version: 66.08
glider: 141
mission: 15
dive: 973
start: 6 15 111 14 39 28
data:
$ID,141
$MISSION,15
$DIVE,973
$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,-98127.594
$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,34
$R_STBD_OVSHOOT,67
$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,2.75
$_SM_ANGLEo,-75.1
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-107.47,0.000,2,0.000,0.000,115,2517,2497,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.1,-6.0,19,175,12.95,2.25,-25.25,0.000,4,0.322,0.063,2652,3876,3629,0,0,0,0,0,0
$GC,431,-0.99,-146.0,55.5,-16.3,71,439,0.32,2.30,0.00,0.000,6,0.101,0.058,2545,2499,3630,0,0,0,0,0,0
$GC,780,-1.27,-146.0,90.5,-9.7,132,787,0.25,0.00,0.00,0.000,6,0.098,0.000,2448,2499,3629,0,0,0,0,0,0
$GC,1117,-1.24,-146.0,146.4,-17.2,169,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2500,3628,0,0,0,0,0,0
$GC,1439,-1.20,-146.0,200.2,-16.9,199,1443,0.00,2.20,0.00,0.000,4,0.000,0.050,2448,3869,3628,0,0,0,0,0,0
$GC,1451,-1.20,-146.0,202.8,-16.8,200,1456,0.00,2.28,0.00,0.000,6,0.000,0.057,2448,2482,3628,0,0,0,0,0,0
$STATE,1704,end dive,NO_VERTICAL_VELOCITY
$STATE,1704,begin apogee
$GC,1711,-0.12,0.0,216.2,0.0,223,1843,1.17,0.00,119.80,1.037,6,0.122,0.000,2820,2262,3030,0,0,0,0,0,0
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1848,0.62,146.0,216.3,0.0,235,1983,0.73,2.55,124.55,0.991,4,0.110,0.047,3052,3650,2434,0,0,0,0,0,0
$GC,1990,1.09,358.2,216.1,0.2,247,2194,0.47,2.47,194.77,0.959,6,0.062,0.056,3218,2282,1568,0,0,0,0,0,0
$GC,2522,0.88,358.2,150.7,14.9,297,2527,0.28,2.47,0.00,0.000,4,0.216,0.067,3159,856,1560,0,0,0,0,0,0
$GC,2545,0.67,358.2,147.0,14.8,298,2553,0.30,2.28,0.00,0.000,6,0.221,0.051,3089,2246,1558,0,0,0,0,0,0
$GC,2872,0.65,364.0,114.8,9.7,329,2884,0.00,2.33,4.55,0.621,4,0.000,0.059,3089,3690,1546,0,0,0,0,0,0
$GC,2890,0.65,364.0,112.5,10.4,330,2897,0.00,2.33,0.00,0.000,6,0.000,0.055,3097,2265,1546,0,0,0,0,0,0
$GC,3230,0.62,364.0,77.3,10.2,380,3237,0.12,2.33,0.00,0.000,4,0.189,0.066,3075,868,1545,0,0,0,0,0,0
$GC,3308,0.64,364.0,69.8,10.0,393,3314,0.00,2.20,0.00,0.000,6,0.000,0.044,3075,2287,1545,0,0,0,0,0,0
$GC,3656,0.76,421.5,36.9,7.3,454,3698,0.10,2.30,36.15,0.955,4,0.117,0.050,3120,3680,1311,0,0,0,0,0,0
$GC,3707,0.78,434.1,32.4,9.4,462,3721,0.00,2.33,6.95,0.798,6,0.000,0.057,3128,2265,1260,0,0,0,0,0,0
$FREEZE,8.86,-1.055,-1.796,0,336,0
$FREEZE,8.30,-1.010,-1.794,0,336,0
$FREEZE,7.92,-1.024,-1.795,0,336,0
$FREEZE,7.47,-1.030,-1.795,0,336,0
$FREEZE,7.03,-1.049,-1.795,0,336,0
$FREEZE,6.57,-1.054,-1.795,0,336,0
$FREEZE,5.96,-1.046,-1.794,0,336,0
$FREEZE,5.55,-1.044,-1.794,0,336,0
$FREEZE,4.97,-1.039,-1.794,0,336,0
$FREEZE,4.37,-1.036,-1.793,0,336,0
$FREEZE,3.79,-1.030,-1.793,0,336,0
$FREEZE,3.02,-1.024,-1.791,0,336,0
$FREEZE,2.44,-1.007,-1.791,0,336,0
$STATE,4017,end climb,SURFACE_DEPTH_REACHED
$STATE,4017,begin surface coast
$FREEZE,2.02,-1.006,-1.791,0,336,0
$FREEZE,1.91,-0.976,-1.457,0,336,0
$FREEZE,1.88,-0.905,-1.786,0,336,0
$FREEZE,1.86,-0.906,-1.116,0,336,0
$FREEZE,1.81,-0.852,-1.131,0,336,0
$FINISH,1.8,1.016698
$STATE,4044,end surface coast,CONTROL_FINISHED_OK
$STATE,4045,begin surface
$SM_CCo,4083,56.03,0.065,0,0,751,559.04
$SM_GC,2.78,0.00,0.00,56.03,0.000,0.000,0.065,113,2497,751,-8.60,0.17,559.04
$RAFOS_CLK,273
$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,73.39
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,21.1,127.303
$10V_AH,9.8,61.105
$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,25.375,33.275,486.775,56.025,0.000,101.159,17.169,0.000,10.000,0.000,185.570,1176.487,1643.230,575.851,1137.561,620.327,0.000,1094.401,0.000,828.658,0.000,4.954,0.000
$DEVICE_MAMPS,322.065,76.500,1036.575,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.996,375.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20123,522
$CAP_FILE_SIZE,61792,0
$CFSIZE,260165632,196947968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6