version: 66.08
glider: 141
mission: 15
dive: 972
start: 6 15 111 13 3 28
data:
$ID,141
$MISSION,15
$DIVE,972
$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,-97755.734
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.54
$_SM_ANGLEo,7.1
$GPS2,150611,060412,6715.065,-5705.686,181,99.0,181,-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,187.8,25737,-17.5,-10.000
$D_GRID,322
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2896,2262,3086,0,0,0,0,0,0
$GC,28,-0.62,-146.0,16.0,-0.0,1,47,0.73,2.62,-9.88,0.000,4,0.158,0.064,2675,3899,3629,0,0,0,0,0,0
$GC,305,-0.97,-146.0,57.3,-15.5,49,312,0.38,2.28,0.00,0.000,6,0.113,0.063,2556,2493,3630,0,0,0,0,0,0
$GC,654,-1.38,-146.0,95.0,-10.3,110,661,0.38,2.38,0.00,0.000,4,0.130,0.076,2430,1082,3629,0,0,0,0,0,0
$GC,696,-1.26,-146.0,102.0,-19.3,116,704,0.12,2.15,0.00,0.000,6,0.252,0.034,2456,2500,3629,0,0,0,0,0,0
$GC,1023,-1.23,-146.0,156.4,-16.5,147,1027,0.00,2.20,0.00,0.000,4,0.000,0.050,2456,3883,3627,0,0,0,0,0,0
$GC,1225,-1.51,-146.0,180.9,-11.5,164,1232,0.22,2.25,0.00,0.000,6,0.101,0.054,2380,2494,3627,0,0,0,0,0,0
$GC,1551,-1.96,-146.0,215.6,0.2,195,1557,0.40,2.38,0.00,0.000,4,0.119,0.068,2251,1079,3627,0,0,0,0,0,0
$GC,1565,-2.40,-146.0,215.8,0.1,195,1572,0.50,2.20,0.00,0.000,6,0.110,0.040,2094,2484,3626,0,0,0,0,0,0
$STATE,1580,end dive,NO_VERTICAL_VELOCITY
$STATE,1580,begin apogee
$GC,1588,-0.12,0.0,215.7,0.0,197,1719,2.15,0.00,118.47,1.021,6,0.095,0.000,2828,2267,3030,0,0,0,0,0,0
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1724,0.62,146.0,215.8,0.0,209,1852,0.65,0.00,124.12,0.978,6,0.076,0.000,3057,2267,2434,0,0,0,0,0,0
$GC,2172,1.07,360.4,215.7,0.1,252,2362,0.38,2.45,182.40,0.952,4,0.076,0.044,3210,3676,1559,0,0,0,0,0,0
$GC,2377,0.92,360.4,201.0,15.0,270,2383,0.25,2.45,0.00,0.000,6,0.193,0.054,3162,2281,1557,0,0,0,0,0,0
$GC,2704,0.81,360.4,159.7,12.8,300,2709,0.15,2.38,0.00,0.000,4,0.207,0.067,3133,855,1552,0,0,0,0,0,0
$GC,2723,0.70,360.4,157.3,12.8,301,2728,0.17,2.25,0.00,0.000,6,0.194,0.042,3091,2276,1549,0,0,0,0,0,0
$GC,3050,0.70,360.4,123.3,10.3,331,3054,0.00,2.22,0.00,0.000,4,0.000,0.050,3091,3683,1549,0,0,0,0,0,0
$GC,3074,0.72,360.4,120.8,10.0,332,3081,0.00,2.28,0.00,0.000,6,0.000,0.050,3098,2269,1548,0,0,0,0,0,0
$GC,3409,0.70,361.9,86.5,9.9,374,3416,0.00,2.28,0.00,0.000,4,0.000,0.057,3098,3690,1548,0,0,0,0,0,0
$GC,3472,0.79,376.4,80.4,9.3,384,3491,0.00,2.28,13.45,0.845,6,0.000,0.050,3108,2271,1495,0,0,0,0,0,0
$GC,3834,0.82,398.6,45.6,9.0,447,3859,0.00,2.35,20.00,0.875,4,0.000,0.063,3118,869,1405,0,0,0,0,0,0
$GC,3929,0.82,399.4,36.6,10.0,463,3936,0.00,2.17,0.00,0.000,6,0.000,0.037,3118,2284,1403,0,0,0,0,0,0
$FREEZE,8.84,-1.079,-1.797,0,335,1
$FREEZE,8.34,-1.091,-1.797,0,335,1
$FREEZE,7.82,-1.086,-1.796,0,335,1
$FREEZE,7.31,-1.062,-1.795,0,335,1
$FREEZE,6.81,-1.043,-1.794,0,335,1
$FREEZE,6.20,-1.057,-1.794,0,335,1
$FREEZE,5.77,-1.055,-1.794,0,335,1
$FREEZE,5.32,-1.030,-1.793,0,335,1
$FREEZE,4.73,-1.032,-1.792,0,335,1
$FREEZE,4.21,-1.017,-1.792,0,335,1
$FREEZE,3.80,-1.018,-1.792,0,335,1
$FREEZE,3.26,-1.019,-1.791,0,335,1
$FREEZE,2.66,-1.009,-1.791,0,335,1
$STATE,4256,end climb,SURFACE_DEPTH_REACHED
$STATE,4256,begin surface coast
$FREEZE,2.09,-1.008,-1.790,0,335,1
$FREEZE,2.02,-0.913,-1.540,0,335,1
$FREEZE,1.99,-0.938,-1.413,0,335,1
$FREEZE,1.90,-0.943,-1.785,0,335,1
$FREEZE,1.96,-0.945,-1.081,0,335,1
$FREEZE,2.03,-0.886,-1.034,0,335,1
$FINISH,2.0,1.015258
$STATE,4288,end surface coast,CONTROL_FINISHED_OK
$STATE,4288,begin surface
$SM_CCo,4430,72.60,0.063,0,0,750,559.04
$SM_GC,2.77,0.00,0.00,72.60,0.000,0.000,0.063,115,2516,750,-8.59,0.74,559.04
$RAFOS_CLK,248
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5705.69,150611,060612
$TT8_MAMPS,0.026215
$HUMID,75.04
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.80
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.4,17.5
$24V_AH,22.2,127.162
$10V_AH,9.8,61.054
$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,15.175,42.175,458.450,72.600,0.000,0.000,0.000,0.000,8.750,0.000,0.000,1248.431,1825.479,502.615,846.456,143.816,0.000,1008.239,0.000,846.247,0.000,2.619,0.000
$DEVICE_MAMPS,252.450,76.500,1020.510,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.209,387.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,20105,527
$CAP_FILE_SIZE,60553,0
$CFSIZE,260165632,196988928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6