version: 66.08
glider: 141
mission: 15
dive: 928
start: 6 13 111 0 10 34
data:
$ID,141
$MISSION,15
$DIVE,928
$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,-87413.938
$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,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,2.85
$_SM_ANGLEo,-78.2
$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,-108.47,0.000,2,0.000,0.000,110,2503,2511,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.3,-8.2,22,180,13.00,2.47,-24.35,0.000,4,0.323,0.093,2657,1091,3629,0,0,0,0,0,0
$GC,244,-0.97,-146.0,23.1,-12.4,42,249,0.28,2.20,0.00,0.000,6,0.140,0.050,2558,2485,3630,0,0,0,0,0,0
$GC,589,-1.32,-146.0,58.1,-9.5,103,595,0.32,2.40,0.00,0.000,4,0.184,0.079,2447,1089,3629,0,0,0,0,0,0
$GC,610,-1.62,-146.0,59.7,-7.9,106,615,0.30,2.22,0.00,0.000,6,0.107,0.050,2347,2480,3629,0,0,0,0,0,0
$GC,948,-1.45,-146.0,135.5,-23.8,153,952,0.20,2.30,0.00,0.000,4,0.230,0.054,2392,3897,3628,0,0,0,0,0,0
$GC,960,-1.34,-146.0,138.4,-23.3,153,966,0.15,2.33,0.00,0.000,6,0.176,0.067,2432,2498,3628,0,0,0,0,0,0
$GC,1287,-1.30,-146.0,197.9,-18.0,184,1291,0.00,2.40,0.00,0.000,4,0.000,0.081,2432,1074,3627,0,0,0,0,0,0
$GC,1309,-1.13,-146.0,202.9,-20.7,185,1315,0.25,2.25,0.00,0.000,6,0.220,0.040,2494,2520,3627,0,0,0,0,0,0
$STATE,1560,end dive,NO_VERTICAL_VELOCITY
$STATE,1560,begin apogee
$GC,1568,-0.12,0.0,215.2,0.0,209,1695,0.98,0.00,120.25,1.043,6,0.109,0.000,2818,2268,3029,0,0,0,0,0,0
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1699,0.62,146.0,215.2,0.0,221,1835,0.70,2.58,124.20,0.994,4,0.081,0.078,3070,874,2432,0,0,0,0,0,0
$GC,2091,1.02,363.6,214.9,-0.0,257,2283,0.35,2.20,184.07,0.959,6,0.070,0.039,3209,2281,1547,0,0,0,0,0,0
$GC,2602,0.81,363.6,150.2,16.2,306,2607,0.30,2.22,0.00,0.000,4,0.217,0.056,3130,3678,1538,0,0,0,0,0,0
$GC,2613,0.62,363.6,148.3,15.8,306,2619,0.25,2.28,0.00,0.000,6,0.152,0.054,3064,2267,1536,0,0,0,0,0,0
$GC,2939,0.66,377.0,117.4,9.4,337,2953,0.00,0.00,11.25,0.825,6,0.000,0.000,3064,2267,1493,0,0,0,0,0,0
$GC,3280,0.71,391.0,84.7,9.4,382,3301,0.00,2.30,13.73,0.853,4,0.000,0.052,3064,3673,1435,0,0,0,0,0,0
$GC,3359,0.88,420.8,77.5,8.6,396,3396,0.22,2.25,27.92,0.881,6,0.079,0.057,3159,2271,1313,0,0,0,0,0,0
$GC,3737,0.83,420.8,31.7,10.9,463,3742,0.00,2.22,0.00,0.000,4,0.000,0.060,3159,3677,1309,0,0,0,0,0,0
$GC,3749,0.77,420.8,30.0,11.8,465,3755,0.20,2.28,0.00,0.000,6,0.168,0.066,3114,2272,1308,0,0,0,0,0,0
$FREEZE,8.94,NaN,-0.007,0,291,0
$FREEZE,8.59,NaN,-0.006,0,291,0
$FREEZE,7.94,NaN,-0.006,0,291,0
$FREEZE,7.48,NaN,-0.006,0,291,0
$FREEZE,6.94,NaN,-0.005,0,291,0
$FREEZE,6.50,NaN,-0.005,0,291,0
$FREEZE,6.00,NaN,-0.005,0,291,0
$FREEZE,5.46,NaN,-0.004,0,291,0
$FREEZE,5.10,NaN,-0.004,0,291,0
$FREEZE,4.52,NaN,-0.003,0,291,0
$FREEZE,4.04,NaN,-0.003,0,291,0
$FREEZE,3.58,NaN,-0.003,0,291,0
$FREEZE,3.00,NaN,-0.002,0,291,0
$FREEZE,2.55,NaN,-0.002,0,291,0
$STATE,4047,end climb,SURFACE_DEPTH_REACHED
$STATE,4047,begin surface coast
$FREEZE,2.13,NaN,-0.002,0,291,0
$FREEZE,1.77,NaN,-0.001,0,291,0
$FREEZE,1.80,NaN,-0.001,0,291,0
$FREEZE,1.89,NaN,-0.001,0,291,0
$FREEZE,1.82,NaN,-0.001,0,291,0
$FREEZE,1.80,NaN,-0.001,0,291,0
$FREEZE,1.82,NaN,-0.001,0,291,0
$FINISH,1.8,NaN
$STATE,4086,end surface coast,CONTROL_FINISHED_OK
$STATE,4086,begin surface
$SM_CCo,4107,62.30,0.066,0,0,751,559.04
$SM_GC,2.64,0.00,0.00,62.30,0.000,0.000,0.066,111,2507,751,-8.60,0.48,559.04
$RAFOS_CLK,277
$RAFOS,6,1307926147,0.833333,0.818611,66,61,56,55,51,50,216,177,190,144,121,162
$RAFOS,5,1307925663,0.700000,0.684167,67,60,60,57,54,51,194,173,158,212,135,221
$RAFOS,4,1307925190,0.566667,0.552778,66,62,58,58,56,55,204,225,216,152,179,191
$RAFOS,3,1307924703,0.433333,0.417500,61,59,57,53,53,52,207,816,147,216,190,181
$RAFOS,2,1307924223,0.300000,0.284167,60,59,55,54,52,52,210,175,150,160,131,221
$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,77.87
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.3,121.004
$10V_AH,9.9,58.905
$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,26.275,37.650,481.425,62.300,0.000,90.822,68.339,0.000,9.000,0.000,183.286,593.807,1928.092,496.101,1576.442,591.486,0.000,1103.119,0.000,863.647,1800.000,2.617,0.000
$DEVICE_MAMPS,322.830,92.565,1042.695,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.033,365.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20132,525
$CAP_FILE_SIZE,66107,0
$CFSIZE,260165632,198553600
$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