version: 66.08
glider: 141
mission: 15
dive: 936
start: 6 13 111 10 52 59
data:
$ID,141
$MISSION,15
$DIVE,936
$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,-88889.234
$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,32
$R_STBD_OVSHOOT,61
$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
$GPS1,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-77.8
$GPS2,130611,000401,6715.065,-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,-108.07,0.000,2,0.000,0.000,117,2513,2553,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.6,-9.4,22,176,12.65,2.42,-22.42,0.000,4,0.316,0.090,2655,1091,3629,0,0,0,0,0,0
$GC,183,-0.84,-146.0,17.8,-10.2,31,189,0.12,2.17,0.00,0.000,6,0.094,0.048,2593,2475,3629,0,0,0,0,0,0
$GC,530,-1.18,-146.0,55.8,-12.1,92,536,0.30,2.28,0.00,0.000,4,0.194,0.053,2491,3890,3629,0,0,0,0,0,0
$GC,792,-1.54,-146.0,84.8,-13.3,138,797,0.35,2.30,0.00,0.000,6,0.103,0.066,2373,2491,3629,0,0,0,0,0,0
$GC,1123,-1.43,-146.0,152.1,-20.9,176,1128,0.12,2.28,0.00,0.000,4,0.232,0.054,2399,3880,3628,0,0,0,0,0,0
$GC,1382,-1.50,-146.0,192.4,-14.7,198,1387,0.00,2.33,0.00,0.000,6,0.000,0.063,2399,2486,3628,0,0,0,0,0,0
$STATE,1684,end dive,NO_VERTICAL_VELOCITY
$STATE,1684,begin apogee
$GC,1691,-0.12,0.0,215.8,0.0,227,1819,1.35,0.00,119.88,1.046,6,0.135,0.000,2817,2264,3030,0,0,0,0,0,0
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1823,0.62,146.0,215.9,0.0,239,1957,0.73,2.45,123.55,0.993,4,0.112,0.052,3058,3660,2433,0,0,0,0,0,0
$GC,2091,1.01,356.9,215.6,0.3,264,2280,0.35,2.35,181.23,0.959,6,0.067,0.059,3197,2271,1575,0,0,0,0,0,0
$GC,2601,0.85,356.9,157.5,14.2,312,2606,0.22,2.35,0.00,0.000,4,0.203,0.070,3149,864,1566,0,0,0,0,0,0
$GC,2642,0.67,356.9,151.6,15.2,315,2647,0.28,2.22,0.00,0.000,6,0.215,0.047,3083,2261,1564,0,0,0,0,0,0
$GC,2967,0.70,385.7,120.6,8.7,345,2998,0.00,2.30,24.75,0.888,4,0.000,0.065,3083,3683,1457,0,0,0,0,0,0
$GC,3005,0.77,413.5,117.3,8.7,348,3036,0.00,2.30,25.95,0.876,6,0.000,0.062,3087,2271,1344,0,0,0,0,0,0
$GC,3366,0.87,439.1,85.4,8.8,395,3397,0.15,2.35,23.15,0.870,4,0.096,0.061,3149,3690,1238,0,0,0,0,0,0
$GC,3421,0.93,439.1,79.0,11.4,405,3427,0.00,2.28,0.00,0.000,6,0.000,0.057,3155,2273,1236,0,0,0,0,0,0
$GC,3766,0.93,439.1,38.6,10.4,466,3771,0.00,2.25,0.00,0.000,4,0.000,0.062,3155,3687,1236,0,0,0,0,0,0
$GC,3790,0.93,439.1,36.2,10.4,470,3795,0.00,2.28,0.00,0.000,6,0.000,0.057,3165,2275,1234,0,0,0,0,0,0
$FREEZE,8.50,NaN,-0.006,0,299,0
$FREEZE,8.01,NaN,-0.006,0,299,0
$FREEZE,7.42,NaN,-0.006,0,299,0
$FREEZE,6.90,NaN,-0.005,0,299,0
$FREEZE,6.25,NaN,-0.005,0,299,0
$FREEZE,5.76,NaN,-0.004,0,299,0
$FREEZE,5.22,NaN,-0.004,0,299,0
$FREEZE,4.68,NaN,-0.004,0,299,0
$FREEZE,4.10,NaN,-0.003,0,299,0
$FREEZE,3.43,NaN,-0.003,0,299,0
$FREEZE,2.89,NaN,-0.002,0,299,0
$STATE,4116,end climb,SURFACE_DEPTH_REACHED
$STATE,4116,begin surface coast
$FREEZE,2.28,NaN,-0.002,0,299,0
$FREEZE,1.91,NaN,-0.001,0,299,0
$FREEZE,1.75,NaN,-0.001,0,299,0
$FREEZE,1.82,NaN,-0.001,0,299,0
$FREEZE,1.74,NaN,-0.001,0,299,0
$FINISH,1.7,NaN
$STATE,4144,end surface coast,CONTROL_FINISHED_OK
$STATE,4145,begin surface
$SM_CCo,4219,54.17,0.065,0,0,751,559.04
$SM_GC,2.85,0.00,0.00,54.17,0.000,0.000,0.065,113,2524,751,-8.60,0.96,559.04
$RAFOS_CLK,273
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.029211
$HUMID,77.13
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,72
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,22.1,122.106
$10V_AH,9.8,59.284
$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,25.475,37.600,498.500,54.175,0.000,98.452,17.442,0.000,18.250,0.000,183.289,603.427,1983.996,493.124,1579.668,586.227,0.000,1121.737,0.000,902.244,360.000,2.617,0.000
$DEVICE_MAMPS,315.945,90.270,1045.755,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.351,371.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20154,533
$CAP_FILE_SIZE,65314,0
$CFSIZE,260165632,198279168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6