version: 66.08
glider: 141
mission: 15
dive: 963
start: 6 15 111 0 23 45
data:
$ID,141
$MISSION,15
$DIVE,963
$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,-95529.852
$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,29
$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
$GPS1,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-75.0
$GPS2,140611,153143,6652.926,-5651.085,181,99.0,181,-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,44.4,18790,-17.5,-10.000
$D_GRID,609
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.30,0.000,2,0.000,0.000,116,2501,2501,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.3,-8.1,22,180,12.75,2.47,-25.40,0.000,4,0.319,0.090,2655,1084,3629,0,0,0,0,0,0
$GC,312,-1.12,-146.0,29.0,-9.9,54,318,0.45,2.25,0.00,0.000,6,0.094,0.047,2504,2524,3629,0,0,0,0,0,0
$GC,660,-1.19,-146.0,76.3,-13.1,115,665,0.00,2.47,0.00,0.000,4,0.000,0.086,2503,1089,3629,0,0,0,0,0,0
$GC,685,-1.11,-146.0,80.7,-16.3,119,691,0.00,2.22,0.00,0.000,6,0.000,0.046,2503,2485,3629,0,0,0,0,0,0
$GC,1019,-1.16,-146.0,129.5,-14.2,161,1023,0.00,2.40,0.00,0.000,4,0.000,0.078,2503,1087,3628,0,0,0,0,0,0
$GC,1031,-1.16,-146.0,131.4,-14.5,161,1036,0.00,2.22,0.00,0.000,6,0.000,0.048,2503,2484,3628,0,0,0,0,0,0
$GC,1357,-1.21,-146.0,175.7,-12.7,192,1361,0.00,2.38,0.00,0.000,4,0.000,0.076,2503,1090,3629,0,0,0,0,0,0
$GC,1386,-1.09,-146.0,180.7,-17.3,194,1391,0.00,2.22,0.00,0.000,6,0.000,0.038,2503,2484,3628,0,0,0,0,0,0
$GC,1712,-1.35,-146.0,216.4,0.2,225,1717,0.20,2.30,0.00,0.000,4,0.099,0.057,2427,3896,3628,0,0,0,0,0,0
$GC,1725,-1.62,-146.0,216.5,-0.2,225,1731,0.25,2.33,0.00,0.000,6,0.099,0.062,2342,2498,3628,0,0,0,0,0,0
$STATE,1813,end dive,NO_VERTICAL_VELOCITY
$STATE,1814,begin apogee
$GC,1821,-0.12,0.0,216.4,0.0,234,1946,1.55,0.00,119.53,1.036,6,0.135,0.000,2817,2260,3031,0,0,0,0,0,0
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1950,0.62,146.0,216.3,0.0,246,2086,0.73,2.55,124.47,0.988,4,0.105,0.050,3051,3674,2434,0,0,0,0,0,0
$GC,2340,1.11,367.6,216.0,-0.2,281,2539,0.47,2.33,189.25,0.958,6,0.073,0.062,3229,2267,1531,0,0,0,0,0,0
$GC,2859,0.88,367.6,150.7,16.6,331,2864,0.28,2.33,0.00,0.000,4,0.219,0.068,3165,868,1522,0,0,0,0,0,0
$GC,2877,0.66,367.6,147.7,16.2,332,2882,0.32,2.25,0.00,0.000,6,0.215,0.047,3086,2266,1520,0,0,0,0,0,0
$GC,3203,0.67,371.3,112.4,9.8,362,3207,0.00,2.28,0.00,0.000,4,0.000,0.054,3086,3692,1519,0,0,0,0,0,0
$GC,3237,0.74,379.8,109.0,9.6,364,3252,0.00,2.30,10.30,0.813,6,0.000,0.063,3093,2269,1480,0,0,0,0,0,0
$GC,3588,0.75,385.9,74.8,9.7,418,3603,0.00,2.30,6.78,0.744,4,0.000,0.067,3104,867,1456,0,0,0,0,0,0
$GC,3644,0.75,385.9,68.8,11.1,428,3649,0.00,2.25,0.00,0.000,6,0.000,0.049,3104,2317,1455,0,0,0,0,0,0
$GC,3988,0.78,413.5,32.3,8.7,489,4014,0.00,2.22,17.88,0.914,4,0.000,0.061,3104,3680,1343,0,0,0,0,0,0
$GC,4046,0.94,446.1,27.4,8.5,499,4072,0.15,2.28,17.83,0.890,6,0.093,0.054,3175,2268,1210,0,0,0,0,0,0
$FREEZE,8.65,NaN,-0.007,0,326,0
$FREEZE,8.02,NaN,-0.006,0,326,0
$FREEZE,7.31,NaN,-0.006,0,326,0
$FREEZE,6.74,NaN,-0.005,0,326,0
$FREEZE,6.12,NaN,-0.005,0,326,0
$FREEZE,5.56,NaN,-0.004,0,326,0
$FREEZE,4.81,NaN,-0.004,0,326,0
$FREEZE,4.10,NaN,-0.003,0,326,0
$FREEZE,3.43,NaN,-0.003,0,326,0
$FREEZE,2.83,NaN,-0.002,0,326,0
$STATE,4262,end climb,SURFACE_DEPTH_REACHED
$STATE,4262,begin surface coast
$FREEZE,2.08,NaN,-0.002,0,326,0
$FREEZE,1.78,NaN,-0.001,0,326,0
$FREEZE,1.81,NaN,-0.001,0,326,0
$FREEZE,1.88,NaN,-0.001,0,326,0
$FREEZE,1.72,NaN,-0.001,0,326,0
$FINISH,1.7,NaN
$STATE,4291,end surface coast,CONTROL_FINISHED_OK
$STATE,4292,begin surface
$SM_CCo,4360,50.22,0.064,0,0,750,559.04
$SM_GC,2.59,0.00,0.00,50.22,0.000,0.000,0.064,116,2516,750,-8.59,0.71,559.04
$RAFOS_CLK,285
$RAFOS,6,1308098942,0.833333,0.817222,67,58,56,55,52,51,151,193,206,178,1497,126
$RAFOS,5,1308098471,0.700000,0.686389,61,58,55,54,53,51,187,207,218,138,167,124
$RAFOS,4,1308097984,0.566667,0.551111,65,55,53,53,51,47,181,208,145,227,1526,371
$RAFOS,3,1308097501,0.433333,0.416944,66,63,57,52,47,47,212,202,119,185,162,225
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026215
$HUMID,74.76
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,21.9,125.919
$10V_AH,9.9,60.637
$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,25.900,47.050,486.025,50.225,0.000,102.371,17.154,0.000,9.750,0.000,185.560,626.810,2085.396,489.543,1587.833,631.762,0.000,1130.181,0.000,903.259,1440.000,2.616,0.000
$DEVICE_MAMPS,319.005,89.505,1035.810,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1143.032,376.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20073,543
$CAP_FILE_SIZE,70179,0
$CFSIZE,260165632,197296128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6