version: 66.08
glider: 141
mission: 15
dive: 789
start: 6 5 111 9 12 0
data:
$ID,141
$MISSION,15
$DIVE,789
$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,-56751.078
$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,20
$R_STBD_OVSHOOT,22
$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,2.12
$_SM_ANGLEo,4.2
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,69,0.00,2.62,-46.20,0.000,6,0.000,0.070,2865,2493,3626,0,0,0,0,0,0
$GC,73,-0.62,-146.0,3.3,-3.8,9,80,0.55,2.33,0.00,0.000,4,0.094,0.076,2668,3905,3626,0,0,0,0,0,0
$GC,122,-0.49,-146.0,9.6,-14.7,17,130,0.15,2.25,0.00,0.000,6,0.215,0.052,2702,2477,3626,0,0,0,0,0,0
$GC,470,-0.42,-146.0,67.7,-14.0,78,477,0.00,2.28,0.00,0.000,4,0.000,0.070,2702,1080,3626,0,0,0,0,0,0
$GC,508,-0.36,-146.0,73.4,-14.6,84,516,0.15,2.30,0.00,0.000,6,0.222,0.067,2738,2493,3627,0,0,0,0,0,0
$GC,849,-0.39,-146.0,111.8,-10.7,135,853,0.00,2.35,0.00,0.000,4,0.000,0.083,2738,3899,3625,0,0,0,0,0,0
$GC,900,-0.47,-146.0,117.4,-9.8,139,907,0.00,2.25,0.00,0.000,6,0.000,0.054,2738,2487,3625,0,0,0,0,0,0
$GC,1230,-0.51,-146.0,148.1,-9.3,170,1234,0.12,2.30,0.00,0.000,4,0.128,0.070,2695,1077,3625,0,0,0,0,0,0
$GC,1280,-0.48,-146.0,154.7,-12.5,174,1287,0.00,2.30,0.00,0.000,6,0.000,0.067,2695,2489,3625,0,0,0,0,0,0
$STATE,1584,end dive,NO_VERTICAL_VELOCITY
$STATE,1584,begin apogee
$GC,1591,-0.12,0.0,172.0,0.0,203,1717,0.38,0.00,119.45,1.026,6,0.136,0.000,2817,2262,3030,0,0,0,0,0,0
$STATE,1718,end apogee,CONTROL_FINISHED_OK
$STATE,1718,begin climb
$GC,1721,0.62,146.0,172.0,0.0,214,1854,0.77,2.55,122.88,0.976,4,0.135,0.074,3064,871,2434,0,0,0,0,0,0
$GC,1906,0.88,261.5,166.9,4.7,230,2017,0.25,2.42,100.97,0.943,6,0.073,0.059,3161,2286,1963,0,0,0,0,0,0
$GC,2345,0.84,261.5,110.2,13.8,271,2349,0.00,2.30,0.00,0.000,4,0.000,0.075,3161,3694,1952,0,0,0,0,0,0
$GC,2421,0.77,261.5,98.3,16.5,277,2429,0.22,2.30,0.00,0.000,6,0.183,0.069,3112,2279,1950,0,0,0,0,0,0
$GC,2771,0.86,280.1,63.1,9.1,338,2795,0.00,2.40,15.62,0.865,4,0.000,0.076,3112,864,1887,0,0,0,0,0,0
$GC,2901,1.02,317.1,52.0,8.3,360,2944,0.22,2.30,33.55,0.892,6,0.080,0.059,3204,2281,1736,0,0,0,0,0,0
$FREEZE,8.74,-0.844,-1.815,3,152,0
$FREEZE,8.07,-0.831,-1.814,3,152,0
$FREEZE,7.39,-0.824,-1.814,3,152,0
$FREEZE,6.37,-0.831,-1.814,3,152,0
$STATE,3209,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3209,begin subsurface finish
$FINISH1,6.4,1.026543,47
$GC,3217,0.06,46.9,6.4,-14.2,414,3277,1.08,2.33,-50.95,0.000,4,0.173,0.088,2888,3693,2839,0,0,0,0,0,0
$FINISH2,5.0
$STATE,3277,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$RAFOS_CLK,185
$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,47.40
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.4,17.3
$24V_AH,22.4,104.892
$10V_AH,9.9,52.996
$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,3.900,37.950,392.475,0.000,0.000,0.000,0.000,0.000,5.750,0.000,0.000,946.678,1182.785,414.674,693.271,98.286,0.000,842.158,0.000,696.295,0.000,2.615,0.000
$DEVICE_MAMPS,221.850,87.975,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.955,306.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16810,424
$CAP_FILE_SIZE,47520,0
$CFSIZE,260165632,203247616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.8
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6