version: 66.08
glider: 141
mission: 15
dive: 780
start: 6 5 111 0 20 40
data:
$ID,141
$MISSION,15
$DIVE,780
$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,-56380.594
$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,21
$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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,3.5
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,153,0.00,0.40,-127.95,0.000,6,0.000,0.151,3150,2504,3625,0,0,0,0,0,0
$GC,156,-0.62,-146.0,2.7,-0.0,23,164,1.33,2.30,0.00,0.000,4,0.076,0.076,2664,3898,3626,0,0,0,0,0,0
$GC,189,-0.62,-146.0,6.3,-9.0,28,196,0.00,2.22,0.00,0.000,6,0.000,0.051,2664,2485,3627,0,0,0,0,0,0
$GC,534,-0.46,-146.0,74.0,-19.0,89,542,0.20,2.33,0.00,0.000,4,0.227,0.078,2711,1080,3626,0,0,0,0,0,0
$GC,578,-0.44,-146.0,81.3,-14.1,96,585,0.00,2.30,0.00,0.000,6,0.000,0.066,2712,2485,3626,0,0,0,0,0,0
$GC,913,-0.44,-146.0,122.4,-11.9,140,917,0.00,2.38,0.00,0.000,4,0.000,0.083,2712,3899,3624,0,0,0,0,0,0
$GC,964,-0.47,-146.0,128.2,-10.5,144,968,0.00,2.25,0.00,0.000,6,0.000,0.054,2711,2490,3624,0,0,0,0,0,0
$GC,1296,-0.47,-146.0,167.0,-11.9,175,1300,0.00,2.33,0.00,0.000,4,0.000,0.070,2711,1080,3623,0,0,0,0,0,0
$GC,1325,-0.47,-146.0,170.5,-12.0,177,1329,0.00,2.33,0.00,0.000,6,0.000,0.065,2712,2496,3623,0,0,0,0,0,0
$STATE,1520,end dive,NO_VERTICAL_VELOCITY
$STATE,1521,begin apogee
$GC,1528,-0.12,0.0,173.2,0.0,195,1653,0.32,0.00,119.03,1.026,6,0.125,0.000,2820,2265,3029,0,0,0,0,0,0
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1657,0.62,146.0,173.2,0.0,206,1790,0.77,2.62,121.85,0.973,4,0.146,0.072,3054,3693,2433,0,0,0,0,0,0
$GC,1848,0.74,246.0,170.7,5.4,223,1949,0.10,2.38,87.78,0.939,6,0.111,0.055,3106,2270,2025,0,0,0,0,0,0
$GC,2268,0.76,246.0,128.9,10.1,262,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2270,2017,0,0,0,0,0,0
$GC,2599,0.82,266.0,97.1,9.1,295,2617,0.00,0.00,16.83,0.876,6,0.000,0.000,3106,2270,1945,0,0,0,0,0,0
$GC,2959,0.89,275.3,62.5,9.6,358,2973,0.12,0.00,9.62,0.820,6,0.104,0.000,3159,2270,1907,0,0,0,0,0,0
$GC,3312,0.89,275.3,20.3,11.5,420,3320,0.00,2.35,0.00,0.000,4,0.000,0.073,3159,3693,1905,0,0,0,0,0,0
$GC,3362,0.85,275.3,14.0,12.9,428,3369,0.12,2.28,0.00,0.000,6,0.194,0.057,3140,2265,1904,0,0,0,0,0,0
$FREEZE,8.60,-0.973,-1.815,3,143,0
$FREEZE,8.16,-0.995,-1.817,3,143,0
$FREEZE,7.56,-0.951,-1.816,3,143,0
$FREEZE,7.09,-0.939,-1.816,3,143,0
$STATE,3424,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3424,begin subsurface finish
$FINISH1,7.1,1.026567,46
$GC,3433,0.06,45.7,7.1,-9.5,439,3476,0.82,2.38,-36.15,0.000,4,0.181,0.083,2889,857,2846,0,0,0,0,0,0
$FINISH2,6.3
$STATE,3476,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3476,begin surface
$RAFOS_CLK,196
$RAFOS,6,1307234943,0.833333,0.817500,62,59,56,55,52,52,213,159,189,147,117,131
$RAFOS,5,1307234469,0.700000,0.685833,54,53,52,51,51,50,156,143,113,215,1515,201
$RAFOS,4,1307233983,0.566667,0.550833,64,56,51,50,50,49,198,209,114,146,184,171
$RAFOS,3,1307233502,0.433333,0.417222,64,58,58,57,51,51,185,174,195,152,140,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,48.11
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,22.6,103.792
$10V_AH,9.8,52.753
$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,3.800,31.200,355.100,0.000,0.000,0.000,0.000,0.000,7.000,0.000,0.000,985.814,1309.988,430.416,714.256,92.418,0.000,873.305,0.000,715.289,1440.000,2.611,0.000
$DEVICE_MAMPS,227.205,150.705,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.040,320.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16807,446
$CAP_FILE_SIZE,46240,0
$CFSIZE,260165632,203501568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.4
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6