version: 66.08
glider: 141
mission: 15
dive: 997
start: 6 17 111 0 7 43
data:
$ID,141
$MISSION,15
$DIVE,997
$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,-103689.62
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.89
$_SM_ANGLEo,4.0
$GPS2,160611,173016,6715.065,-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,-6.00,0.000,2,0.000,0.000,2894,859,3106,0,0,0,0,0,0
$GC,29,-0.62,-146.0,16.5,-0.0,1,49,0.70,4.82,-9.45,0.000,4,0.155,0.047,2672,3893,3630,0,0,0,0,0,0
$GC,307,-0.98,-146.0,60.0,-16.7,49,314,0.38,2.30,0.00,0.000,6,0.104,0.056,2548,2483,3632,0,0,0,0,0,0
$GC,659,-1.27,-146.0,94.9,-8.9,110,666,0.25,2.30,0.00,0.000,4,0.099,0.057,2452,3888,3630,0,0,0,0,0,0
$GC,713,-1.55,-146.0,101.1,-10.8,118,720,0.25,2.25,0.00,0.000,6,0.098,0.051,2365,2486,3630,0,0,0,0,0,0
$GC,1039,-1.39,-146.0,168.6,-22.0,149,1041,0.20,0.00,0.00,0.000,6,0.220,0.000,2412,2486,3630,0,0,0,0,0,0
$GC,1358,-1.62,-146.0,216.3,-0.0,179,1363,0.20,2.30,0.00,0.000,4,0.102,0.060,2341,1080,3630,0,0,0,0,0,0
$GC,1399,-1.82,-146.0,216.5,-0.2,182,1404,0.17,2.22,0.00,0.000,6,0.098,0.043,2271,2480,3629,0,0,0,0,0,0
$STATE,1457,end dive,NO_VERTICAL_VELOCITY
$STATE,1457,begin apogee
$GC,1466,-0.12,0.0,216.4,0.0,187,1593,1.77,0.00,119.30,1.020,6,0.139,0.000,2815,2265,3030,0,0,0,0,0,0
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,0.62,146.0,216.5,0.0,198,1734,0.80,2.60,125.32,0.975,4,0.141,0.050,3052,3680,2433,0,0,0,0,0,0
$GC,1989,0.99,362.0,215.8,0.0,232,2191,0.38,2.38,192.18,0.955,6,0.066,0.053,3194,2281,1554,0,0,0,0,0,0
$GC,2509,0.86,362.0,169.8,12.8,281,2514,0.20,2.47,0.00,0.000,4,0.191,0.063,3156,864,1546,0,0,0,0,0,0
$GC,2566,0.72,362.0,161.7,14.9,285,2574,0.25,2.30,0.00,0.000,6,0.219,0.037,3101,2291,1543,0,0,0,0,0,0
$GC,2893,0.75,382.2,130.7,9.1,316,2917,0.00,2.38,17.17,0.868,4,0.000,0.061,3109,861,1471,0,0,0,0,0,0
$GC,2988,0.72,382.2,121.0,11.8,324,2992,0.00,2.17,0.00,0.000,6,0.000,0.036,3109,2275,1470,0,0,0,0,0,0
$GC,3327,0.65,382.2,78.7,11.9,369,3334,0.12,2.28,0.00,0.000,4,0.188,0.061,3078,3673,1467,0,0,0,0,0,0
$GC,3348,0.65,382.2,76.3,10.6,372,3355,0.00,2.28,0.00,0.000,6,0.000,0.059,3083,2273,1467,0,0,0,0,0,0
$GC,3697,0.79,440.0,51.0,7.3,433,3757,0.10,2.30,51.22,0.886,4,0.119,0.048,3125,3674,1235,0,0,0,0,0,0
$GC,3768,0.85,443.3,44.3,9.8,444,3781,0.00,2.30,4.32,0.589,6,0.000,0.052,3133,2270,1223,0,0,0,0,0,0
$FREEZE,8.99,-0.330,-1.796,0,360,2
$FREEZE,8.09,-0.327,-1.796,0,360,2
$GC,4124,0.95,488.2,10.7,7.9,506,4153,0.10,2.33,21.88,0.824,4,0.120,0.049,3180,3676,1037,0,0,0,0,0,0
$FREEZE,6.30,-0.335,-1.795,0,360,2
$FREEZE,5.71,-0.318,-1.794,0,360,2
$GC,4169,1.02,488.2,5.7,10.8,512,4175,0.00,2.28,0.00,0.000,6,0.000,0.056,3181,2276,1036,0,0,0,0,0,0
$FREEZE,4.21,-0.333,-1.794,0,360,2
$FREEZE,3.73,-0.336,-1.793,0,360,2
$FREEZE,3.24,-0.334,-1.792,0,360,2
$FREEZE,2.67,-0.311,-1.792,0,360,2
$STATE,4196,end climb,SURFACE_DEPTH_REACHED
$STATE,4196,begin surface coast
$FREEZE,1.98,-0.317,-1.791,0,360,2
$FREEZE,1.88,-0.314,-0.258,0,360,2
$FREEZE,1.85,-0.313,-0.374,0,360,2
$FREEZE,1.90,-0.315,-0.472,0,360,2
$FREEZE,1.87,-0.310,-0.929,0,360,2
$FINISH,1.9,1.013715
$STATE,4223,end surface coast,CONTROL_FINISHED_OK
$STATE,4224,begin surface
$SM_CCo,4366,31.45,0.063,0,0,751,559.04
$SM_GC,2.71,0.00,0.00,31.45,0.000,0.000,0.063,116,2524,751,-8.59,0.96,559.04
$RAFOS_CLK,236
$RAFOS,6,1308271747,0.833333,0.818611,64,56,54,53,53,52,196,159,212,91,222,184
$RAFOS,5,1308271262,0.700000,0.683889,59,58,58,56,53,52,221,154,132,183,143,238
$RAFOS,4,1308270782,0.566667,0.550556,60,58,58,58,55,54,204,191,174,216,164,152
$RAFOS,3,1308270309,0.433333,0.419167,63,61,61,57,56,54,168,116,220,191,138,203
$RAFOS,2,1308269825,0.300000,0.284722,76,60,56,55,52,50,193,163,121,213,138,79
$RAFOS,1,1308269345,0.166667,0.151389,62,62,60,60,53,52,165,211,200,177,118,842
$RAFOS,0,1308268861,0.033333,0.016944,58,58,56,56,56,52,134,194,182,158,368,227
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.025466
$HUMID,74.05
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,21.4,130.688
$10V_AH,9.8,62.173
$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,14.775,44.925,531.400,31.450,0.000,0.000,0.000,0.000,6.250,0.000,0.000,1226.634,1707.738,498.100,884.673,145.561,0.000,1048.477,0.000,878.738,2160.000,2.621,0.000
$DEVICE_MAMPS,219.555,65.025,1019.745,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.201,382.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20156,522
$CAP_FILE_SIZE,63744,0
$CFSIZE,260165632,196079616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6