version: 66.08
glider: 141
mission: 15
dive: 878
start: 6 10 111 6 20 10
data:
$ID,141
$MISSION,15
$DIVE,878
$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,-78931.742
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,100611,030416,6709.499,-5643.654,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.1
$GPS2,100611,030416,6709.499,-5643.654,181,99.0,181,-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,232.2,12437,-17.5,-10.000
$D_GRID,345
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-152.77,0.000,2,0.000,0.000,107,2497,3128,0,0,0,0,0,0
$GC,178,-0.62,-146.0,5.3,-6.6,27,210,13.62,2.40,-11.50,0.000,4,0.333,0.081,2656,1084,3630,0,0,0,0,0,0
$GC,258,-0.52,-146.0,26.0,-18.7,40,266,0.15,2.33,0.00,0.000,6,0.220,0.076,2691,2477,3632,0,0,0,0,0,0
$GC,606,-0.48,-146.0,77.4,-13.3,101,613,0.00,2.45,0.00,0.000,4,0.000,0.090,2691,3910,3631,0,0,0,0,0,0
$GC,644,-0.48,-146.0,82.9,-14.0,107,651,0.00,2.30,0.00,0.000,6,0.000,0.055,2692,2488,3631,0,0,0,0,0,0
$GC,983,-0.48,-146.0,125.9,-11.6,149,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2488,3630,0,0,0,0,0,0
$GC,1305,-0.48,-146.0,162.8,-11.1,179,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2488,3630,0,0,0,0,0,0
$GC,1634,-0.48,-146.0,197.9,-11.3,210,1638,0.00,2.33,0.00,0.000,4,0.000,0.069,2691,1070,3630,0,0,0,0,0,0
$GC,1652,-0.48,-146.0,200.2,-10.4,211,1656,0.00,2.35,0.00,0.000,6,0.000,0.064,2692,2490,3630,0,0,0,0,0,0
$STATE,1879,end dive,NO_VERTICAL_VELOCITY
$STATE,1879,begin apogee
$GC,1889,-0.12,0.0,206.7,0.0,232,2021,0.38,0.00,120.65,1.039,6,0.129,0.000,2818,2260,3030,0,0,0,0,0,0
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2025,0.62,146.0,206.7,0.0,244,2161,0.77,2.47,122.95,0.988,4,0.142,0.072,3064,871,2432,0,0,0,0,0,0
$GC,2316,0.66,177.9,194.2,8.5,269,2349,0.00,2.33,27.70,0.927,6,0.000,0.064,3064,2285,2304,0,0,0,0,0,0
$GC,2669,0.67,185.0,159.9,9.7,302,2682,0.00,2.35,7.07,0.775,4,0.000,0.069,3064,3687,2275,0,0,0,0,0,0
$GC,2741,0.64,185.0,152.0,11.5,308,2745,0.00,2.28,0.00,0.000,6,0.000,0.055,3074,2272,2274,0,0,0,0,0,0
$GC,3066,0.64,185.0,116.7,10.1,338,3071,0.00,2.30,0.00,0.000,4,0.000,0.070,3084,864,2274,0,0,0,0,0,0
$GC,3111,0.64,185.0,112.1,10.4,341,3118,0.00,2.25,0.00,0.000,6,0.000,0.053,3084,2280,2273,0,0,0,0,0,0
$GC,3450,0.64,185.0,79.1,10.2,391,3457,0.00,2.28,0.00,0.000,4,0.000,0.067,3084,3694,2273,0,0,0,0,0,0
$GC,3556,0.60,185.0,67.1,11.3,409,3564,0.15,2.28,0.00,0.000,6,0.181,0.051,3057,2267,2274,0,0,0,0,0,0
$GC,3907,0.74,233.4,39.0,7.8,470,3943,0.12,2.35,27.85,0.959,4,0.101,0.070,3128,859,2077,0,0,0,0,0,0
$GC,3990,0.74,233.4,30.3,10.5,484,3997,0.00,2.28,0.00,0.000,6,0.000,0.051,3128,2275,2073,0,0,0,0,0,0
$FREEZE,8.71,-1.235,-1.813,0,241,0
$FREEZE,8.05,-1.237,-1.812,0,241,0
$FREEZE,7.49,-1.239,-1.812,0,241,0
$FREEZE,6.91,-1.237,-1.811,0,241,0
$STATE,4233,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4233,begin subsurface finish
$FINISH1,6.9,1.026515,48
$GC,4241,0.06,48.3,6.9,-10.7,527,4283,0.82,2.30,-33.47,0.000,4,0.189,0.082,2890,3682,2831,0,0,0,0,0,0
$FINISH2,4.5
$STATE,4284,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4284,begin surface
$RAFOS_CLK,284
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.027713
$HUMID,77.76
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,22.4,114.650
$10V_AH,9.8,56.684
$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,16.025,39.975,306.225,0.000,0.000,98.839,17.156,0.000,9.500,0.000,183.284,1205.040,1864.858,444.164,1158.836,597.479,0.000,956.556,0.000,851.936,0.000,2.617,0.000
$DEVICE_MAMPS,332.775,90.270,1038.870,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.870,388.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20147,534
$CAP_FILE_SIZE,59289,0
$CFSIZE,260165632,200310784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,100611,043555,6709.499,-5646.748,0,10000.0,0,-37.6