version: 66.08
glider: 141
mission: 15
dive: 956
start: 6 14 111 14 10 29
data:
$ID,141
$MISSION,15
$DIVE,956
$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,-93315.117
$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,64
$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
$GPS1,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.9
$GPS2,140611,061758,6715.065,-5651.665,181,99.0,181,-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,210.8,22501,-17.5,-10.000
$D_GRID,236
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-103.68,0.000,2,0.000,0.000,114,2519,2455,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.1,-6.3,21,179,12.45,2.22,-26.38,0.000,4,0.312,0.067,2656,3863,3629,0,0,0,0,0,0
$GC,310,-1.00,-146.0,34.3,-15.7,53,316,0.38,2.28,0.00,0.000,6,0.121,0.070,2542,2492,3630,0,0,0,0,0,0
$GC,656,-1.28,-146.0,69.6,-9.5,114,662,0.25,2.25,0.00,0.000,4,0.103,0.053,2448,3862,3630,0,0,0,0,0,0
$GC,721,-1.55,-146.0,76.5,-10.7,125,727,0.22,2.28,0.00,0.000,6,0.101,0.067,2369,2487,3630,0,0,0,0,0,0
$GC,1060,-1.42,-146.0,143.3,-20.5,167,1065,0.15,2.45,0.00,0.000,4,0.223,0.080,2403,1080,3628,0,0,0,0,0,0
$GC,1083,-1.19,-146.0,149.1,-23.0,168,1089,0.25,2.20,0.00,0.000,6,0.226,0.045,2475,2460,3628,0,0,0,0,0,0
$GC,1409,-1.19,-146.0,201.5,-15.9,199,1413,0.00,2.38,0.00,0.000,4,0.000,0.079,2475,1074,3628,0,0,0,0,0,0
$GC,1437,-1.04,-146.0,206.8,-19.6,201,1443,0.20,2.25,0.00,0.000,6,0.228,0.039,2523,2511,3628,0,0,0,0,0,0
$STATE,1666,end dive,NO_VERTICAL_VELOCITY
$STATE,1666,begin apogee
$GC,1675,-0.12,0.0,215.1,0.0,223,1802,0.95,0.00,119.93,1.047,6,0.146,0.000,2812,2265,3029,0,0,0,0,0,0
$STATE,1803,end apogee,CONTROL_FINISHED_OK
$STATE,1803,begin climb
$GC,1806,0.62,146.0,215.0,0.0,235,1940,0.75,2.58,124.45,0.995,4,0.115,0.075,3054,878,2431,0,0,0,0,0,0
$GC,1993,1.00,368.5,214.8,-0.3,253,2202,0.38,2.35,200.98,0.962,6,0.076,0.036,3186,2282,1527,0,0,0,0,0,0
$GC,2523,0.83,368.5,152.9,14.8,303,2528,0.22,2.40,0.00,0.000,4,0.201,0.065,3140,872,1519,0,0,0,0,0,0
$GC,2546,0.68,368.5,149.4,14.0,304,2552,0.22,2.28,0.00,0.000,6,0.189,0.048,3084,2269,1517,0,0,0,0,0,0
$GC,2873,0.68,370.3,115.1,9.9,335,2877,0.00,2.28,0.00,0.000,4,0.000,0.052,3084,3703,1517,0,0,0,0,0,0
$GC,2907,0.77,385.6,111.6,9.3,337,2927,0.00,2.30,14.77,0.861,6,0.000,0.054,3090,2277,1457,0,0,0,0,0,0
$GC,3261,0.81,416.7,78.7,8.6,389,3297,0.10,2.33,28.50,0.889,4,0.118,0.059,3133,3684,1330,0,0,0,0,0,0
$GC,3310,0.79,416.7,73.7,10.3,398,3315,0.00,2.30,0.00,0.000,6,0.000,0.054,3142,2267,1329,0,0,0,0,0,0
$GC,3654,0.79,416.7,35.9,11.1,459,3659,0.00,2.28,0.00,0.000,4,0.000,0.059,3142,3699,1328,0,0,0,0,0,0
$GC,3690,0.81,416.7,32.2,10.8,465,3696,0.00,2.35,0.00,0.000,6,0.000,0.062,3152,2274,1326,0,0,0,0,0,0
$FREEZE,8.94,NaN,-0.007,0,319,0
$FREEZE,8.46,NaN,-0.006,0,319,0
$FREEZE,7.88,NaN,-0.006,0,319,0
$FREEZE,7.36,NaN,-0.006,0,319,0
$FREEZE,6.88,NaN,-0.005,0,319,0
$FREEZE,6.35,NaN,-0.005,0,319,0
$FREEZE,5.78,NaN,-0.004,0,319,0
$FREEZE,5.39,NaN,-0.004,0,319,0
$FREEZE,5.05,NaN,-0.004,0,319,0
$FREEZE,4.44,NaN,-0.003,0,319,0
$FREEZE,3.84,NaN,-0.003,0,319,0
$FREEZE,3.33,NaN,-0.003,0,319,0
$FREEZE,2.89,NaN,-0.002,0,319,0
$STATE,3986,end climb,SURFACE_DEPTH_REACHED
$STATE,3986,begin surface coast
$FREEZE,2.04,NaN,-0.002,0,319,0
$FREEZE,1.85,NaN,-0.001,0,319,0
$FREEZE,1.81,NaN,-0.001,0,319,0
$FREEZE,1.75,NaN,-0.001,0,319,0
$FREEZE,1.76,NaN,-0.001,0,319,0
$FREEZE,1.82,NaN,-0.001,0,319,0
$FINISH,1.8,NaN
$STATE,4018,end surface coast,CONTROL_FINISHED_OK
$STATE,4019,begin surface
$SM_CCo,4160,65.25,0.066,0,0,751,559.04
$SM_GC,2.75,0.00,0.00,65.25,0.000,0.000,0.066,112,2523,751,-8.60,0.90,559.04
$RAFOS_CLK,273
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5651.67,140611,060658
$TT8_MAMPS,0.026215
$HUMID,75.98
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,21.2,124.909
$10V_AH,9.8,60.264
$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,25.475,42.475,488.625,65.250,0.000,98.361,17.115,0.000,9.000,0.000,183.287,601.496,1986.119,496.683,1520.722,581.427,0.000,1115.549,0.000,852.055,0.000,2.616,0.000
$DEVICE_MAMPS,312.120,80.325,1047.285,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1099.629,363.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20141,523
$CAP_FILE_SIZE,66136,0
$CFSIZE,260165632,197558272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6