version: 66.08
glider: 141
mission: 15
dive: 982
start: 6 16 111 3 15 57
data:
$ID,141
$MISSION,15
$DIVE,982
$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,-100353.89
$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,33
$R_STBD_OVSHOOT,63
$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,2.80
$_SM_ANGLEo,-73.4
$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,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.72,0.000,2,0.000,0.000,113,2523,2507,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.1,-6.5,19,175,12.98,2.53,-24.92,0.000,4,0.319,0.091,2654,1094,3630,0,0,0,0,0,0
$GC,183,-0.83,-146.0,16.3,-9.5,27,191,0.17,2.17,0.00,0.000,6,0.108,0.048,2596,2476,3630,0,0,0,0,0,0
$GC,533,-1.15,-146.0,55.2,-12.6,88,540,0.30,2.30,0.00,0.000,4,0.153,0.060,2502,3894,3630,0,0,0,0,0,0
$GC,736,-1.52,-146.0,77.5,-13.0,123,743,0.38,2.30,0.00,0.000,6,0.109,0.060,2379,2502,3630,0,0,0,0,0,0
$GC,1078,-1.42,-146.0,143.2,-19.4,165,1082,0.00,2.25,0.00,0.000,4,0.000,0.051,2379,3895,3629,0,0,0,0,0,0
$GC,1337,-1.47,-146.0,184.8,-16.6,187,1344,0.00,2.33,0.00,0.000,6,0.000,0.057,2379,2490,3628,0,0,0,0,0,0
$GC,1664,-1.89,-146.0,217.2,-0.0,218,1670,0.35,2.40,0.00,0.000,4,0.122,0.072,2259,1078,3629,0,0,0,0,0,0
$STATE,1673,end dive,NO_VERTICAL_VELOCITY
$STATE,1673,begin apogee
$GC,1683,-0.12,0.0,217.2,0.0,218,1812,1.62,0.00,120.00,1.039,6,0.085,0.000,2821,2277,3030,0,0,0,0,0,0
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,0.62,146.0,217.2,0.0,230,1953,0.77,2.75,125.28,0.995,4,0.128,0.070,3056,861,2432,0,0,0,0,0,0
$GC,2208,1.22,369.7,217.1,-0.3,264,2413,0.62,2.25,196.27,0.966,6,0.113,0.037,3254,2286,1522,0,0,0,0,0,0
$GC,2741,0.97,369.7,147.8,17.8,314,2746,0.30,2.28,0.00,0.000,4,0.228,0.050,3176,3674,1513,0,0,0,0,0,0
$GC,2752,0.74,369.7,145.2,17.4,314,2760,0.30,2.35,0.00,0.000,6,0.164,0.049,3103,2264,1512,0,0,0,0,0,0
$GC,3080,0.74,369.7,110.9,10.4,345,3084,0.00,2.33,0.00,0.000,4,0.000,0.067,3112,856,1512,0,0,0,0,0,0
$GC,3166,0.64,369.7,100.9,12.1,352,3173,0.15,2.20,0.00,0.000,6,0.203,0.039,3078,2276,1510,0,0,0,0,0,0
$GC,3513,0.64,369.7,64.3,10.4,413,3520,0.00,2.25,0.00,0.000,4,0.000,0.054,3077,3674,1510,0,0,0,0,0,0
$GC,3534,0.67,369.7,62.2,10.6,416,3541,0.00,2.30,0.00,0.000,6,0.000,0.050,3083,2261,1510,0,0,0,0,0,0
$GC,3884,0.84,460.0,34.2,5.8,477,3943,0.15,2.38,52.40,0.949,4,0.093,0.062,3155,863,1153,0,0,0,0,0,0
$GC,3996,0.84,460.0,23.1,11.1,496,4003,0.00,2.22,0.00,0.000,6,0.000,0.042,3155,2281,1149,0,0,0,0,0,0
$FREEZE,8.65,-0.863,-1.794,0,345,1
$FREEZE,8.04,-0.865,-1.793,0,345,1
$FREEZE,7.28,-0.871,-1.792,0,345,1
$FREEZE,6.23,-0.869,-1.791,0,345,1
$STATE,4122,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4122,begin subsurface finish
$FINISH1,6.2,1.026225,63
$GC,4131,0.08,62.5,6.2,-13.5,518,4228,0.93,2.42,-87.05,0.000,4,0.200,0.083,2896,871,2776,0,0,0,0,0,0
$FINISH2,4.1
$STATE,4228,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4229,begin surface
$RAFOS_CLK,280
$RAFOS,2,1308197826,4.300000,4.285000,59,58,57,53,51,50,117,199,182,170,212,134
$RAFOS,1,1308197346,4.166667,4.151667,63,61,59,57,56,50,189,147,158,201,171,1222
$RAFOS,0,1308196861,4.033333,4.016944,60,58,57,57,50,50,216,198,143,160,121,171
$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,74.41
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.60
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.5,17.4
$24V_AH,21.6,128.562
$10V_AH,9.8,61.510
$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,19.025,43.925,493.950,0.000,0.000,98.581,17.371,0.000,10.750,0.000,185.583,1180.545,1612.477,589.986,1228.514,655.126,0.000,1164.344,0.000,917.220,1440.000,2.618,0.000
$DEVICE_MAMPS,319.005,91.035,1038.870,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.501,384.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,20119,534
$CAP_FILE_SIZE,65485,0
$CFSIZE,260165632,196624384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6