version: 66.08
glider: 141
mission: 15
dive: 907
start: 6 11 111 20 7 18
data:
$ID,141
$MISSION,15
$DIVE,907
$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,-83357.641
$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,47
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.42
$_SM_ANGLEo,10.0
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-4.10,0.000,2,0.000,0.000,2872,3679,3284,0,0,0,0,0,0
$GC,27,-0.62,-146.0,20.4,-0.0,1,38,0.62,0.30,-5.45,0.000,4,0.155,0.152,2676,3893,3628,0,0,0,0,0,0
$GC,85,-0.95,-146.0,27.6,-13.7,11,90,0.35,2.28,0.00,0.000,6,0.119,0.065,2564,2488,3629,0,0,0,0,0,0
$GC,429,-1.33,-146.0,63.8,-10.7,72,435,0.35,2.38,0.00,0.000,4,0.178,0.076,2443,1071,3628,0,0,0,0,0,0
$GC,479,-1.11,-146.0,71.8,-23.0,80,485,0.17,2.20,0.00,0.000,6,0.205,0.037,2500,2485,3628,0,0,0,0,0,0
$GC,815,-1.15,-146.0,122.1,-14.3,127,819,0.00,2.38,0.00,0.000,4,0.000,0.080,2500,1073,3626,0,0,0,0,0,0
$GC,844,-1.03,-146.0,127.3,-18.7,129,849,0.12,2.15,0.00,0.000,6,0.246,0.037,2528,2488,3626,0,0,0,0,0,0
$GC,1170,-1.18,-146.0,165.7,-10.8,159,1172,0.12,0.00,0.00,0.000,6,0.117,0.000,2479,2489,3625,0,0,0,0,0,0
$GC,1487,-1.18,-146.0,211.9,-14.2,189,1491,0.00,2.38,0.00,0.000,4,0.000,0.079,2478,1075,3624,0,0,0,0,0,0
$GC,1499,-1.18,-146.0,213.7,-14.7,189,1504,0.00,2.20,0.00,0.000,6,0.000,0.036,2478,2489,3624,0,0,0,0,0,0
$STATE,1672,end dive,NO_VERTICAL_VELOCITY
$STATE,1672,begin apogee
$GC,1680,-0.12,0.0,215.0,0.0,206,1808,1.05,0.00,118.35,1.022,6,0.125,0.000,2818,2264,3030,0,0,0,0,0,0
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1811,0.62,146.0,215.0,0.0,218,1943,0.75,2.42,122.05,0.972,4,0.121,0.060,3057,3671,2433,0,0,0,0,0,0
$GC,1967,1.13,370.4,215.0,-0.4,233,2175,0.50,2.40,197.07,0.945,6,0.076,0.062,3230,2274,1519,0,0,0,0,0,0
$GC,2494,0.96,370.4,166.4,14.9,284,2498,0.22,2.35,0.00,0.000,4,0.219,0.070,3186,854,1511,0,0,0,0,0,0
$GC,2515,0.79,370.4,163.9,14.3,285,2520,0.25,2.22,0.00,0.000,6,0.208,0.047,3124,2277,1510,0,0,0,0,0,0
$GC,2841,0.75,370.4,126.2,11.0,315,2845,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,3687,1509,0,0,0,0,0,0
$GC,2853,0.72,370.4,124.8,11.2,315,2858,0.00,2.28,0.00,0.000,6,0.000,0.054,3127,2265,1509,0,0,0,0,0,0
$GC,3184,0.68,370.4,87.8,11.0,355,3189,0.15,2.28,0.00,0.000,4,0.187,0.071,3098,864,1508,0,0,0,0,0,0
$GC,3259,0.68,370.4,79.7,10.7,368,3264,0.00,2.22,0.00,0.000,6,0.000,0.041,3098,2276,1508,0,0,0,0,0,0
$GC,3606,0.86,415.0,46.5,7.9,429,3652,0.12,2.40,37.83,0.887,4,0.101,0.073,3166,866,1337,0,0,0,0,0,0
$GC,3690,0.77,415.0,37.9,12.0,444,3696,0.20,2.22,0.00,0.000,6,0.190,0.050,3116,2272,1336,0,0,0,0,0,0
$FREEZE,8.70,NaN,-0.007,0,270,2
$FREEZE,8.33,NaN,-0.006,0,270,2
$FREEZE,7.90,NaN,-0.006,0,270,2
$FREEZE,7.56,NaN,-0.006,0,270,2
$FREEZE,7.04,NaN,-0.005,0,270,2
$FREEZE,6.48,NaN,-0.005,0,270,2
$FREEZE,6.00,NaN,-0.005,0,270,2
$FREEZE,5.47,NaN,-0.004,0,270,2
$FREEZE,4.84,NaN,-0.004,0,270,2
$FREEZE,4.20,NaN,-0.003,0,270,2
$FREEZE,3.56,NaN,-0.003,0,270,2
$GC,4036,1.02,471.1,7.0,7.4,505,4072,0.20,2.33,27.12,0.823,4,0.077,0.058,3204,3679,1107,0,0,0,0,0,0
$FREEZE,1.91,NaN,-0.001,0,270,2
$STATE,4080,end climb,SURFACE_DEPTH_REACHED
$STATE,4080,begin surface coast
$FREEZE,2.03,NaN,-0.002,0,270,2
$FREEZE,1.92,NaN,-0.001,0,270,2
$FREEZE,1.94,NaN,-0.001,0,270,2
$FREEZE,1.93,NaN,-0.001,0,270,2
$FINISH,1.9,NaN
$STATE,4101,end surface coast,CONTROL_FINISHED_OK
$STATE,4101,begin surface
$SM_CCo,4245,38.53,0.065,0,0,750,559.04
$SM_GC,2.84,0.00,0.00,38.53,0.000,0.000,0.065,112,2482,750,-8.60,-0.23,559.04
$RAFOS_CLK,232
$RAFOS,6,1307825347,20.833334,20.818611,71,56,53,50,50,46,214,140,183,119,171,159
$RAFOS,5,1307824864,20.700001,20.684444,67,63,60,56,55,51,210,201,121,166,222,188
$RAFOS,4,1307824383,20.566668,20.550833,65,64,56,52,50,48,233,210,146,166,1080,181
$RAFOS,3,1307823911,20.433332,20.419722,56,55,53,52,50,50,231,162,201,128,138,175
$RAFOS,2,1307823423,20.299999,20.284166,62,56,56,55,51,48,214,196,172,139,160,436
$RAFOS,1,1307822944,20.166666,20.151112,75,74,59,55,53,51,211,185,116,196,150,1215
$RAFOS,0,1307822466,20.033333,20.018333,70,58,55,55,52,52,220,182,208,199,146,166
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,80.71
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.70
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,21.8,118.087
$10V_AH,9.8,57.914
$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,14.125,43.875,502.425,38.525,0.000,0.000,0.000,0.000,7.000,0.000,0.000,580.807,2030.058,407.947,1192.185,137.345,0.000,983.690,0.000,832.428,2160.000,2.620,0.000
$DEVICE_MAMPS,245.565,152.235,1022.040,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.598,362.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20141,517
$CAP_FILE_SIZE,62568,0
$CFSIZE,260165632,199299072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6