version: 66.08
glider: 141
mission: 15
dive: 968
start: 6 15 111 7 44 7
data:
$ID,141
$MISSION,15
$DIVE,968
$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,-97012.906
$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,30
$R_STBD_OVSHOOT,51
$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
$GPS1,150611,060412,6715.065,-5705.686,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.1
$GPS2,150611,060412,6715.065,-5705.686,181,99.0,181,-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,187.8,25737,-17.5,-10.000
$D_GRID,322
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,132,0.00,0.00,-113.38,0.000,2,0.000,0.000,114,2512,2620,0,0,0,0,0,0
$GC,139,-0.62,-146.0,5.9,-7.9,20,182,12.75,2.28,-20.08,0.000,4,0.318,0.067,2654,3878,3630,0,0,0,0,0,0
$GC,439,-0.98,-146.0,55.4,-14.7,72,447,0.32,2.30,0.00,0.000,6,0.108,0.068,2550,2496,3629,0,0,0,0,0,0
$GC,788,-1.37,-146.0,92.1,-11.0,133,795,0.35,2.42,0.00,0.000,4,0.103,0.076,2422,1073,3629,0,0,0,0,0,0
$GC,815,-1.51,-146.0,96.3,-13.7,137,823,0.12,2.20,0.00,0.000,6,0.145,0.047,2383,2485,3628,0,0,0,0,0,0
$GC,1144,-1.39,-146.0,165.2,-20.7,169,1149,0.12,2.42,0.00,0.000,4,0.237,0.076,2410,1078,3628,0,0,0,0,0,0
$GC,1178,-1.10,-146.0,173.7,-25.6,171,1186,0.40,2.17,0.00,0.000,6,0.233,0.037,2504,2488,3628,0,0,0,0,0,0
$GC,1506,-1.41,-146.0,211.6,-0.0,202,1511,0.25,2.28,0.00,0.000,4,0.101,0.055,2410,3892,3628,0,0,0,0,0,0
$STATE,1614,end dive,NO_VERTICAL_VELOCITY
$STATE,1614,begin apogee
$GC,1625,-0.12,0.0,211.5,0.0,211,1756,1.30,0.00,119.97,1.039,6,0.128,0.000,2817,2265,3029,0,0,0,0,0,0
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1757,begin climb
$GC,1760,0.62,146.0,211.6,0.0,223,1893,0.75,2.62,124.90,0.992,4,0.108,0.074,3059,870,2432,0,0,0,0,0,0
$GC,2148,1.01,358.3,211.3,0.2,257,2340,0.35,2.22,182.70,0.959,6,0.065,0.046,3196,2287,1568,0,0,0,0,0,0
$GC,2667,0.82,358.3,149.0,14.5,306,2672,0.25,2.40,0.00,0.000,4,0.202,0.063,3137,858,1558,0,0,0,0,0,0
$GC,2690,0.66,358.3,145.6,13.6,307,2697,0.22,2.22,0.00,0.000,6,0.209,0.042,3082,2272,1557,0,0,0,0,0,0
$GC,3016,0.67,373.2,113.7,9.3,338,3038,0.00,2.33,12.15,0.839,4,0.000,0.052,3082,3691,1508,0,0,0,0,0,0
$GC,3111,0.80,399.7,105.4,8.8,346,3145,0.00,2.28,24.77,0.883,6,0.000,0.051,3088,2263,1400,0,0,0,0,0,0
$GC,3481,0.82,399.7,69.7,10.3,406,3489,0.12,2.33,0.00,0.000,4,0.104,0.072,3151,862,1397,0,0,0,0,0,0
$GC,3559,0.65,399.7,59.3,14.8,419,3566,0.30,2.25,0.00,0.000,6,0.203,0.050,3076,2288,1396,0,0,0,0,0,0
$GC,3908,0.91,480.6,28.6,6.3,480,3961,0.22,2.28,45.28,0.913,4,0.083,0.054,3169,3686,1071,0,0,0,0,0,0
$GC,4007,0.98,480.6,18.2,10.6,496,4014,0.00,2.28,0.00,0.000,6,0.000,0.052,3178,2279,1068,0,0,0,0,0,0
$FREEZE,8.70,-0.947,-1.804,0,331,0
$FREEZE,7.92,-0.949,-1.804,0,331,0
$FREEZE,7.12,-0.942,-1.803,0,331,0
$FREEZE,6.48,-0.937,-1.803,0,331,0
$FREEZE,5.96,-0.944,-1.802,0,331,0
$FREEZE,5.25,-0.945,-1.802,0,331,0
$FREEZE,4.71,-0.945,-1.801,0,331,0
$FREEZE,4.11,-0.945,-1.801,0,331,0
$FREEZE,3.50,-0.946,-1.800,0,331,0
$FREEZE,2.81,-0.950,-1.800,0,331,0
$STATE,4135,end climb,SURFACE_DEPTH_REACHED
$STATE,4135,begin surface coast
$FREEZE,2.16,-0.946,-1.799,0,331,0
$FREEZE,1.93,-0.929,-1.720,0,331,0
$FREEZE,1.86,-0.873,-1.794,0,331,0
$FREEZE,1.93,-0.830,-0.908,0,331,0
$FREEZE,1.89,-0.820,-0.915,0,331,0
$FINISH,1.9,1.013491
$STATE,4162,end surface coast,CONTROL_FINISHED_OK
$STATE,4163,begin surface
$SM_CCo,4305,35.10,0.065,0,0,750,559.04
$SM_GC,2.83,0.00,0.00,35.10,0.000,0.000,0.065,117,2528,750,-8.59,1.07,559.04
$RAFOS_CLK,287
$RAFOS,5,1308127262,8.700000,8.683888,76,62,54,53,53,45,209,169,192,151,126,112
$RAFOS,4,1308126785,8.566667,8.551389,66,62,61,57,56,47,216,174,199,117,140,155
$RAFOS,3,1308126309,8.433333,8.419167,70,59,56,52,52,49,214,152,223,166,187,141
$RAFOS,2,1308125823,8.300000,8.284166,65,63,61,60,57,53,171,162,148,212,196,130
$RAFOS,1,1308125348,8.166667,8.152223,61,55,55,52,51,50,198,121,223,143,210,112
$RAFOS,0,1308124871,8.033334,8.019722,62,61,54,50,49,49,197,215,127,153,136,180
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5705.69,150611,060612
$TT8_MAMPS,0.028462
$HUMID,74.92
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.30
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,21.8,126.625
$10V_AH,9.8,60.887
$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,26.775,42.300,509.775,35.100,0.000,98.633,17.439,0.000,8.500,0.000,183.285,1213.673,1716.999,588.488,1199.702,657.689,0.000,1155.249,0.000,890.257,2520.000,5.913,0.000
$DEVICE_MAMPS,318.240,76.500,1038.870,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.723,379.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150544
$DATA_FILE_SIZE,20106,524
$CAP_FILE_SIZE,69340,0
$CFSIZE,260165632,197120000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6