version: 66.08
glider: 141
mission: 15
dive: 924
start: 6 12 111 19 3 13
data:
$ID,141
$MISSION,15
$DIVE,924
$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,28
$R_STBD_OVSHOOT,40
$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,15.62
$_SM_ANGLEo,6.8
$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,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,-3.55,0.000,2,0.000,0.000,2877,872,3239,0,0,0,0,0,0
$GC,26,-0.62,-146.0,19.3,-0.0,1,37,0.62,0.32,-6.47,0.000,4,0.142,0.145,2669,1104,3631,0,0,0,0,0,0
$GC,154,-1.13,-146.0,33.5,-10.8,23,160,0.43,2.17,0.00,0.000,6,0.086,0.044,2499,2511,3633,0,0,0,0,0,0
$GC,500,-1.17,-146.0,82.2,-15.0,84,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2512,3632,0,0,0,0,0,0
$GC,832,-1.21,-146.0,131.0,-14.3,125,836,0.00,2.15,0.00,0.000,4,0.000,0.049,2498,3878,3631,0,0,0,0,0,0
$GC,867,-1.53,-146.0,135.1,-9.9,128,872,0.38,2.22,0.00,0.000,6,0.102,0.051,2371,2485,3631,0,0,0,0,0,0
$GC,1193,-1.39,-146.0,200.0,-21.5,158,1197,0.17,2.25,0.00,0.000,4,0.234,0.048,2410,3882,3629,0,0,0,0,0,0
$GC,1234,-1.53,-146.0,206.4,-13.1,161,1239,0.12,2.28,0.00,0.000,6,0.116,0.055,2367,2483,3629,0,0,0,0,0,0
$STATE,1418,end dive,NO_VERTICAL_VELOCITY
$STATE,1418,begin apogee
$GC,1428,-0.12,0.0,208.7,0.0,178,1556,1.48,0.00,119.62,1.025,6,0.149,0.000,2813,2270,3029,0,0,0,0,0,0
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin climb
$GC,1560,0.62,146.0,208.8,0.0,190,1693,0.75,2.45,122.15,0.974,4,0.118,0.047,3054,3663,2433,0,0,0,0,0,0
$GC,1702,1.08,342.0,208.4,1.0,204,1886,0.43,2.40,174.57,0.942,6,0.065,0.054,3211,2277,1634,0,0,0,0,0,0
$GC,2205,0.85,342.0,148.0,15.4,252,2209,0.25,2.33,0.00,0.000,4,0.217,0.064,3155,861,1626,0,0,0,0,0,0
$GC,2227,0.65,342.0,144.6,14.4,253,2233,0.32,2.22,0.00,0.000,6,0.221,0.043,3076,2258,1624,0,0,0,0,0,0
$GC,2553,0.63,351.7,112.5,9.5,284,2567,0.00,2.33,7.68,0.756,4,0.000,0.051,3076,3687,1596,0,0,0,0,0,0
$GC,2603,0.73,359.2,107.7,9.7,288,2619,0.00,2.28,8.38,0.780,6,0.000,0.061,3084,2267,1566,0,0,0,0,0,0
$GC,2953,0.77,397.6,73.9,8.2,344,2994,0.00,2.30,35.22,0.878,4,0.000,0.070,3094,871,1408,0,0,0,0,0,0
$GC,3018,0.83,397.6,67.6,10.1,356,3024,0.10,2.22,0.00,0.000,6,0.119,0.037,3137,2277,1407,0,0,0,0,0,0
$GC,3366,0.79,397.6,22.8,10.1,417,3371,0.00,2.22,0.00,0.000,4,0.000,0.052,3138,3700,1405,0,0,0,0,0,0
$GC,3412,0.83,397.6,17.7,10.5,425,3417,0.00,2.28,0.00,0.000,6,0.000,0.055,3149,2277,1403,0,0,0,0,0,0
$FREEZE,8.54,NaN,-0.006,0,287,0
$FREEZE,7.90,NaN,-0.006,0,287,0
$STATE,3505,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3505,begin subsurface finish
$FINISH1,7.9,1.027500,0
$GC,3513,0.00,0.0,7.9,-10.5,442,3579,0.98,2.40,-56.85,0.000,4,0.194,0.086,2880,871,3033,0,0,0,0,0,0
$FINISH2,7.5
$STATE,3580,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3580,begin surface
$RAFOS_CLK,195
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.028462
$HUMID,78.19
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.20
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.6,16.2
$24V_AH,21.4,120.450
$10V_AH,9.8,58.717
$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,6.025,37.150,467.625,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,483.716,1603.770,370.972,1062.455,117.427,0.000,898.541,0.000,749.305,360.000,2.621,0.000
$DEVICE_MAMPS,234.090,144.585,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.423,318.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16756,455
$CAP_FILE_SIZE,52991,0
$CFSIZE,260165632,198713344
$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