version: 66.08
glider: 141
mission: 15
dive: 984
start: 6 16 111 5 59 13
data:
$ID,141
$MISSION,15
$DIVE,984
$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,-100724.77
$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,65
$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,2.73
$_SM_ANGLEo,-73.5
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-113.00,0.000,2,0.000,0.000,110,2525,2630,0,0,0,0,0,0
$GC,139,-0.62,-146.0,5.8,-9.5,20,177,12.75,2.22,-19.52,0.000,4,0.317,0.063,2650,3870,3630,0,0,0,0,0,0
$GC,434,-1.01,-146.0,53.1,-12.6,71,442,0.35,2.30,0.00,0.000,6,0.106,0.067,2536,2491,3631,0,0,0,0,0,0
$GC,783,-1.25,-146.0,86.5,-11.2,132,791,0.20,2.40,0.00,0.000,4,0.100,0.073,2462,1081,3629,0,0,0,0,0,0
$GC,811,-1.22,-146.0,90.5,-13.8,136,818,0.00,2.15,0.00,0.000,6,0.000,0.036,2461,2472,3629,0,0,0,0,0,0
$GC,1141,-1.19,-146.0,147.6,-16.3,171,1145,0.00,2.28,0.00,0.000,4,0.000,0.052,2461,3890,3629,0,0,0,0,0,0
$GC,1183,-1.41,-146.0,153.1,-12.0,174,1188,0.15,2.33,0.00,0.000,6,0.109,0.056,2410,2479,3629,0,0,0,0,0,0
$GC,1509,-1.32,-146.0,212.1,-18.5,204,1514,0.12,2.28,0.00,0.000,4,0.208,0.048,2438,3886,3628,0,0,0,0,0,0
$GC,1654,-1.61,-146.0,216.0,0.2,216,1659,0.28,2.22,0.00,0.000,6,0.098,0.047,2346,2487,3629,0,0,0,0,0,0
$STATE,1680,end dive,NO_VERTICAL_VELOCITY
$STATE,1680,begin apogee
$GC,1689,-0.12,0.0,216.1,0.0,218,1821,1.50,0.00,120.15,1.035,6,0.126,0.000,2816,2260,3029,0,0,0,0,0,0
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1825,0.62,146.0,216.1,0.0,230,1962,0.75,2.65,125.15,0.990,4,0.103,0.070,3059,880,2434,0,0,0,0,0,0
$GC,2217,1.08,358.9,215.9,0.2,264,2411,0.43,2.22,186.27,0.962,6,0.076,0.039,3215,2267,1567,0,0,0,0,0,0
$GC,2732,0.85,358.9,159.4,15.6,312,2737,0.28,2.30,0.00,0.000,4,0.213,0.049,3144,3679,1557,0,0,0,0,0,0
$GC,2788,0.81,358.9,151.9,11.8,316,2795,0.00,2.33,0.00,0.000,6,0.000,0.063,3151,2276,1555,0,0,0,0,0,0
$GC,3115,0.69,358.9,110.6,12.6,347,3120,0.25,2.33,0.00,0.000,4,0.197,0.063,3091,864,1555,0,0,0,0,0,0
$GC,3179,0.60,358.9,103.1,12.5,352,3184,0.12,2.20,0.00,0.000,6,0.200,0.037,3063,2288,1555,0,0,0,0,0,0
$GC,3527,0.64,371.4,67.4,9.4,410,3546,0.00,2.25,10.43,0.818,4,0.000,0.053,3063,3676,1514,0,0,0,0,0,0
$GC,3566,0.76,391.2,63.5,9.1,416,3592,0.10,2.28,19.30,0.860,6,0.114,0.052,3114,2272,1434,0,0,0,0,0,0
$GC,3934,0.82,428.4,26.6,8.3,480,3959,0.00,2.33,20.38,0.900,4,0.000,0.047,3114,3686,1282,0,0,0,0,0,0
$GC,4008,1.02,480.0,20.7,7.6,492,4043,0.20,2.30,26.20,0.859,6,0.080,0.060,3207,2269,1072,0,0,0,0,0,0
$FREEZE,8.58,-0.797,-1.800,0,347,0
$FREEZE,7.83,-0.795,-1.799,0,347,0
$FREEZE,7.29,-0.802,-1.799,0,347,0
$FREEZE,6.57,-0.800,-1.798,0,347,0
$STATE,4121,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4121,begin subsurface finish
$FINISH1,6.6,1.026318,58
$GC,4129,0.07,58.0,6.6,-13.8,511,4223,1.10,2.28,-82.97,0.000,4,0.195,0.057,2894,3688,2795,0,0,0,0,0,0
$FINISH2,4.3
$STATE,4227,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4228,begin surface
$RAFOS_CLK,280
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.026964
$HUMID,73.86
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.20
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,21.7,128.847
$10V_AH,9.8,61.595
$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,18.575,43.975,507.875,0.000,0.000,98.840,35.369,0.000,12.000,0.000,185.592,1166.897,1632.621,596.259,1225.145,642.086,0.000,1171.468,0.000,901.458,0.000,2.619,0.000
$DEVICE_MAMPS,317.475,73.440,1035.045,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.952,382.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20087,527
$CAP_FILE_SIZE,67394,0
$CFSIZE,260165632,196546560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6