version: 66.08
glider: 141
mission: 15
dive: 926
start: 6 12 111 21 33 54
data:
$ID,141
$MISSION,15
$DIVE,926
$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,-87045.367
$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,54
$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,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-86.5
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,117,0.00,0.00,-98.45,0.000,2,0.000,0.000,109,2509,2351,0,0,0,0,0,0
$GC,124,-0.62,-146.0,5.1,-9.9,20,175,12.95,2.45,-30.83,0.000,4,0.319,0.093,2655,1097,3628,0,0,0,0,0,0
$GC,318,-0.97,-146.0,29.0,-11.6,55,324,0.25,2.17,0.00,0.000,6,0.100,0.042,2553,2480,3628,0,0,0,0,0,0
$GC,663,-1.35,-146.0,63.8,-12.5,116,668,0.35,2.25,0.00,0.000,4,0.125,0.058,2434,3882,3629,0,0,0,0,0,0
$GC,768,-1.62,-146.0,75.9,-12.5,134,773,0.28,2.28,0.00,0.000,6,0.093,0.062,2336,2494,3628,0,0,0,0,0,0
$GC,1105,-1.44,-146.0,149.2,-21.4,175,1110,0.25,2.40,0.00,0.000,4,0.224,0.078,2400,1081,3627,0,0,0,0,0,0
$GC,1135,-1.17,-146.0,156.3,-25.1,177,1140,0.35,2.15,0.00,0.000,6,0.238,0.038,2481,2484,3626,0,0,0,0,0,0
$GC,1460,-1.17,-146.0,206.3,-15.4,207,1464,0.00,2.25,0.00,0.000,4,0.000,0.053,2481,3899,3626,0,0,0,0,0,0
$GC,1489,-1.38,-146.0,210.0,-12.1,209,1494,0.17,2.25,0.00,0.000,6,0.100,0.051,2420,2487,3626,0,0,0,0,0,0
$STATE,1688,end dive,NO_VERTICAL_VELOCITY
$STATE,1688,begin apogee
$GC,1695,-0.12,0.0,213.0,0.0,227,1822,1.23,0.00,119.25,1.040,6,0.118,0.000,2819,2260,3031,0,0,0,0,0,0
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,0.62,146.0,213.0,0.0,239,1960,0.73,2.47,123.18,0.991,4,0.109,0.052,3055,3669,2434,0,0,0,0,0,0
$GC,1968,1.09,365.3,213.0,-0.1,253,2174,0.47,2.42,197.23,0.958,6,0.071,0.057,3221,2281,1541,0,0,0,0,0,0
$GC,2503,0.87,365.3,147.0,16.5,304,2508,0.28,2.25,0.00,0.000,4,0.219,0.047,3147,3687,1532,0,0,0,0,0,0
$GC,2514,0.67,365.3,144.7,16.9,304,2520,0.22,2.33,0.00,0.000,6,0.146,0.060,3083,2281,1531,0,0,0,0,0,0
$GC,2840,0.69,383.6,112.5,9.2,335,2861,0.00,2.35,15.88,0.856,4,0.000,0.073,3092,856,1466,0,0,0,0,0,0
$GC,2932,0.67,384.0,103.8,10.0,343,2936,0.00,2.20,0.00,0.000,6,0.000,0.039,3091,2275,1464,0,0,0,0,0,0
$GC,3276,0.65,385.4,66.5,9.9,401,3281,0.00,2.22,0.00,0.000,4,0.000,0.063,3092,3683,1463,0,0,0,0,0,0
$GC,3335,0.78,428.4,61.2,8.0,411,3381,0.00,2.28,40.88,0.887,6,0.000,0.054,3099,2265,1283,0,0,0,0,0,0
$GC,3721,0.88,467.9,26.9,8.2,480,3748,0.15,2.28,21.17,0.913,4,0.100,0.056,3158,3678,1121,0,0,0,0,0,0
$GC,3760,0.88,467.9,22.9,10.1,487,3765,0.00,2.28,0.00,0.000,6,0.000,0.061,3168,2266,1120,0,0,0,0,0,0
$FREEZE,8.84,NaN,-0.007,0,289,0
$FREEZE,8.21,NaN,-0.006,0,289,0
$FREEZE,7.51,NaN,-0.006,0,289,0
$STATE,3896,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3897,begin subsurface finish
$FINISH1,7.5,1.027500,0
$GC,3904,0.00,0.0,7.5,-11.8,511,3992,1.02,2.38,-78.00,0.000,4,0.200,0.096,2878,877,3033,0,0,0,0,0,0
$FINISH2,6.7
$STATE,3993,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3993,begin surface
$RAFOS_CLK,257
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,77.56
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.80
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.9,17.1
$24V_AH,21.3,120.729
$10V_AH,9.9,58.811
$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,18.700,44.000,517.575,0.000,0.000,99.289,19.946,0.000,10.750,0.000,183.282,545.062,1811.152,486.563,1527.069,603.197,0.000,1127.873,0.000,858.260,0.000,2.618,0.000
$DEVICE_MAMPS,319.005,96.390,1040.400,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.251,365.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,20142,528
$CAP_FILE_SIZE,64769,0
$CFSIZE,260165632,198631424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6