version: 66.08
glider: 141
mission: 15
dive: 898
start: 6 11 111 9 27 48
data:
$ID,141
$MISSION,15
$DIVE,898
$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,-82620.492
$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,50
$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,2.64
$_SM_ANGLEo,-72.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-108.43,0.000,2,0.000,0.000,106,2513,2514,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.4,-9.5,22,180,12.98,2.47,-25.02,0.000,4,0.321,0.096,2658,1091,3630,0,0,0,0,0,0
$GC,294,-0.96,-146.0,28.7,-12.7,51,300,0.25,2.20,0.00,0.000,6,0.096,0.046,2557,2480,3629,0,0,0,0,0,0
$GC,639,-1.38,-146.0,64.2,-10.8,112,645,0.38,2.40,0.00,0.000,4,0.125,0.087,2429,1086,3629,0,0,0,0,0,0
$GC,676,-1.28,-146.0,69.7,-16.7,118,681,0.00,2.22,0.00,0.000,6,0.000,0.047,2429,2477,3628,0,0,0,0,0,0
$GC,1011,-1.23,-146.0,132.2,-17.9,163,1015,0.15,2.42,0.00,0.000,4,0.223,0.084,2466,1081,3627,0,0,0,0,0,0
$GC,1040,-1.05,-146.0,138.3,-20.8,165,1045,0.22,2.22,0.00,0.000,6,0.237,0.044,2519,2497,3628,0,0,0,0,0,0
$GC,1367,-1.21,-146.0,177.7,-10.5,195,1372,0.15,2.28,0.00,0.000,4,0.116,0.063,2465,3897,3628,0,0,0,0,0,0
$GC,1411,-1.50,-146.0,183.0,-11.7,198,1417,0.25,2.30,0.00,0.000,6,0.099,0.060,2378,2487,3628,0,0,0,0,0,0
$STATE,1723,end dive,NO_VERTICAL_VELOCITY
$STATE,1723,begin apogee
$GC,1732,-0.12,0.0,209.0,0.0,228,1859,1.40,0.00,119.78,1.036,6,0.132,0.000,2818,2267,3030,0,0,0,0,0,0
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1863,0.62,146.0,208.9,0.0,240,1997,0.73,2.58,122.30,0.985,4,0.110,0.081,3059,875,2434,0,0,0,0,0,0
$GC,2252,1.07,363.0,208.8,-0.0,276,2446,0.40,2.17,183.18,0.951,6,0.068,0.043,3219,2281,1549,0,0,0,0,0,0
$GC,2765,0.85,363.0,143.2,16.5,325,2770,0.28,2.25,0.00,0.000,4,0.213,0.057,3145,3680,1539,0,0,0,0,0,0
$GC,2778,0.65,363.0,141.2,16.5,325,2783,0.28,2.30,0.00,0.000,6,0.161,0.070,3074,2273,1538,0,0,0,0,0,0
$GC,3103,0.66,367.7,108.5,9.8,356,3107,0.00,2.25,0.00,0.000,4,0.000,0.057,3074,3675,1538,0,0,0,0,0,0
$GC,3115,0.66,367.7,107.2,10.2,357,3119,0.00,2.28,0.00,0.000,6,0.000,0.060,3081,2264,1537,0,0,0,0,0,0
$GC,3455,0.66,374.5,72.3,9.7,410,3471,0.00,2.38,9.43,0.799,4,0.000,0.075,3091,868,1503,0,0,0,0,0,0
$GC,3524,0.66,374.5,65.4,10.4,422,3529,0.00,2.22,0.00,0.000,6,0.000,0.045,3091,2267,1502,0,0,0,0,0,0
$GC,3868,0.68,384.7,29.3,9.5,483,3884,0.00,2.40,7.62,0.797,4,0.000,0.070,3098,860,1460,0,0,0,0,0,0
$GC,3908,0.74,384.7,25.3,10.6,490,3913,0.00,2.25,0.00,0.000,6,0.000,0.044,3098,2310,1460,0,0,0,0,0,0
$FREEZE,8.99,NaN,-0.007,0,261,0
$FREEZE,8.69,NaN,-0.007,0,261,0
$FREEZE,8.35,NaN,-0.006,0,261,0
$FREEZE,8.01,NaN,-0.006,0,261,0
$FREEZE,7.70,NaN,-0.006,0,261,0
$FREEZE,7.38,NaN,-0.006,0,261,0
$FREEZE,6.93,NaN,-0.005,0,261,0
$FREEZE,6.70,NaN,-0.005,0,261,0
$FREEZE,6.41,NaN,-0.005,0,261,0
$FREEZE,6.03,NaN,-0.005,0,261,0
$FREEZE,5.67,NaN,-0.004,0,261,0
$FREEZE,5.35,NaN,-0.004,0,261,0
$FREEZE,4.94,NaN,-0.004,0,261,0
$FREEZE,4.62,NaN,-0.003,0,261,0
$FREEZE,4.31,NaN,-0.003,0,261,0
$FREEZE,3.93,NaN,-0.003,0,261,0
$FREEZE,3.62,NaN,-0.003,0,261,0
$FREEZE,3.38,NaN,-0.003,0,261,0
$FREEZE,3.14,NaN,-0.002,0,261,0
$FREEZE,2.82,NaN,-0.002,0,261,0
$STATE,4205,end climb,SURFACE_DEPTH_REACHED
$STATE,4205,begin surface coast
$FREEZE,2.40,NaN,-0.002,0,261,0
$FREEZE,2.12,NaN,-0.002,0,261,0
$FREEZE,1.83,NaN,-0.001,0,261,0
$FREEZE,1.76,NaN,-0.001,0,261,0
$FREEZE,1.89,NaN,-0.001,0,261,0
$FREEZE,1.88,NaN,-0.001,0,261,0
$FREEZE,1.84,NaN,-0.001,0,261,0
$FREEZE,1.75,NaN,-0.001,0,261,0
$FREEZE,1.77,NaN,-0.001,0,261,0
$FREEZE,1.85,NaN,-0.001,0,261,0
$FREEZE,1.82,NaN,-0.001,0,261,0
$FREEZE,1.82,NaN,-0.001,0,261,0
$FREEZE,1.74,NaN,-0.001,0,261,0
$FINISH,1.7,NaN
$STATE,4279,end surface coast,CONTROL_FINISHED_OK
$STATE,4279,begin surface
$SM_CCo,4300,78.57,0.065,0,0,750,559.04
$SM_GC,2.62,0.00,0.00,78.57,0.000,0.000,0.065,116,2512,750,-8.59,0.65,559.04
$RAFOS_CLK,274
$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,78.98
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,22.5,116.879
$10V_AH,9.9,57.551
$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,26.075,42.200,442.300,78.575,0.000,98.407,17.478,0.000,8.500,0.000,183.282,623.184,2038.435,489.973,1612.173,562.742,0.000,1111.567,0.000,917.566,0.000,2.623,0.000
$DEVICE_MAMPS,320.535,96.390,1035.810,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.723,388.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20131,556
$CAP_FILE_SIZE,67425,0
$CFSIZE,260165632,199602176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6