version: 66.08
glider: 141
mission: 15
dive: 843
start: 6 8 111 4 52 44
data:
$ID,141
$MISSION,15
$DIVE,843
$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,-69708.383
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,080611,032949,6703.953,-5649.833,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.24
$_SM_ANGLEo,-5.3
$GPS2,080611,032949,6703.953,-5649.833,0,10000.0,0,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,-0.65,-102.9,0.0,0.0,0,25,0.00,0.00,-5.55,0.000,2,0.000,0.000,2890,866,3090,0,0,0,0,0,0
$GC,28,-0.71,-146.0,12.7,-0.0,1,53,0.70,5.07,-12.00,0.000,4,0.119,0.074,2639,3887,3630,0,0,0,0,0,0
$GC,181,-0.67,-146.0,39.0,-19.0,27,187,0.00,2.20,0.00,0.000,6,0.000,0.057,2639,2488,3630,0,0,0,0,0,0
$GC,526,-0.58,-146.0,106.1,-18.7,85,531,0.15,2.38,0.00,0.000,4,0.222,0.073,2673,3896,3630,0,0,0,0,0,0
$GC,560,-0.58,-146.0,112.4,-16.2,87,567,0.00,2.22,0.00,0.000,6,0.000,0.057,2673,2488,3631,0,0,0,0,0,0
$GC,887,-0.58,-146.0,157.0,-13.5,118,891,0.00,2.25,0.00,0.000,4,0.000,0.063,2673,1079,3629,0,0,0,0,0,0
$GC,910,-0.58,-146.0,160.4,-13.6,119,917,0.00,2.30,0.00,0.000,6,0.000,0.061,2673,2491,3630,0,0,0,0,0,0
$GC,1236,-0.58,-146.0,204.9,-14.1,150,1240,0.00,2.35,0.00,0.000,4,0.000,0.078,2673,3902,3630,0,0,0,0,0,0
$GC,1282,-0.74,-146.0,205.9,0.7,153,1289,0.15,2.42,0.00,0.000,6,0.115,0.089,2623,2503,3630,0,0,0,0,0,0
$STATE,1392,end dive,NO_VERTICAL_VELOCITY
$STATE,1392,begin apogee
$GC,1400,-0.12,0.0,206.0,0.0,164,1526,0.60,0.00,119.60,1.023,6,0.131,0.000,2817,2251,3030,0,0,0,0,0,0
$STATE,1527,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1530,0.71,146.0,206.2,0.0,175,1664,0.82,2.55,121.78,0.980,4,0.123,0.070,3082,3683,2433,0,0,0,0,0,0
$GC,1916,0.71,146.0,184.4,11.2,209,1923,0.00,2.25,0.00,0.000,6,0.000,0.055,3092,2276,2428,0,0,0,0,0,0
$GC,2243,0.73,147.0,152.3,9.9,240,2247,0.00,2.30,0.00,0.000,4,0.000,0.070,3104,866,2427,0,0,0,0,0,0
$GC,2317,0.76,149.1,144.9,9.9,246,2322,0.00,2.25,0.00,0.000,6,0.000,0.054,3104,2282,2427,0,0,0,0,0,0
$GC,2643,0.76,149.1,110.9,10.2,276,2647,0.00,2.28,0.00,0.000,4,0.000,0.069,3103,3693,2427,0,0,0,0,0,0
$GC,2782,0.73,149.1,95.3,11.7,291,2788,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2267,2428,0,0,0,0,0,0
$GC,3130,0.74,162.4,61.4,9.1,352,3150,0.00,2.38,14.25,0.870,4,0.000,0.067,3125,857,2366,0,0,0,0,0,0
$GC,3243,0.76,178.8,50.9,8.9,371,3267,0.00,2.28,15.52,0.870,6,0.000,0.063,3125,2281,2299,0,0,0,0,0,0
$GC,3608,0.81,183.6,16.2,9.7,435,3615,0.00,2.35,1.77,0.100,4,0.000,0.068,3125,3683,2281,0,0,0,0,0,0
$GC,3674,0.82,194.2,9.7,9.3,446,3687,0.00,2.25,5.18,0.667,6,0.000,0.052,3135,2272,2236,0,0,0,0,0,0
$FREEZE,7.83,-0.740,-1.810,0,206,0
$FREEZE,7.36,-0.733,-1.810,0,206,0
$FREEZE,7.01,-0.714,-1.809,0,206,0
$FREEZE,6.69,-0.714,-1.809,0,206,0
$FREEZE,6.18,-0.727,-1.809,0,206,0
$FREEZE,5.76,-0.727,-1.809,0,206,0
$FREEZE,5.30,-0.726,-1.808,0,206,0
$FREEZE,4.94,-0.726,-1.808,0,206,0
$FREEZE,4.52,-0.726,-1.808,0,206,0
$FREEZE,4.02,-0.729,-1.808,0,206,0
$FREEZE,3.57,-0.728,-1.807,0,206,0
$FREEZE,3.06,-0.728,-1.807,0,206,0
$FREEZE,2.38,-0.729,-1.806,0,206,0
$STATE,3757,end climb,SURFACE_DEPTH_REACHED
$STATE,3757,begin surface coast
$FREEZE,2.11,-0.728,-1.806,0,206,0
$FREEZE,2.00,-0.694,-0.891,0,206,0
$FREEZE,2.13,-0.585,-1.033,0,206,0
$FREEZE,2.04,-0.688,-1.128,0,206,0
$FREEZE,2.13,-0.634,-0.915,0,206,0
$FREEZE,2.05,-0.680,-0.877,0,206,0
$FINISH,2.1,1.012928
$STATE,3788,end surface coast,CONTROL_FINISHED_OK
$STATE,3789,begin surface
$SM_CCo,3930,159.90,0.063,0,0,751,559.04
$SM_GC,2.91,0.00,0.00,159.90,0.000,0.000,0.063,108,2506,751,-8.61,0.42,559.04
$RAFOS_CLK,225
$RAFOS,6,1307508541,4.833333,4.816945,66,66,57,55,55,54,194,218,158,207,184,237
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.025466
$HUMID,46.65
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.60
$XPDR_PINGS,46
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,22.6,110.999
$10V_AH,9.8,55.136
$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,11.150,45.125,278.100,159.900,0.000,0.000,0.000,0.000,11.750,0.000,0.000,1158.755,1643.524,446.356,785.389,120.124,0.000,899.736,0.000,785.646,0.000,2.816,0.000
$DEVICE_MAMPS,221.850,88.740,1022.805,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.300,343.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16828,467
$CAP_FILE_SIZE,55225,0
$CFSIZE,260165632,201510912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6