version: 66.08
glider: 141
mission: 15
dive: 996
start: 6 16 111 22 59 7
data:
$ID,141
$MISSION,15
$DIVE,996
$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,-103689.62
$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,25
$R_STBD_OVSHOOT,54
$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,2.83
$_SM_ANGLEo,-74.7
$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,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-107.00,0.000,2,0.000,0.000,112,2506,2570,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.6,-8.2,19,173,12.95,2.42,-21.95,0.000,4,0.322,0.094,2652,1083,3628,0,0,0,0,0,0
$GC,188,-0.89,-146.0,18.3,-10.0,28,195,0.22,2.17,0.00,0.000,6,0.105,0.037,2579,2494,3629,0,0,0,0,0,0
$GC,536,-1.25,-146.0,53.9,-9.6,89,544,0.32,2.40,0.00,0.000,4,0.119,0.076,2466,1082,3628,0,0,0,0,0,0
$GC,555,-1.52,-146.0,55.5,-9.3,91,562,0.28,2.20,0.00,0.000,6,0.111,0.046,2376,2490,3628,0,0,0,0,0,0
$GC,897,-1.39,-146.0,123.8,-20.0,141,901,0.15,2.28,0.00,0.000,4,0.223,0.051,2409,3891,3627,0,0,0,0,0,0
$GC,1155,-1.49,-146.0,162.9,-13.8,163,1162,0.00,2.30,0.00,0.000,6,0.000,0.057,2409,2481,3627,0,0,0,0,0,0
$GC,1482,-1.66,-146.0,216.3,-5.4,194,1484,0.22,0.00,0.00,0.000,6,0.112,0.000,2336,2481,3627,0,0,0,0,0,0
$STATE,1627,end dive,NO_VERTICAL_VELOCITY
$STATE,1627,begin apogee
$GC,1636,-0.12,0.0,216.4,0.0,208,1768,1.55,0.00,119.55,1.031,6,0.131,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1772,0.62,146.0,216.4,0.0,220,1909,0.77,2.58,126.05,0.986,4,0.118,0.045,3054,3672,2434,0,0,0,0,0,0
$GC,1927,1.09,358.4,216.4,0.2,233,2132,0.50,2.55,195.62,0.957,6,0.069,0.052,3220,2280,1568,0,0,0,0,0,0
$GC,2459,0.88,358.4,154.1,16.0,283,2465,0.28,2.40,0.00,0.000,4,0.210,0.045,3154,3674,1560,0,0,0,0,0,0
$GC,2471,0.69,358.4,151.9,16.2,283,2478,0.28,2.40,0.00,0.000,6,0.148,0.051,3088,2271,1558,0,0,0,0,0,0
$GC,2797,0.69,358.4,118.4,10.0,314,2801,0.00,2.25,0.00,0.000,4,0.000,0.047,3088,3674,1558,0,0,0,0,0,0
$GC,2808,0.69,358.4,117.0,10.6,314,2815,0.00,2.33,0.00,0.000,6,0.000,0.057,3094,2263,1557,0,0,0,0,0,0
$GC,3144,0.69,358.4,82.1,10.6,360,3151,0.00,2.28,0.00,0.000,4,0.000,0.047,3094,3679,1557,0,0,0,0,0,0
$GC,3204,0.75,358.4,75.9,10.1,370,3211,0.00,2.28,0.00,0.000,6,0.000,0.058,3104,2277,1557,0,0,0,0,0,0
$GC,3552,0.80,415.6,43.4,7.4,431,3605,0.00,2.28,46.08,0.907,4,0.000,0.047,3104,3678,1333,0,0,0,0,0,0
$GC,3667,1.00,475.4,34.7,7.2,450,3709,0.20,2.30,33.62,0.926,6,0.083,0.050,3193,2274,1091,0,0,0,0,0,0
$FREEZE,8.50,-0.449,-1.795,0,359,0
$FREEZE,7.97,-0.499,-1.796,0,359,0
$FREEZE,7.33,-0.488,-1.795,0,359,0
$FREEZE,6.67,-0.474,-1.795,0,359,0
$STATE,3901,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3901,begin subsurface finish
$FINISH1,6.7,1.026254,61
$GC,3909,0.08,61.1,6.7,-11.2,491,4002,1.00,2.38,-82.57,0.000,4,0.156,0.083,2894,859,2783,0,0,0,0,0,0
$FINISH2,4.8
$STATE,4006,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$RAFOS_CLK,263
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.029211
$HUMID,74.13
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.70
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,21.1,130.544
$10V_AH,9.7,62.138
$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,18.725,40.125,520.925,0.000,0.000,98.871,17.369,0.000,11.500,0.000,183.287,1076.752,1557.684,605.727,1152.266,667.689,0.000,1154.363,0.000,839.291,360.000,2.621,0.000
$DEVICE_MAMPS,322.065,94.095,1031.220,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.878,361.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,20111,507
$CAP_FILE_SIZE,63366,0
$CFSIZE,260165632,196120576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6