version: 66.08
glider: 141
mission: 15
dive: 985
start: 6 16 111 7 11 31
data:
$ID,141
$MISSION,15
$DIVE,985
$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,-100724.77
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.94
$_SM_ANGLEo,11.3
$GPS2,150611,173508,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2894,3688,3071,0,0,0,0,0,0
$GC,28,-0.62,-146.0,14.6,-0.0,1,48,0.70,0.30,-10.68,0.000,4,0.145,0.169,2669,3891,3629,0,0,0,0,0,0
$GC,305,-0.98,-146.0,58.5,-16.3,49,312,0.38,2.30,0.00,0.000,6,0.113,0.057,2548,2485,3630,0,0,0,0,0,0
$GC,654,-1.41,-146.0,92.8,-9.7,110,662,0.38,2.35,0.00,0.000,4,0.155,0.067,2415,1075,3628,0,0,0,0,0,0
$GC,693,-1.18,-146.0,99.9,-21.8,116,701,0.28,2.20,0.00,0.000,6,0.239,0.044,2476,2496,3628,0,0,0,0,0,0
$GC,1019,-1.18,-146.0,153.0,-16.0,147,1023,0.00,2.20,0.00,0.000,4,0.000,0.049,2476,3893,3627,0,0,0,0,0,0
$GC,1029,-1.18,-146.0,154.8,-15.8,147,1036,0.00,2.28,0.00,0.000,6,0.000,0.055,2476,2496,3627,0,0,0,0,0,0
$GC,1355,-1.18,-146.0,204.0,-14.5,178,1359,0.00,2.22,0.00,0.000,4,0.000,0.047,2476,3888,3626,0,0,0,0,0,0
$GC,1390,-1.43,-146.0,208.7,-12.2,180,1397,0.22,2.28,0.00,0.000,6,0.104,0.052,2401,2481,3626,0,0,0,0,0,0
$STATE,1609,end dive,NO_VERTICAL_VELOCITY
$STATE,1609,begin apogee
$GC,1618,-0.12,0.0,215.9,0.0,201,1743,1.33,0.00,118.25,1.018,6,0.126,0.000,2820,2266,3030,0,0,0,0,0,0
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1747,0.62,146.0,215.8,0.0,212,1883,0.73,2.67,124.55,0.977,4,0.097,0.070,3058,875,2434,0,0,0,0,0,0
$GC,2137,1.07,370.3,215.7,-0.4,246,2342,0.43,2.22,196.05,0.952,6,0.069,0.034,3220,2283,1519,0,0,0,0,0,0
$GC,2669,0.86,370.3,150.3,16.1,296,2674,0.28,2.25,0.00,0.000,4,0.213,0.048,3148,3670,1511,0,0,0,0,0,0
$GC,2680,0.66,370.3,148.3,15.8,296,2688,0.28,2.30,0.00,0.000,6,0.160,0.058,3080,2279,1510,0,0,0,0,0,0
$GC,3006,0.67,375.2,116.8,9.8,327,3018,0.00,2.30,3.97,0.558,4,0.000,0.057,3080,3679,1499,0,0,0,0,0,0
$GC,3025,0.71,384.5,114.8,9.6,328,3043,0.00,2.30,9.98,0.807,6,0.000,0.059,3086,2271,1462,0,0,0,0,0,0
$GC,3374,0.75,421.1,81.5,8.3,377,3416,0.00,2.30,33.40,0.881,4,0.000,0.050,3086,3678,1312,0,0,0,0,0,0
$GC,3425,0.83,435.3,76.9,9.3,385,3445,0.10,2.30,14.07,0.822,6,0.113,0.058,3141,2268,1255,0,0,0,0,0,0
$GC,3789,0.83,435.3,36.7,11.4,448,3796,0.00,2.28,0.00,0.000,4,0.000,0.064,3152,867,1250,0,0,0,0,0,0
$GC,3848,0.76,435.3,29.3,12.4,458,3856,0.15,2.20,0.00,0.000,6,0.194,0.047,3115,2283,1249,0,0,0,0,0,0
$FREEZE,8.85,-0.781,-1.800,0,348,0
$FREEZE,8.30,-0.778,-1.800,0,348,0
$FREEZE,7.68,-0.779,-1.799,0,348,0
$FREEZE,7.28,-0.779,-1.799,0,348,0
$FREEZE,6.69,-0.779,-1.799,0,348,0
$FREEZE,6.18,-0.776,-1.798,0,348,0
$FREEZE,5.67,-0.776,-1.798,0,348,0
$FREEZE,5.23,-0.776,-1.798,0,348,0
$FREEZE,4.78,-0.775,-1.797,0,348,0
$FREEZE,4.26,-0.778,-1.797,0,348,0
$FREEZE,3.73,-0.783,-1.796,0,348,0
$FREEZE,2.98,-0.780,-1.796,0,348,0
$STATE,4109,end climb,SURFACE_DEPTH_REACHED
$STATE,4109,begin surface coast
$FREEZE,1.98,-0.777,-1.795,0,348,0
$FREEZE,1.82,-0.758,-1.794,0,348,0
$FREEZE,1.73,-0.757,-1.015,0,348,0
$FREEZE,1.81,-0.755,-1.016,0,348,0
$FREEZE,1.78,-0.742,-1.791,0,348,0
$FINISH,1.8,1.026268
$STATE,4139,end surface coast,CONTROL_FINISHED_OK
$STATE,4139,begin surface
$SM_CCo,4178,56.08,0.063,0,0,750,559.04
$SM_GC,2.77,0.00,0.00,56.08,0.000,0.000,0.063,116,2511,750,-8.59,0.59,559.04
$RAFOS_CLK,235
$RAFOS,1,1308211746,8.166667,8.151667,69,67,62,58,55,52,201,217,189,147,1410,227
$RAFOS,0,1308211262,8.033334,8.017222,62,62,56,54,52,50,131,187,205,225,170,150
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.029211
$HUMID,72.91
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.30
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,21.7,128.983
$10V_AH,9.8,61.628
$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,13.825,39.850,500.275,56.075,0.000,0.000,0.000,0.000,7.750,0.000,0.000,1182.327,1625.462,502.738,849.035,139.086,0.000,1015.772,0.000,848.266,1080.000,2.622,0.000
$DEVICE_MAMPS,239.445,169.065,1018.215,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.268,374.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,510
$CAP_FILE_SIZE,58927,0
$CFSIZE,260165632,196517888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.0
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6