version: 66.08
glider: 141
mission: 15
dive: 991
start: 6 16 111 16 8 28
data:
$ID,141
$MISSION,15
$DIVE,991
$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,-102579.17
$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,66
$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
$GPS1,160611,113654,6715.065,-5710.441,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-72.7
$GPS2,160611,113654,6715.065,-5710.441,181,99.0,181,-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,181.6,27603,-17.5,-10.000
$D_GRID,344
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.70,0.000,2,0.000,0.000,116,2525,2558,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.5,-7.1,19,174,12.80,2.17,-22.42,0.000,4,0.320,0.062,2650,3866,3628,0,0,0,0,0,0
$GC,430,-0.97,-146.0,50.5,-14.7,71,437,0.32,2.30,0.00,0.000,6,0.118,0.067,2550,2491,3629,0,0,0,0,0,0
$GC,778,-1.38,-146.0,87.8,-10.1,132,785,0.35,2.40,0.00,0.000,4,0.115,0.080,2427,1077,3628,0,0,0,0,0,0
$GC,811,-1.38,-146.0,92.8,-13.8,137,818,0.00,2.20,0.00,0.000,6,0.000,0.040,2427,2475,3628,0,0,0,0,0,0
$GC,1146,-1.31,-146.0,155.0,-18.3,171,1150,0.00,2.40,0.00,0.000,4,0.000,0.076,2427,1081,3627,0,0,0,0,0,0
$GC,1168,-1.11,-146.0,160.2,-21.7,172,1176,0.30,2.20,0.00,0.000,6,0.232,0.037,2497,2489,3626,0,0,0,0,0,0
$GC,1494,-1.13,-146.0,209.3,-14.8,203,1498,0.00,2.42,0.00,0.000,4,0.000,0.075,2498,1078,3626,0,0,0,0,0,0
$GC,1519,-1.04,-146.0,213.5,-17.1,205,1524,0.12,2.20,0.00,0.000,6,0.233,0.034,2525,2499,3626,0,0,0,0,0,0
$STATE,1704,end dive,NO_VERTICAL_VELOCITY
$STATE,1708,begin apogee
$GC,1715,-0.12,0.0,215.8,0.0,222,1847,0.90,0.00,119.50,1.034,6,0.124,0.000,2815,2258,3029,0,0,0,0,0,0
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1848,begin climb
$GC,1851,0.62,146.0,215.8,0.0,234,1987,0.73,2.58,125.75,0.989,4,0.090,0.047,3057,3672,2433,0,0,0,0,0,0
$GC,1996,1.08,367.8,215.8,-0.2,247,2208,0.47,2.55,204.07,0.955,6,0.060,0.055,3221,2277,1530,0,0,0,0,0,0
$GC,2529,0.87,367.8,148.7,15.8,296,2534,0.30,2.40,0.00,0.000,4,0.207,0.047,3147,3666,1523,0,0,0,0,0,0
$GC,2540,0.67,367.8,146.6,15.6,296,2548,0.28,2.45,0.00,0.000,6,0.155,0.057,3082,2266,1521,0,0,0,0,0,0
$GC,2867,0.69,386.7,115.9,9.1,327,2889,0.00,2.42,16.60,0.858,4,0.000,0.066,3090,862,1453,0,0,0,0,0,0
$GC,2941,0.70,395.1,109.0,9.6,333,2959,0.00,2.25,9.23,0.793,6,0.000,0.044,3090,2281,1419,0,0,0,0,0,0
$GC,3295,0.67,395.1,63.9,11.9,389,3302,0.00,2.35,0.00,0.000,4,0.000,0.068,3100,859,1416,0,0,0,0,0,0
$GC,3315,0.67,395.1,61.7,11.1,392,3323,0.00,2.22,0.00,0.000,6,0.000,0.041,3100,2275,1416,0,0,0,0,0,0
$GC,3665,0.77,432.7,23.5,8.3,453,3695,0.00,2.40,20.35,0.885,4,0.000,0.063,3110,863,1265,0,0,0,0,0,0
$GC,3788,0.88,451.9,13.9,9.1,474,3808,0.10,2.20,9.45,0.788,6,0.120,0.037,3152,2286,1185,0,0,0,0,0,0
$FREEZE,8.67,-0.673,-1.791,0,354,0
$FREEZE,8.13,-0.671,-1.791,0,354,0
$FREEZE,7.71,-0.669,-1.790,0,354,0
$FREEZE,7.31,-0.668,-1.790,0,354,0
$FREEZE,6.75,-0.671,-1.790,0,354,0
$FREEZE,6.19,-0.659,-1.789,0,354,0
$FREEZE,5.38,-0.663,-1.789,0,354,0
$FREEZE,4.79,-0.666,-1.788,0,354,0
$FREEZE,4.27,-0.666,-1.788,0,354,0
$FREEZE,3.94,-0.653,-1.787,0,354,0
$FREEZE,3.48,-0.657,-1.787,0,354,0
$FREEZE,2.87,-0.661,-1.787,0,354,0
$STATE,3900,end climb,SURFACE_DEPTH_REACHED
$STATE,3900,begin surface coast
$FREEZE,2.32,-0.645,-1.786,0,354,0
$FREEZE,1.86,-0.646,-1.785,0,354,0
$FREEZE,1.84,-0.555,-1.760,0,354,0
$FREEZE,1.86,-0.553,-1.757,0,354,0
$FREEZE,1.89,-0.557,-1.748,0,354,0
$FREEZE,1.83,-0.574,-1.032,0,354,0
$FINISH,1.8,1.015240
$STATE,3932,end surface coast,CONTROL_FINISHED_OK
$STATE,3933,begin surface
$SM_CCo,4045,48.20,0.065,0,0,751,559.04
$SM_GC,2.64,0.00,0.00,48.20,0.000,0.000,0.065,116,2522,751,-8.59,0.90,559.04
$RAFOS_CLK,273
$RAFOS,6,1308242947,16.833334,16.818611,67,61,57,56,55,52,198,177,157,135,1819,209
$RAFOS,5,1308242466,16.700001,16.684999,61,61,55,54,52,51,194,218,125,209,179,167
$RAFOS,4,1308241988,16.566668,16.552221,62,60,59,53,51,50,204,181,222,138,192,120
$RAFOS,3,1308241503,16.433332,16.417500,64,62,54,52,50,48,196,127,207,146,183,156
$RAFOS,2,1308241023,16.299999,16.284166,64,57,55,53,53,52,194,223,211,173,140,150
$RAFOS,1,1308240546,16.166666,16.151667,58,56,56,55,52,51,204,181,123,140,169,215
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5710.44,160611,111154
$TT8_MAMPS,0.033705
$HUMID,73.98
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,44
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,21.3,129.842
$10V_AH,9.8,61.920
$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,25.550,42.825,504.950,48.200,0.000,92.405,29.437,0.000,11.250,0.000,184.592,1145.574,1627.201,593.413,1118.540,644.765,0.000,1127.734,0.000,808.240,2160.000,2.817,0.000
$DEVICE_MAMPS,319.770,79.560,1034.280,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.266,363.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,500
$CAP_FILE_SIZE,65533,0
$CFSIZE,260165632,196292608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,160611,113654,6715.065,-5710.441,181,99.0,181,-37.6