version: 66.08
glider: 141
mission: 15
dive: 922
start: 6 12 111 16 46 18
data:
$ID,141
$MISSION,15
$DIVE,922
$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,-86676.805
$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,27
$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,15.42
$_SM_ANGLEo,4.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.50,0.000,2,0.000,0.000,2878,874,3233,0,0,0,0,0,0
$GC,27,-0.62,-146.0,19.2,-0.0,1,38,0.65,0.32,-6.62,0.000,4,0.153,0.144,2671,1097,3628,0,0,0,0,0,0
$GC,133,-1.07,-146.0,30.9,-11.5,19,139,0.38,2.20,0.00,0.000,6,0.096,0.042,2524,2517,3631,0,0,0,0,0,0
$GC,478,-1.28,-146.0,67.5,-10.8,80,484,0.20,2.17,0.00,0.000,4,0.098,0.051,2448,3879,3630,0,0,0,0,0,0
$GC,509,-1.54,-146.0,71.2,-11.9,85,515,0.22,2.25,0.00,0.000,6,0.102,0.054,2369,2478,3630,0,0,0,0,0,0
$GC,849,-1.40,-146.0,138.9,-20.5,129,854,0.17,2.35,0.00,0.000,4,0.226,0.074,2409,1075,3628,0,0,0,0,0,0
$GC,878,-1.14,-146.0,146.0,-24.2,131,883,0.35,2.17,0.00,0.000,6,0.243,0.037,2491,2485,3628,0,0,0,0,0,0
$GC,1205,-1.16,-146.0,193.3,-14.4,161,1209,0.00,2.38,0.00,0.000,4,0.000,0.080,2491,1082,3627,0,0,0,0,0,0
$GC,1215,-1.16,-146.0,195.2,-14.2,161,1220,0.00,2.20,0.00,0.000,6,0.000,0.037,2491,2493,3627,0,0,0,0,0,0
$STATE,1487,end dive,NO_VERTICAL_VELOCITY
$STATE,1487,begin apogee
$GC,1495,-0.12,0.0,209.7,0.0,187,1622,1.10,0.00,119.30,1.030,6,0.160,0.000,2816,2265,3030,0,0,0,0,0,0
$STATE,1623,end apogee,CONTROL_FINISHED_OK
$STATE,1623,begin climb
$GC,1626,0.62,146.0,209.5,0.0,199,1754,0.77,0.00,123.43,0.981,6,0.129,0.000,3057,2265,2433,0,0,0,0,0,0
$GC,2073,1.24,361.2,209.5,0.1,242,2265,0.60,2.53,181.77,0.949,4,0.115,0.077,3267,875,1556,0,0,0,0,0,0
$GC,2272,0.95,361.2,188.9,17.8,261,2278,0.43,2.33,0.00,0.000,6,0.237,0.048,3172,2261,1555,0,0,0,0,0,0
$GC,2598,0.79,361.2,142.8,14.0,292,2603,0.20,2.28,0.00,0.000,4,0.210,0.051,3121,3693,1547,0,0,0,0,0,0
$GC,2609,0.65,361.2,141.1,14.0,292,2615,0.17,2.28,0.00,0.000,6,0.170,0.054,3078,2270,1545,0,0,0,0,0,0
$GC,2934,0.66,376.5,110.5,9.3,323,2955,0.00,2.30,12.80,0.839,4,0.000,0.050,3077,3687,1494,0,0,0,0,0,0
$GC,2968,0.74,404.2,107.5,8.7,326,2999,0.00,2.28,25.77,0.875,6,0.000,0.052,3083,2275,1382,0,0,0,0,0,0
$GC,3337,0.81,430.4,71.8,8.8,384,3369,0.12,2.33,23.75,0.870,4,0.106,0.060,3135,3691,1274,0,0,0,0,0,0
$GC,3382,0.81,430.4,66.8,11.2,392,3387,0.00,2.28,0.00,0.000,6,0.000,0.060,3144,2275,1273,0,0,0,0,0,0
$GC,3727,0.78,434.6,29.0,9.8,453,3738,0.00,2.30,3.90,0.583,4,0.000,0.050,3144,3691,1256,0,0,0,0,0,0
$GC,3750,0.78,434.6,26.4,10.6,457,3756,0.15,2.28,0.00,0.000,6,0.175,0.063,3113,2272,1256,0,0,0,0,0,0
$FREEZE,8.79,NaN,-0.007,0,285,1
$FREEZE,8.28,NaN,-0.006,0,285,1
$FREEZE,7.84,NaN,-0.006,0,285,1
$FREEZE,7.38,NaN,-0.006,0,285,1
$STATE,3965,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3965,begin subsurface finish
$FINISH1,7.4,1.027500,0
$GC,3972,0.00,0.0,7.4,-8.4,495,4048,0.82,2.30,-65.93,0.000,4,0.178,0.057,2873,3699,3030,0,0,0,0,0,0
$FINISH2,7.5
$STATE,4051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4051,begin surface
$RAFOS_CLK,221
$RAFOS,6,1307897344,16.833334,16.817778,70,57,56,54,50,49,216,191,205,141,177,109
$RAFOS,5,1307896864,16.700001,16.684444,65,54,53,53,51,51,216,145,120,133,171,199
$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,79.13
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.80
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,17.0
$24V_AH,22.4,120.197
$10V_AH,9.9,58.647
$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,6.350,41.875,490.725,0.000,0.000,0.000,0.000,0.000,7.250,0.000,0.000,535.294,1871.985,418.783,1149.972,129.677,0.000,964.569,0.000,800.116,360.000,2.615,0.000
$DEVICE_MAMPS,243.270,143.820,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.534,357.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16787,510
$CAP_FILE_SIZE,56961,0
$CFSIZE,260165632,198774784
$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