version: 66.08
glider: 141
mission: 15
dive: 994
start: 6 16 111 20 20 36
data:
$ID,141
$MISSION,15
$DIVE,994
$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,-103320.04
$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,33
$R_STBD_OVSHOOT,70
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-27.2
$GPS2,160611,173016,6715.065,-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,17,-0.62,-146.0,0.0,0.0,0,219,0.00,0.00,-195.05,0.000,6,0.000,0.000,98,2515,3626,0,0,0,0,0,0
$GC,222,-0.62,-146.0,7.1,-16.9,35,242,11.50,2.15,0.00,0.000,4,0.280,0.044,2662,3860,3630,0,0,0,0,0,0
$GC,497,-0.98,-146.0,59.8,-15.3,83,505,0.35,2.25,0.00,0.000,6,0.104,0.067,2550,2503,3629,0,0,0,0,0,0
$GC,849,-1.41,-146.0,95.6,-10.0,144,856,0.38,2.42,0.00,0.000,4,0.112,0.071,2419,1078,3628,0,0,0,0,0,0
$GC,876,-1.49,-146.0,99.9,-13.3,148,883,0.12,2.17,0.00,0.000,6,0.148,0.037,2381,2478,3628,0,0,0,0,0,0
$GC,1202,-1.36,-146.0,170.8,-21.1,179,1207,0.17,2.42,0.00,0.000,4,0.226,0.075,2422,1070,3627,0,0,0,0,0,0
$GC,1234,-1.12,-146.0,178.0,-24.6,181,1239,0.32,2.22,0.00,0.000,6,0.236,0.037,2498,2494,3627,0,0,0,0,0,0
$GC,1561,-1.40,-146.0,215.6,-0.1,211,1566,0.25,2.25,0.00,0.000,4,0.098,0.052,2403,3889,3628,0,0,0,0,0,0
$STATE,1647,end dive,NO_VERTICAL_VELOCITY
$STATE,1651,begin apogee
$GC,1660,-0.12,0.0,215.6,0.0,218,1789,1.33,0.00,120.05,1.032,6,0.131,0.000,2813,2264,3030,0,0,0,0,0,0
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1793,0.62,146.0,215.6,0.0,230,1930,0.75,2.60,125.93,0.991,4,0.104,0.047,3056,3661,2434,0,0,0,0,0,0
$GC,2188,1.03,359.1,215.3,0.2,265,2388,0.40,2.40,189.98,0.962,6,0.065,0.062,3207,2266,1566,0,0,0,0,0,0
$GC,2714,0.83,359.1,150.3,15.1,314,2720,0.28,2.47,0.00,0.000,4,0.204,0.066,3145,865,1558,0,0,0,0,0,0
$GC,2767,0.69,359.1,142.0,17.3,318,2772,0.22,2.30,0.00,0.000,6,0.216,0.048,3094,2277,1555,0,0,0,0,0,0
$GC,3093,0.66,359.1,106.0,10.1,348,3097,0.00,2.22,0.00,0.000,4,0.000,0.050,3095,3682,1554,0,0,0,0,0,0
$GC,3105,0.63,359.1,104.6,10.5,348,3113,0.12,2.33,0.00,0.000,6,0.176,0.051,3070,2270,1553,0,0,0,0,0,0
$GC,3449,0.72,406.1,76.2,7.8,404,3496,0.00,2.40,40.80,0.889,4,0.000,0.062,3078,862,1373,0,0,0,0,0,0
$GC,3569,0.87,436.7,66.1,8.6,424,3606,0.20,2.22,27.67,0.863,6,0.082,0.044,3156,2293,1248,0,0,0,0,0,0
$FREEZE,8.15,-0.348,-1.796,0,357,0
$FREEZE,7.45,-0.345,-1.795,0,357,0
$FREEZE,6.64,-0.341,-1.795,0,357,0
$STATE,3909,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3909,begin subsurface finish
$FINISH1,6.6,1.026247,61
$GC,3918,0.08,61.4,6.6,-16.1,484,3999,0.90,2.40,-73.07,0.000,4,0.190,0.080,2895,870,2780,0,0,0,0,0,0
$FINISH2,4.3
$STATE,4004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4004,begin surface
$RAFOS_CLK,267
$RAFOS,6,1308257344,20.833334,20.817778,64,59,55,55,51,51,216,180,193,163,139,226
$RAFOS,5,1308256865,20.700001,20.684723,58,57,55,53,52,52,221,191,1096,203,117,128
$RAFOS,4,1308256383,20.566668,20.550833,66,59,53,53,51,50,198,184,130,207,162,116
$RAFOS,3,1308255905,20.433332,20.418056,64,63,62,59,57,56,187,204,177,141,154,216
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.034454
$HUMID,73.78
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.30
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,21.4,130.263
$10V_AH,9.8,62.056
$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,17.300,39.975,504.425,0.000,0.000,98.353,17.136,0.000,13.250,0.000,185.650,1051.791,1560.977,621.677,1149.958,648.356,0.000,1175.856,0.000,843.612,1440.000,2.623,0.000
$DEVICE_MAMPS,279.990,79.560,1031.985,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.848,364.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150544
$DATA_FILE_SIZE,20093,498
$CAP_FILE_SIZE,62938,0
$CFSIZE,260165632,196190208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6