.798,0,252,0
$STATE,4235,end climb,SURFACE_DEPTH_REACHED
$STATE,4235,begin surface coast
$FREEZE,2.30,-1.253,-1.797,0,252,0
$FREEZE,1.85,-1.257,-1.797,0,252,0
$FREEZE,1.93,-1.127,-0.924,0,252,0
$FREEZE,2.10,-1.264,-1.797,0,252,0
$FREEZE,1.79,-1.243,-1.092,0,252,0
$FREEZE,1.84,-1.223,-1.342,0,252,0
$FINISH,1.8,1.019803
$STATE,4268,end surface coast,CONTROL_FINISHED_OK
$STATE,4268,begin surface
$SM_CCo,4295,126.32,0.065,0,0,750,559.04
$SM_GC,2.63,0.00,0.00,126.32,0.000,0.000,0.065,115,2498,750,-8.59,0.23,559.04
$RAFOS_CLK,288
$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,77.44
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,22.4,115.758
$10V_AH,9.8,57.170
$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,23.475,47.375,330.750,126.325,0.000,98.847,16.975,0.000,12.500,0.000,183.289,1231.548,1827.579,575.979,1175.531,564.702,0.000,1099.812,0.000,867.885,0.000,2.615,0.000
$DEVICE_MAMPS,330.480,81.855,1029.690,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.906,390.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150484
$DATA_FILE_SIZE,20112,540
$CAP_FILE_SIZE,64752,0
$CFSIZE,260165632,199913472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6