version: 66.08
glider: 141
mission: 15
dive: 893
start: 6 11 111 3 32 24
data:
$ID,141
$MISSION,15
$DIVE,893
$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,-82251.922
$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,34
$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,15.80
$_SM_ANGLEo,8.0
$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,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.65,0.000,2,0.000,0.000,2873,870,3247,0,0,0,0,0,0
$GC,26,-0.62,-146.0,19.7,-0.0,1,37,0.62,0.00,-6.28,0.000,6,0.169,0.000,2674,870,3628,0,0,0,0,0,0
$GC,376,-1.04,-146.0,58.6,-11.7,63,387,0.40,4.80,0.00,0.000,4,0.110,0.047,2533,3906,3630,0,0,0,0,0,0
$GC,515,-1.40,-146.0,75.3,-13.7,87,521,0.40,2.33,0.00,0.000,6,0.134,0.068,2417,2485,3629,0,0,0,0,0,0
$GC,850,-1.34,-146.0,135.0,-18.2,130,854,0.00,2.35,0.00,0.000,4,0.000,0.080,2417,1083,3628,0,0,0,0,0,0
$GC,867,-1.19,-146.0,138.7,-19.2,131,873,0.25,2.22,0.00,0.000,6,0.245,0.044,2471,2520,3627,0,0,0,0,0,0
$GC,1193,-1.19,-146.0,189.2,-15.0,162,1197,0.00,2.45,0.00,0.000,4,0.000,0.082,2472,1080,3626,0,0,0,0,0,0
$GC,1209,-1.11,-146.0,192.2,-15.8,163,1215,0.12,2.22,0.00,0.000,6,0.249,0.042,2499,2491,3626,0,0,0,0,0,0
$STATE,1521,end dive,NO_VERTICAL_VELOCITY
$STATE,1521,begin apogee
$GC,1529,-0.12,0.0,211.2,0.0,193,1657,0.95,0.00,118.72,1.012,6,0.109,0.000,2821,2268,3031,0,0,0,0,0,0
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1661,0.62,146.0,211.2,0.0,205,1792,0.70,2.50,122.57,0.968,4,0.118,0.080,3067,875,2432,0,0,0,0,0,0
$GC,2047,0.91,357.1,210.9,0.3,241,2233,0.25,2.20,177.85,0.939,6,0.077,0.041,3165,2290,1574,0,0,0,0,0,0
$GC,2553,0.75,357.1,151.3,14.5,289,2558,0.22,2.38,0.00,0.000,4,0.194,0.068,3115,859,1564,0,0,0,0,0,0
$GC,2572,0.61,357.1,148.7,13.9,290,2577,0.20,2.20,0.00,0.000,6,0.198,0.049,3065,2263,1562,0,0,0,0,0,0
$GC,2899,0.61,357.1,114.5,10.2,320,2903,0.00,2.25,0.00,0.000,4,0.000,0.057,3065,3686,1562,0,0,0,0,0,0
$GC,2933,0.68,357.1,110.7,10.8,322,2938,0.00,2.30,0.00,0.000,6,0.000,0.069,3072,2266,1561,0,0,0,0,0,0
$GC,3270,0.70,375.4,77.1,9.2,373,3291,0.00,2.33,15.50,0.847,4,0.000,0.069,3083,858,1498,0,0,0,0,0,0
$GC,3343,0.71,380.7,70.4,9.8,386,3354,0.00,2.25,5.82,0.699,6,0.000,0.053,3083,2303,1478,0,0,0,0,0,0
$GC,3695,0.71,380.7,33.9,10.0,448,3700,0.00,2.40,0.00,0.000,4,0.000,0.076,3093,867,1477,0,0,0,0,0,0
$GC,3714,0.78,412.0,32.3,8.6,451,3740,0.00,2.22,19.75,0.896,6,0.000,0.053,3093,2267,1349,0,0,0,0,0,0
$FREEZE,8.37,NaN,-0.006,0,256,0
$FREEZE,7.79,NaN,-0.006,0,256,0
$STATE,3937,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3937,begin subsurface finish
$FINISH1,7.8,1.027500,0
$GC,3945,0.00,0.0,7.8,-10.4,491,4012,0.73,2.30,-60.50,0.000,4,0.175,0.084,2879,858,3031,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4016,begin surface
$RAFOS_CLK,213
$RAFOS,4,1307766784,4.566667,4.551111,63,62,60,56,56,56,185,167,138,116,197,208
$RAFOS,3,1307766305,4.433333,4.418056,58,56,53,50,49,49,197,134,214,172,159,124
$RAFOS,2,1307765827,4.300000,4.285278,59,56,55,52,50,47,152,207,187,167,129,1823
$RAFOS,1,1307765345,4.166667,4.151389,65,59,58,58,57,54,181,218,209,194,134,148
$RAFOS,0,1307764864,4.033333,4.017778,64,62,62,60,59,56,117,195,208,229,158,177
$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,79.61
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.30
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.7,16.9
$24V_AH,22.6,116.240
$10V_AH,9.9,57.347
$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,4.850,42.075,460.225,0.000,0.000,0.000,0.000,0.000,6.750,0.000,0.000,543.950,1852.620,360.214,1193.653,120.905,0.000,930.909,0.000,839.275,1800.000,4.727,0.000
$DEVICE_MAMPS,248.625,84.150,1012.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.048,353.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,16773,504
$CAP_FILE_SIZE,55890,0
$CFSIZE,260165632,199782400
$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