version: 66.08
glider: 141
mission: 15
dive: 957
start: 6 14 111 15 41 46
data:
$ID,141
$MISSION,15
$DIVE,957
$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,-93684.695
$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,53
$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
$GPS1,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-59.6
$GPS2,140611,061758,6715.065,-5651.665,181,99.0,181,-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,210.8,22501,-17.5,-10.000
$D_GRID,236
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,134,0.00,0.00,-112.93,0.000,2,0.000,0.000,112,2523,2547,0,0,0,0,0,0
$GC,141,-0.62,-146.0,5.3,-8.1,23,183,12.90,2.47,-23.08,0.000,4,0.322,0.088,2658,1082,3629,0,0,0,0,0,0
$GC,252,-0.97,-146.0,23.9,-12.6,43,258,0.35,2.22,0.00,0.000,6,0.145,0.049,2557,2475,3629,0,0,0,0,0,0
$GC,598,-1.34,-146.0,60.2,-11.8,104,603,0.35,2.42,0.00,0.000,4,0.132,0.085,2443,1077,3629,0,0,0,0,0,0
$GC,657,-1.13,-146.0,70.8,-23.7,114,663,0.22,2.25,0.00,0.000,6,0.230,0.049,2496,2508,3629,0,0,0,0,0,0
$GC,999,-1.17,-146.0,122.7,-14.6,162,1003,0.00,2.22,0.00,0.000,4,0.000,0.055,2496,3899,3628,0,0,0,0,0,0
$GC,1052,-1.53,-146.0,128.9,-10.3,166,1057,0.38,2.28,0.00,0.000,6,0.100,0.054,2372,2491,3629,0,0,0,0,0,0
$GC,1379,-1.40,-146.0,195.0,-20.5,196,1384,0.17,2.30,0.00,0.000,4,0.233,0.054,2411,3901,3627,0,0,0,0,0,0
$GC,1424,-1.52,-146.0,202.6,-13.6,199,1430,0.12,2.35,0.00,0.000,6,0.119,0.062,2371,2487,3628,0,0,0,0,0,0
$STATE,1651,end dive,NO_VERTICAL_VELOCITY
$STATE,1651,begin apogee
$GC,1660,-0.12,0.0,214.2,0.0,221,1787,1.50,0.00,119.75,1.047,6,0.145,0.000,2818,2268,3031,0,0,0,0,0,0
$STATE,1788,end apogee,CONTROL_FINISHED_OK
$STATE,1788,begin climb
$GC,1791,0.62,146.0,214.1,0.0,233,1925,0.75,2.50,124.38,0.995,4,0.144,0.049,3053,3673,2434,0,0,0,0,0,0
$GC,1933,1.11,357.6,214.1,0.2,247,2140,0.50,2.53,193.65,0.962,6,0.076,0.057,3221,2280,1571,0,0,0,0,0,0
$GC,2458,0.89,357.6,151.5,15.3,297,2463,0.25,2.47,0.00,0.000,4,0.220,0.072,3167,860,1563,0,0,0,0,0,0
$GC,2489,0.65,357.6,146.9,14.9,299,2494,0.38,2.28,0.00,0.000,6,0.226,0.044,3080,2273,1561,0,0,0,0,0,0
$GC,2814,0.67,369.9,114.6,9.4,329,2830,0.00,2.25,10.50,0.825,4,0.000,0.051,3080,3690,1521,0,0,0,0,0,0
$GC,2836,0.69,387.5,112.5,9.2,330,2862,0.00,2.30,17.25,0.862,6,0.000,0.060,3084,2269,1450,0,0,0,0,0,0
$GC,3196,0.72,408.5,78.8,9.0,383,3222,0.00,2.33,19.45,0.871,4,0.000,0.061,3084,3682,1364,0,0,0,0,0,0
$GC,3253,0.85,431.7,73.5,8.9,393,3284,0.12,2.28,21.80,0.866,6,0.102,0.062,3146,2272,1269,0,0,0,0,0,0
$GC,3623,0.82,431.7,32.4,10.3,459,3628,0.00,2.30,0.00,0.000,4,0.000,0.066,3157,861,1266,0,0,0,0,0,0
$GC,3669,0.76,431.7,27.1,12.4,467,3675,0.17,2.25,0.00,0.000,6,0.189,0.050,3114,2299,1265,0,0,0,0,0,0
$FREEZE,8.69,NaN,-0.007,0,320,2
$FREEZE,8.16,NaN,-0.006,0,320,2
$FREEZE,7.51,NaN,-0.006,0,320,2
$FREEZE,6.97,NaN,-0.005,0,320,2
$FREEZE,6.43,NaN,-0.005,0,320,2
$FREEZE,5.97,NaN,-0.004,0,320,2
$FREEZE,5.40,NaN,-0.004,0,320,2
$FREEZE,4.85,NaN,-0.004,0,320,2
$FREEZE,4.29,NaN,-0.003,0,320,2
$FREEZE,3.78,NaN,-0.003,0,320,2
$FREEZE,3.26,NaN,-0.002,0,320,2
$FREEZE,2.82,NaN,-0.002,0,320,2
$STATE,3895,end climb,SURFACE_DEPTH_REACHED
$STATE,3895,begin surface coast
$FREEZE,2.32,NaN,-0.002,0,320,2
$FREEZE,1.81,NaN,-0.001,0,320,2
$FREEZE,1.82,NaN,-0.001,0,320,2
$FREEZE,1.88,NaN,-0.001,0,320,2
$FREEZE,1.82,NaN,-0.001,0,320,2
$FREEZE,1.78,NaN,-0.001,0,320,2
$FINISH,1.8,NaN
$STATE,3929,end surface coast,CONTROL_FINISHED_OK
$STATE,3930,begin surface
$SM_CCo,3974,57.70,0.065,0,0,751,559.04
$SM_GC,2.82,0.00,0.00,57.70,0.000,0.000,0.065,113,2523,751,-8.60,0.93,559.04
$RAFOS_CLK,263
$RAFOS,5,1308069664,16.700001,16.684444,54,53,50,49,49,49,143,208,165,114,233,1505
$RAFOS,4,1308069185,16.566668,16.551390,63,61,58,57,55,53,215,141,246,157,203,178
$RAFOS,3,1308068705,16.433332,16.418056,64,54,53,53,48,47,201,187,163,216,144,173
$RAFOS,2,1308068222,16.299999,16.283890,58,57,56,56,52,51,193,128,111,226,172,206
$RAFOS,1,1308067747,16.166666,16.151945,59,58,58,55,49,47,143,184,230,212,156,126
$RAFOS,0,1308067269,16.033333,16.019167,58,54,52,49,49,48,210,119,186,132,221,801
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026215
$HUMID,75.24
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,21.1,125.056
$10V_AH,9.8,60.320
$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,26.950,42.625,506.775,57.700,0.000,94.815,62.688,0.000,9.500,0.000,183.288,578.831,1826.879,506.460,1541.836,589.301,0.000,1118.136,0.000,837.391,2160.000,2.616,0.000
$DEVICE_MAMPS,322.065,87.975,1046.520,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.288,355.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20103,513
$CAP_FILE_SIZE,66633,0
$CFSIZE,260165632,197517312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,153143,6652.926,-5651.085,0,10000.0,0,-37.6