version: 66.08
glider: 141
mission: 15
dive: 980
start: 6 16 111 0 12 55
data:
$ID,141
$MISSION,15
$DIVE,980
$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,-99612.133
$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,46
$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
$GPS1,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.13
$_SM_ANGLEo,3.5
$GPS2,150611,173508,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.45,0.000,2,0.000,0.000,2894,867,3069,0,0,0,0,0,0
$GC,29,-0.62,-146.0,15.8,-0.0,1,48,0.70,4.85,-10.45,0.000,4,0.139,0.047,2673,3898,3629,0,0,0,0,0,0
$GC,304,-0.95,-146.0,54.3,-14.3,49,311,0.35,2.30,0.00,0.000,6,0.107,0.055,2559,2498,3630,0,0,0,0,0,0
$GC,652,-1.32,-146.0,91.2,-11.6,110,660,0.35,2.22,0.00,0.000,4,0.144,0.045,2446,3890,3630,0,0,0,0,0,0
$GC,747,-1.57,-146.0,102.4,-11.7,125,752,0.25,2.28,0.00,0.000,6,0.091,0.053,2356,2480,3630,0,0,0,0,0,0
$GC,1073,-1.42,-146.0,170.7,-21.3,155,1075,0.20,0.00,0.00,0.000,6,0.225,0.000,2402,2480,3628,0,0,0,0,0,0
$GC,1392,-1.70,-146.0,217.0,0.0,185,1397,0.25,2.33,0.00,0.000,4,0.096,0.064,2307,1078,3628,0,0,0,0,0,0
$STATE,1478,end dive,NO_VERTICAL_VELOCITY
$STATE,1478,begin apogee
$GC,1488,-0.12,0.0,217.0,0.0,192,1617,1.62,0.00,118.53,1.022,6,0.125,0.000,2817,2267,3030,0,0,0,0,0,0
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1618,begin climb
$GC,1621,0.62,146.0,217.0,0.0,204,1756,0.70,2.58,123.78,0.978,4,0.077,0.049,3060,3676,2434,0,0,0,0,0,0
$GC,1763,1.05,356.8,217.0,0.3,216,1964,0.40,2.53,192.45,0.952,6,0.067,0.053,3208,2271,1575,0,0,0,0,0,0
$GC,2280,0.84,356.8,157.6,15.0,265,2285,0.28,2.45,0.00,0.000,4,0.211,0.064,3149,859,1568,0,0,0,0,0,0
$GC,2326,0.60,356.8,149.9,17.5,268,2334,0.38,2.28,0.00,0.000,6,0.233,0.039,3062,2288,1565,0,0,0,0,0,0
$GC,2653,0.62,372.4,118.3,9.3,299,2673,0.00,2.35,13.23,0.842,4,0.000,0.063,3072,863,1511,0,0,0,0,0,0
$GC,2737,0.63,375.4,110.0,9.9,306,2747,0.00,2.20,4.50,0.619,6,0.000,0.037,3072,2288,1498,0,0,0,0,0,0
$GC,3084,0.60,376.2,72.4,10.0,360,3091,0.00,2.22,0.00,0.000,4,0.000,0.053,3072,3676,1498,0,0,0,0,0,0
$GC,3116,0.71,390.5,69.2,9.3,365,3136,0.00,2.28,14.80,0.846,6,0.000,0.057,3080,2270,1438,0,0,0,0,0,0
$GC,3479,0.80,419.7,37.6,8.7,428,3504,0.12,2.35,19.30,0.936,4,0.106,0.063,3140,867,1318,0,0,0,0,0,0
$GC,3525,0.77,419.7,33.0,10.4,435,3532,0.00,2.22,0.00,0.000,6,0.000,0.043,3140,2280,1317,0,0,0,0,0,0
$FREEZE,8.72,-0.744,-1.799,0,343,0
$FREEZE,8.32,-0.744,-1.798,0,343,0
$FREEZE,7.92,-0.745,-1.798,0,343,0
$FREEZE,7.33,-0.742,-1.798,0,343,0
$FREEZE,6.88,-0.746,-1.797,0,343,0
$FREEZE,6.52,-0.745,-1.797,0,343,0
$FREEZE,6.07,-0.749,-1.797,0,343,0
$FREEZE,5.58,-0.750,-1.796,0,343,0
$FREEZE,5.22,-0.749,-1.796,0,343,0
$FREEZE,4.71,-0.748,-1.795,0,343,0
$FREEZE,4.25,-0.747,-1.795,0,343,0
$FREEZE,3.74,-0.742,-1.795,0,343,0
$FREEZE,3.05,-0.745,-1.794,0,343,0
$FREEZE,2.50,-0.747,-1.794,0,343,0
$STATE,3832,end climb,SURFACE_DEPTH_REACHED
$STATE,3832,begin surface coast
$FREEZE,1.91,-0.740,-1.792,0,343,0
$FREEZE,1.86,-0.741,-1.752,0,343,0
$FREEZE,1.87,-0.728,-1.787,0,343,0
$FREEZE,1.89,-0.718,-1.792,0,343,0
$FREEZE,1.90,-0.693,-0.213,0,343,0
$FINISH,1.9,1.002939
$STATE,3858,end surface coast,CONTROL_FINISHED_OK
$STATE,3859,begin surface
$SM_CCo,4000,62.90,0.063,0,0,750,559.04
$SM_GC,2.86,0.00,0.00,62.90,0.000,0.000,0.063,114,2515,750,-8.60,0.71,559.04
$RAFOS_CLK,227
$RAFOS,6,1308185345,0.833333,0.818056,58,55,52,52,51,51,198,90,187,175,113,212
$RAFOS,5,1308184864,0.700000,0.684444,64,55,54,49,48,47,173,195,215,140,161,120
$RAFOS,4,1308184382,0.566667,0.550556,64,64,57,53,52,49,196,212,184,110,163,142
$RAFOS,3,1308183902,0.433333,0.417222,63,60,58,56,54,49,195,171,130,219,156,184
$RAFOS,2,1308183425,0.300000,0.284722,59,58,55,55,53,51,200,145,165,212,190,175
$RAFOS,1,1308182941,0.166667,0.150278,65,64,61,56,48,48,218,206,188,147,116,137
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.026215
$HUMID,74.72
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,21.1,128.285
$10V_AH,9.8,61.405
$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,14.450,39.625,486.575,62.900,0.000,0.000,0.000,0.000,6.500,0.000,0.000,1171.437,1527.703,486.389,810.542,132.397,0.000,990.813,0.000,811.048,1800.000,2.818,0.000
$DEVICE_MAMPS,232.560,64.260,1022.040,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.267,365.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20103,495
$CAP_FILE_SIZE,57677,0
$CFSIZE,260165632,196694016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6