version: 66.08
glider: 141
mission: 15
dive: 940
start: 6 13 111 16 36 20
data:
$ID,141
$MISSION,15
$DIVE,940
$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,-89996.961
$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,55
$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,2.87
$_SM_ANGLEo,-77.5
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-108.22,0.000,2,0.000,0.000,113,2507,2580,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.9,-10.6,22,174,12.70,0.00,-21.83,0.000,6,0.317,0.000,2656,2508,3630,0,0,0,0,0,0
$GC,513,-0.95,-146.0,59.7,-13.6,90,518,0.28,2.22,0.00,0.000,4,0.122,0.052,2564,3884,3630,0,0,0,0,0,0
$GC,775,-1.27,-146.0,93.9,-14.1,136,781,0.40,2.30,0.00,0.000,6,0.177,0.063,2464,2496,3629,0,0,0,0,0,0
$GC,1104,-1.27,-146.0,146.8,-16.8,171,1108,0.00,2.22,0.00,0.000,4,0.000,0.053,2464,3875,3627,0,0,0,0,0,0
$GC,1146,-1.51,-146.0,152.2,-12.2,174,1151,0.25,2.28,0.00,0.000,6,0.100,0.059,2377,2484,3627,0,0,0,0,0,0
$GC,1471,-1.51,-146.0,216.1,-19.3,204,1475,0.00,2.28,0.00,0.000,4,0.000,0.060,2377,3870,3628,0,0,0,0,0,0
$STATE,1620,end dive,NO_VERTICAL_VELOCITY
$STATE,1620,begin apogee
$GC,1630,-0.12,0.0,216.2,0.0,216,1759,1.52,0.00,119.70,1.047,6,0.171,0.000,2813,2273,3029,0,0,0,0,0,0
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1763,0.62,146.0,216.4,0.0,229,1897,0.80,0.00,123.95,0.997,6,0.148,0.000,3049,2273,2433,0,0,0,0,0,0
$GC,2215,1.04,364.4,215.8,-0.1,272,2407,0.38,0.00,184.82,0.960,6,0.073,0.000,3203,2273,1543,0,0,0,0,0,0
$GC,2727,0.85,364.4,152.9,15.3,321,2732,0.25,2.33,0.00,0.000,4,0.203,0.067,3144,866,1533,0,0,0,0,0,0
$GC,2804,0.61,364.4,141.4,15.8,327,2809,0.32,2.17,0.00,0.000,6,0.213,0.050,3063,2262,1531,0,0,0,0,0,0
$GC,3130,0.58,364.4,103.4,10.9,357,3134,0.00,2.25,0.00,0.000,4,0.000,0.053,3063,3680,1530,0,0,0,0,0,0
$GC,3179,0.76,393.9,98.9,8.6,361,3210,0.12,2.28,24.70,0.879,6,0.100,0.062,3125,2265,1424,0,0,0,0,0,0
$GC,3550,0.73,393.9,56.7,11.2,427,3555,0.00,2.25,0.00,0.000,4,0.000,0.055,3125,3686,1421,0,0,0,0,0,0
$GC,3565,0.68,393.9,55.3,10.9,429,3571,0.17,2.28,0.00,0.000,6,0.171,0.064,3089,2274,1419,0,0,0,0,0,0
$GC,3915,0.79,435.0,25.4,8.1,490,3945,0.00,2.38,22.05,0.907,4,0.000,0.066,3097,867,1255,0,0,0,0,0,0
$GC,4001,1.00,472.7,18.5,8.3,505,4028,0.25,2.22,19.08,0.861,6,0.075,0.039,3198,2280,1102,0,0,0,0,0,0
$FREEZE,8.80,NaN,-0.007,0,303,0
$FREEZE,7.77,NaN,-0.006,0,303,0
$FREEZE,6.90,NaN,-0.005,0,303,0
$STATE,4087,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4087,begin subsurface finish
$FINISH1,6.9,1.027500,0
$GC,4094,0.00,0.0,6.9,-17.3,520,4214,1.23,2.25,-105.65,0.000,4,0.226,0.058,2871,3685,3032,0,0,0,0,0,0
$FINISH2,5.5
$STATE,4214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4215,begin surface
$RAFOS_CLK,271
$RAFOS,6,1307983746,16.833334,16.818333,58,56,54,52,51,50,224,205,169,194,118,140
$RAFOS,5,1307983265,16.700001,16.684723,63,55,55,53,52,51,141,115,160,609,198,177
$RAFOS,1,1307981341,16.166666,16.150278,64,60,56,56,55,48,147,197,171,208,95,81
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.034454
$HUMID,77.21
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,78
$ALTIM_TOP_PING,19.9,17.1
$24V_AH,22.1,122.672
$10V_AH,9.9,59.493
$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,18.675,34.350,494.300,0.000,0.000,98.352,17.444,0.000,19.750,0.000,183.286,564.838,1957.884,495.077,1572.055,582.291,0.000,1146.434,0.000,890.480,720.000,2.617,0.000
$DEVICE_MAMPS,316.710,67.320,1046.520,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.557,375.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20156,543
$CAP_FILE_SIZE,62907,0
$CFSIZE,260165632,198135808
$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