version: 66.08
glider: 141
mission: 15
dive: 974
start: 6 15 111 16 9 37
data:
$ID,141
$MISSION,15
$DIVE,974
$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,-98498.461
$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,31
$R_STBD_OVSHOOT,51
$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,2.78
$_SM_ANGLEo,-74.7
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-113.07,0.000,2,0.000,0.000,113,2497,2630,0,0,0,0,0,0
$GC,139,-0.62,-146.0,6.1,-8.6,20,182,13.00,2.45,-19.17,0.000,4,0.323,0.085,2652,1082,3629,0,0,0,0,0,0
$GC,286,-1.06,-146.0,29.5,-10.0,45,293,0.40,2.20,0.00,0.000,6,0.092,0.037,2517,2492,3630,0,0,0,0,0,0
$GC,633,-1.16,-146.0,74.3,-13.7,106,640,0.00,2.40,0.00,0.000,4,0.000,0.079,2517,1088,3629,0,0,0,0,0,0
$GC,649,-1.21,-146.0,76.6,-13.9,108,656,0.12,2.20,0.00,0.000,6,0.141,0.046,2477,2490,3629,0,0,0,0,0,0
$GC,985,-1.21,-146.0,131.1,-15.8,151,989,0.00,2.25,0.00,0.000,4,0.000,0.053,2477,3882,3629,0,0,0,0,0,0
$GC,1041,-1.54,-146.0,137.6,-11.1,155,1046,0.32,2.28,0.00,0.000,6,0.093,0.053,2365,2495,3629,0,0,0,0,0,0
$GC,1369,-1.41,-146.0,202.6,-20.6,185,1374,0.17,2.30,0.00,0.000,4,0.233,0.051,2404,3892,3628,0,0,0,0,0,0
$STATE,1591,end dive,NO_VERTICAL_VELOCITY
$STATE,1591,begin apogee
$GC,1601,-0.12,0.0,215.1,0.0,204,1729,1.30,0.00,120.03,1.040,6,0.119,0.000,2820,2271,3030,0,0,0,0,0,0
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1733,0.62,146.0,215.1,0.0,216,1867,0.73,0.00,125.18,0.991,6,0.096,0.000,3059,2271,2432,0,0,0,0,0,0
$GC,2183,1.09,362.2,215.0,0.0,258,2378,0.40,2.67,185.77,0.961,4,0.080,0.070,3227,863,1552,0,0,0,0,0,0
$GC,2405,0.74,362.2,195.6,19.3,278,2411,0.55,2.42,0.00,0.000,6,0.243,0.043,3112,2265,1548,0,0,0,0,0,0
$GC,2731,0.67,362.2,154.5,11.6,308,2736,0.00,2.33,0.00,0.000,4,0.000,0.067,3120,866,1541,0,0,0,0,0,0
$GC,2771,0.54,362.2,149.1,14.4,311,2779,0.30,2.25,0.00,0.000,6,0.205,0.054,3044,2278,1540,0,0,0,0,0,0
$GC,3098,0.64,400.4,120.8,8.2,342,3135,0.00,2.28,32.50,0.900,4,0.000,0.052,3044,3693,1396,0,0,0,0,0,0
$GC,3154,0.79,424.0,116.0,8.9,346,3184,0.22,2.33,22.12,0.873,6,0.085,0.052,3127,2267,1300,0,0,0,0,0,0
$GC,3517,0.75,424.0,71.2,12.7,398,3523,0.00,2.30,0.00,0.000,4,0.000,0.071,3139,863,1296,0,0,0,0,0,0
$GC,3582,0.64,424.0,61.7,15.3,409,3590,0.25,2.22,0.00,0.000,6,0.198,0.049,3076,2282,1296,0,0,0,0,0,0
$GC,3934,0.93,485.1,26.2,7.2,470,3976,0.25,2.28,31.98,0.899,4,0.079,0.051,3186,3676,1050,0,0,0,0,0,0
$GC,3998,0.98,485.1,19.3,11.6,480,4005,0.00,2.28,0.00,0.000,6,0.000,0.056,3195,2267,1048,0,0,0,0,0,0
$FREEZE,8.93,-1.032,-1.796,0,337,0
$FREEZE,8.48,-1.022,-1.795,0,337,0
$FREEZE,7.81,-1.024,-1.795,0,337,0
$FREEZE,7.18,-1.013,-1.795,0,337,0
$FREEZE,6.60,-1.014,-1.794,0,337,0
$FREEZE,5.93,-0.984,-1.793,0,337,0
$FREEZE,5.24,-0.992,-1.793,0,337,0
$FREEZE,4.67,-0.980,-1.793,0,337,0
$FREEZE,3.95,-0.969,-1.792,0,337,0
$FREEZE,2.82,-1.002,-1.792,0,337,0
$STATE,4126,end climb,SURFACE_DEPTH_REACHED
$STATE,4126,begin surface coast
$FREEZE,2.17,-0.956,-1.790,0,337,0
$FREEZE,1.94,-0.746,-1.779,0,337,0
$FREEZE,2.04,-0.943,-1.792,0,337,0
$FREEZE,1.87,-0.906,-0.959,0,337,0
$FINISH,1.9,1.014143
$STATE,4148,end surface coast,CONTROL_FINISHED_OK
$STATE,4148,begin surface
$SM_CCo,4291,32.67,0.065,0,0,751,559.04
$SM_GC,2.76,0.00,0.00,32.67,0.000,0.000,0.065,110,2498,751,-8.61,0.23,559.04
$RAFOS_CLK,283
$RAFOS,6,1308156542,16.833334,16.817223,69,67,57,51,49,49,206,196,173,160,186,120
$RAFOS,5,1308156070,16.700001,16.686111,63,57,56,55,54,53,191,134,114,207,161,150
$RAFOS,4,1308155583,16.566668,16.550833,61,57,57,56,52,52,219,205,151,186,177,115
$RAFOS,3,1308155105,16.433332,16.418056,65,61,59,57,49,48,222,207,162,141,129,171
$RAFOS,2,1308154621,16.299999,16.283611,74,59,58,55,53,52,213,200,112,166,189,243
$RAFOS,1,1308154199,16.166666,16.166389,79,66,58,55,53,49,211,157,195,185,223,239
$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,74.25
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.40
$XPDR_PINGS,31
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,22.0,127.450
$10V_AH,9.8,61.157
$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,26.950,42.450,517.575,32.675,0.000,101.789,17.416,0.000,8.000,0.000,185.576,1166.036,1789.146,584.923,1156.494,653.611,0.000,1134.990,0.000,847.416,2160.000,2.617,0.000
$DEVICE_MAMPS,322.830,84.915,1040.400,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.252,371.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20173,507
$CAP_FILE_SIZE,67370,0
$CFSIZE,260165632,196902912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6