version: 66.08
glider: 141
mission: 15
dive: 879
start: 6 10 111 7 33 27
data:
$ID,141
$MISSION,15
$DIVE,879
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,100611,043555,6709.499,-5646.748,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.57
$_SM_ANGLEo,-1.9
$GPS2,100611,043555,6709.499,-5646.748,0,10000.0,0,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.68,0.000,2,0.000,0.000,2891,3682,3060,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.9,-0.0,1,54,0.65,4.30,-13.15,0.000,4,0.122,0.065,2667,1081,3629,0,0,0,0,0,0
$GC,108,-0.52,-146.0,22.1,-16.3,14,115,0.00,2.30,0.00,0.000,6,0.000,0.070,2667,2486,3630,0,0,0,0,0,0
$GC,457,-0.44,-146.0,79.2,-16.1,75,465,0.20,2.38,0.00,0.000,4,0.207,0.082,2716,3898,3629,0,0,0,0,0,0
$GC,481,-0.41,-146.0,82.3,-14.2,78,488,0.00,2.25,0.00,0.000,6,0.000,0.049,2717,2481,3630,0,0,0,0,0,0
$GC,818,-0.46,-146.0,116.7,-10.1,124,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2481,3629,0,0,0,0,0,0
$GC,1141,-0.51,-146.0,144.7,-8.8,154,1145,0.00,2.25,0.00,0.000,4,0.000,0.067,2717,1083,3628,0,0,0,0,0,0
$GC,1164,-0.57,-146.0,147.3,-8.7,155,1172,0.12,2.30,0.00,0.000,6,0.112,0.060,2671,2492,3627,0,0,0,0,0,0
$GC,1491,-0.54,-146.0,186.1,-12.1,186,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2492,3627,0,0,0,0,0,0
$GC,1813,-0.79,-146.0,206.4,-0.0,216,1818,0.17,2.33,0.00,0.000,4,0.103,0.067,2603,3902,3627,0,0,0,0,0,0
$STATE,1822,end dive,NO_VERTICAL_VELOCITY
$STATE,1822,begin apogee
$GC,1832,-0.12,0.0,206.3,0.0,216,1959,0.68,0.00,119.43,1.018,6,0.142,0.000,2812,2264,3030,0,0,0,0,0,0
$STATE,1960,end apogee,CONTROL_FINISHED_OK
$STATE,1960,begin climb
$GC,1963,0.62,146.0,206.2,0.0,228,2097,0.77,2.50,122.05,0.972,4,0.136,0.063,3051,3686,2433,0,0,0,0,0,0
$GC,2290,0.58,146.0,187.5,10.6,257,2294,0.00,2.30,0.00,0.000,6,0.000,0.054,3061,2264,2429,0,0,0,0,0,0
$GC,2617,0.62,182.9,157.3,8.3,287,2654,0.00,2.35,31.10,0.918,4,0.000,0.068,3072,867,2284,0,0,0,0,0,0
$GC,2714,0.66,187.4,148.5,9.8,295,2724,0.00,2.28,5.05,0.672,6,0.000,0.052,3072,2282,2266,0,0,0,0,0,0
$GC,3051,0.66,187.4,115.3,10.1,327,3055,0.00,2.25,0.00,0.000,4,0.000,0.066,3072,3686,2264,0,0,0,0,0,0
$GC,3106,0.64,187.4,109.1,11.3,331,3113,0.00,2.28,0.00,0.000,6,0.000,0.060,3082,2266,2264,0,0,0,0,0,0
$GC,3447,0.66,207.1,76.5,9.1,384,3472,0.00,2.33,18.42,0.872,4,0.000,0.064,3092,867,2184,0,0,0,0,0,0
$GC,3526,0.69,207.1,69.1,10.1,397,3532,0.00,2.28,0.00,0.000,6,0.000,0.054,3092,2286,2182,0,0,0,0,0,0
$GC,3872,0.74,226.7,36.7,9.1,458,3891,0.00,2.35,12.75,0.889,4,0.000,0.065,3092,3694,2104,0,0,0,0,0,0
$GC,3916,0.77,235.2,32.5,9.6,465,3929,0.00,2.28,4.65,0.692,6,0.000,0.058,3103,2270,2070,0,0,0,0,0,0
$FREEZE,8.59,-1.206,-1.812,0,242,0
$FREEZE,8.21,-1.206,-1.812,0,242,0
$FREEZE,7.83,-1.204,-1.811,0,242,0
$FREEZE,7.57,-1.203,-1.811,0,242,0
$FREEZE,7.34,-1.208,-1.811,0,242,0
$FREEZE,6.99,-1.206,-1.811,0,242,0
$STATE,4211,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4211,begin subsurface finish
$FINISH1,7.0,1.026504,49
$GC,4219,0.06,48.8,7.0,-5.6,517,4256,0.73,2.28,-28.85,0.000,4,0.187,0.074,2890,858,2833,0,0,0,0,0,0
$FINISH2,6.0
$STATE,4256,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4256,begin surface
$RAFOS_CLK,231
$RAFOS,4,1307694783,8.566667,8.550834,65,60,59,57,55,54,222,211,199,158,133,122
$RAFOS,3,1307694306,8.433333,8.418333,65,56,55,51,46,46,212,191,154,114,140,170
$RAFOS,2,1307693828,8.300000,8.285556,63,63,60,56,55,47,167,197,214,121,140,1717
$RAFOS,1,1307693348,8.166667,8.152223,58,58,57,52,52,51,202,233,173,216,185,162
$RAFOS,0,1307692864,8.033334,8.017777,60,56,55,53,52,49,212,179,195,224,149,124
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.029211
$HUMID,78.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.20
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.5,17.2
$24V_AH,22.6,114.737
$10V_AH,9.8,56.716
$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,3.325,46.225,313.450,0.000,0.000,0.000,0.000,0.000,10.750,0.000,0.000,1230.995,1782.996,325.307,847.648,125.428,0.000,807.988,0.000,845.232,2160.000,2.614,0.000
$DEVICE_MAMPS,207.315,81.855,1018.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.623,384.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20137,523
$CAP_FILE_SIZE,55769,0
$CFSIZE,260165632,200282112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,100611,043555,6709.499,-5646.748,0,10000.0,0,-37.6