version: 66.08
glider: 141
mission: 15
dive: 986
start: 6 16 111 8 43 20
data:
$ID,141
$MISSION,15
$DIVE,986
$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,-101094.64
$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,30
$R_STBD_OVSHOOT,66
$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,2.77
$_SM_ANGLEo,-73.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,132,0.00,0.00,-113.15,0.000,2,0.000,0.000,116,2511,2635,0,0,0,0,0,0
$GC,139,-0.62,-146.0,5.8,-9.8,20,182,12.82,2.47,-19.42,0.000,4,0.321,0.084,2651,1083,3629,0,0,0,0,0,0
$GC,196,-0.90,-146.0,19.7,-9.1,29,204,0.25,2.15,0.00,0.000,6,0.105,0.045,2571,2477,3629,0,0,0,0,0,0
$GC,546,-1.31,-146.0,54.6,-10.5,90,553,0.35,2.35,0.00,0.000,4,0.126,0.068,2451,1085,3629,0,0,0,0,0,0
$GC,569,-1.56,-146.0,56.7,-10.1,93,576,0.28,2.20,0.00,0.000,6,0.115,0.047,2362,2486,3629,0,0,0,0,0,0
$GC,915,-1.41,-146.0,133.8,-22.3,141,919,0.17,2.28,0.00,0.000,4,0.224,0.051,2402,3893,3628,0,0,0,0,0,0
$GC,928,-1.33,-146.0,136.4,-21.7,141,936,0.12,2.28,0.00,0.000,6,0.177,0.057,2434,2497,3628,0,0,0,0,0,0
$GC,1255,-1.28,-146.0,195.4,-17.1,172,1259,0.00,2.40,0.00,0.000,4,0.000,0.076,2434,1073,3628,0,0,0,0,0,0
$GC,1274,-1.13,-146.0,199.0,-18.6,173,1279,0.25,2.17,0.00,0.000,6,0.224,0.034,2495,2493,3627,0,0,0,0,0,0
$STATE,1534,end dive,NO_VERTICAL_VELOCITY
$STATE,1534,begin apogee
$GC,1541,-0.12,0.0,214.7,0.0,197,1674,0.90,0.00,119.60,1.035,6,0.073,0.000,2827,2264,3030,0,0,0,0,0,0
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.62,146.0,214.7,0.0,209,1815,0.65,2.58,125.15,0.990,4,0.062,0.047,3066,3660,2433,0,0,0,0,0,0
$GC,2070,0.88,360.4,214.5,0.1,244,2270,0.20,2.30,187.95,0.963,6,0.082,0.055,3152,2279,1559,0,0,0,0,0,0
$GC,2588,0.76,360.4,160.7,12.9,292,2593,0.17,2.30,0.00,0.000,4,0.192,0.049,3109,3670,1551,0,0,0,0,0,0
$GC,2599,0.65,360.4,159.1,12.7,292,2607,0.15,2.35,0.00,0.000,6,0.169,0.059,3075,2263,1550,0,0,0,0,0,0
$GC,2927,0.68,387.8,129.7,8.7,323,2960,0.00,2.38,23.42,0.891,4,0.000,0.063,3083,870,1448,0,0,0,0,0,0
$GC,3019,0.68,387.8,120.9,10.1,331,3023,0.00,2.17,0.00,0.000,6,0.000,0.037,3083,2273,1447,0,0,0,0,0,0
$GC,3356,0.65,387.8,78.9,12.2,375,3362,0.00,2.33,0.00,0.000,4,0.000,0.068,3093,862,1446,0,0,0,0,0,0
$GC,3399,0.62,387.8,74.0,10.7,382,3406,0.00,2.20,0.00,0.000,6,0.000,0.037,3093,2282,1445,0,0,0,0,0,0
$GC,3747,0.80,450.1,36.7,7.1,443,3789,0.00,2.30,35.85,0.954,4,0.000,0.050,3093,3674,1192,0,0,0,0,0,0
$GC,3799,0.92,482.4,32.4,8.5,451,3824,0.17,2.30,17.55,0.890,6,0.090,0.050,3166,2263,1063,0,0,0,0,0,0
$FREEZE,8.46,-0.795,-1.800,0,349,0
$FREEZE,7.72,-0.797,-1.800,0,349,0
$FREEZE,7.20,-0.795,-1.799,0,349,0
$FREEZE,6.61,-0.796,-1.799,0,349,0
$FREEZE,5.98,-0.796,-1.798,0,349,0
$FREEZE,5.40,-0.784,-1.798,0,349,0
$FREEZE,4.79,-0.784,-1.797,0,349,0
$FREEZE,4.20,-0.787,-1.797,0,349,0
$FREEZE,3.76,-0.789,-1.796,0,349,0
$FREEZE,3.35,-0.781,-1.796,0,349,0
$FREEZE,2.71,-0.780,-1.796,0,349,0
$STATE,4054,end climb,SURFACE_DEPTH_REACHED
$STATE,4054,begin surface coast
$FREEZE,1.77,-0.778,-1.795,0,349,0
$FREEZE,1.81,-0.752,-1.368,0,349,0
$FREEZE,1.83,-0.718,-1.793,0,349,0
$FREEZE,1.84,-0.664,-1.017,0,349,0
$FREEZE,1.87,-0.728,-0.342,0,349,0
$FINISH,1.9,1.004885
$STATE,4081,end surface coast,CONTROL_FINISHED_OK
$STATE,4081,begin surface
$SM_CCo,4149,34.05,0.064,0,0,750,559.04
$SM_GC,2.69,0.00,0.00,34.05,0.000,0.000,0.064,112,2514,750,-8.60,0.68,559.04
$RAFOS_CLK,277
$RAFOS,6,1308214143,8.833333,8.817500,59,56,55,51,51,50,184,140,200,120,210,150
$RAFOS,2,1308212224,8.300000,8.284445,60,59,56,53,52,48,174,196,210,142,184,118
$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,73.82
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,21.6,129.129
$10V_AH,9.8,61.679
$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,25.325,42.200,509.525,34.050,0.000,101.727,17.113,0.000,7.000,0.000,184.596,1146.155,1686.979,586.015,1147.165,647.463,0.000,1128.998,0.000,841.331,360.000,2.620,0.000
$DEVICE_MAMPS,321.300,84.150,1035.045,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.370,363.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20115,501
$CAP_FILE_SIZE,66048,0
$CFSIZE,260165632,196476928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6