version: 66.08
glider: 141
mission: 15
dive: 918
start: 6 12 111 11 16 41
data:
$ID,141
$MISSION,15
$DIVE,918
$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,-85940.656
$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,30
$R_STBD_OVSHOOT,39
$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,5.09
$_SM_ANGLEo,-65.6
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-4.75,0.000,2,0.000,0.000,108,2506,838,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.1,-0.0,1,176,12.25,2.40,-129.10,0.000,4,0.304,0.085,2658,1087,3626,0,0,0,0,0,0
$GC,245,-1.06,-146.0,16.6,-12.5,42,251,0.40,2.25,0.00,0.000,6,0.100,0.052,2525,2529,3627,0,0,0,0,0,0
$GC,590,-1.29,-146.0,58.1,-12.3,103,596,0.22,2.47,0.00,0.000,4,0.097,0.083,2440,1078,3627,0,0,0,0,0,0
$GC,628,-1.05,-146.0,65.1,-22.8,109,634,0.30,2.25,0.00,0.000,6,0.221,0.047,2516,2493,3627,0,0,0,0,0,0
$GC,969,-1.13,-146.0,111.8,-12.9,162,973,0.00,2.25,0.00,0.000,4,0.000,0.057,2515,3893,3627,0,0,0,0,0,0
$GC,992,-1.36,-146.0,114.6,-11.4,163,998,0.28,2.30,0.00,0.000,6,0.112,0.061,2428,2492,3627,0,0,0,0,0,0
$GC,1319,-1.31,-146.0,169.3,-17.7,194,1323,0.00,2.42,0.00,0.000,4,0.000,0.083,2428,1077,3626,0,0,0,0,0,0
$GC,1348,-1.09,-146.0,175.6,-22.1,196,1353,0.35,2.20,0.00,0.000,6,0.238,0.041,2509,2490,3625,0,0,0,0,0,0
$GC,1675,-1.43,-146.0,208.8,-0.1,226,1680,0.28,2.40,0.00,0.000,4,0.106,0.076,2409,1080,3625,0,0,0,0,0,0
$GC,1687,-1.77,-146.0,208.8,-0.1,226,1693,0.32,2.25,0.00,0.000,6,0.096,0.050,2297,2501,3625,0,0,0,0,0,0
$STATE,1744,end dive,NO_VERTICAL_VELOCITY
$STATE,1744,begin apogee
$GC,1751,-0.12,0.0,208.8,0.0,232,1880,1.60,0.00,119.50,1.041,6,0.118,0.000,2816,2265,3030,0,0,0,0,0,0
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1884,0.62,146.0,208.7,0.0,244,2012,0.73,0.00,124.55,0.991,6,0.108,0.000,3052,2265,2434,0,0,0,0,0,0
$GC,2330,1.00,359.8,208.4,0.1,287,2522,0.35,2.53,180.82,0.956,4,0.072,0.054,3194,3683,1561,0,0,0,0,0,0
$GC,2538,0.86,359.8,191.8,14.5,307,2544,0.25,2.47,0.00,0.000,6,0.195,0.063,3145,2273,1559,0,0,0,0,0,0
$GC,2864,0.75,359.8,151.9,11.9,337,2869,0.15,2.28,0.00,0.000,4,0.216,0.054,3108,3687,1553,0,0,0,0,0,0
$GC,2875,0.64,359.8,150.5,12.0,337,2881,0.15,2.30,0.00,0.000,6,0.190,0.060,3075,2272,1552,0,0,0,0,0,0
$GC,3200,0.64,361.6,119.1,9.9,368,3205,0.00,2.25,0.00,0.000,4,0.000,0.054,3075,3687,1552,0,0,0,0,0,0
$GC,3213,0.64,361.6,117.9,10.0,369,3217,0.00,2.28,0.00,0.000,6,0.000,0.056,3083,2271,1552,0,0,0,0,0,0
$GC,3547,0.68,394.4,86.9,8.5,412,3583,0.00,2.38,29.60,0.894,4,0.000,0.075,3092,846,1422,0,0,0,0,0,0
$GC,3602,0.74,415.2,81.9,9.0,422,3628,0.00,2.25,19.77,0.864,6,0.000,0.045,3092,2296,1337,0,0,0,0,0,0
$GC,3968,0.90,415.7,44.3,10.0,487,3973,0.17,2.38,0.00,0.000,4,0.086,0.070,3169,863,1331,0,0,0,0,0,0
$GC,3987,0.99,415.7,42.3,10.2,490,3993,0.00,2.22,0.00,0.000,6,0.000,0.050,3169,2275,1331,0,0,0,0,0,0
$FREEZE,8.65,NaN,-0.007,0,281,0
$FREEZE,7.99,NaN,-0.006,0,281,0
$FREEZE,7.34,NaN,-0.006,0,281,0
$FREEZE,6.69,NaN,-0.005,0,281,0
$FREEZE,6.12,NaN,-0.005,0,281,0
$FREEZE,5.52,NaN,-0.004,0,281,0
$FREEZE,4.96,NaN,-0.004,0,281,0
$FREEZE,4.35,NaN,-0.003,0,281,0
$FREEZE,3.81,NaN,-0.003,0,281,0
$FREEZE,3.07,NaN,-0.002,0,281,0
$FREEZE,2.36,NaN,-0.002,0,281,0
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FREEZE,1.82,NaN,-0.001,0,281,0
$FREEZE,1.86,NaN,-0.001,0,281,0
$FREEZE,1.84,NaN,-0.001,0,281,0
$FREEZE,1.82,NaN,-0.001,0,281,0
$FREEZE,1.85,NaN,-0.001,0,281,0
$FINISH,1.9,NaN
$STATE,4352,end surface coast,CONTROL_FINISHED_OK
$STATE,4352,begin surface
$SM_CCo,4492,65.03,0.065,0,0,751,559.04
$SM_GC,2.76,0.00,0.00,65.03,0.000,0.000,0.065,110,2504,751,-8.61,0.40,559.04
$RAFOS_CLK,288
$RAFOS,2,1307881023,12.300000,12.284166,59,59,55,53,51,51,171,221,210,147,115,132
$RAFOS,1,1307880546,12.166667,12.151667,62,59,56,54,54,50,146,225,202,163,186,123
$RAFOS,0,1307880061,12.033333,12.016945,70,62,62,53,49,45,214,201,165,135,188,88
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.028462
$HUMID,78.47
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,22.2,119.647
$10V_AH,9.9,58.458
$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,26.725,47.225,474.250,65.025,0.000,98.445,19.829,0.000,9.000,0.000,183.289,632.319,2223.887,515.362,1556.793,611.723,0.000,1129.106,0.000,868.058,1440.000,2.614,0.000
$DEVICE_MAMPS,304.470,84.915,1041.165,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.977,387.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,20134,555
$CAP_FILE_SIZE,70548,0
$CFSIZE,260165632,198897664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6