version: 66.08
glider: 141
mission: 15
dive: 831
start: 6 7 111 12 7 22
data:
$ID,141
$MISSION,15
$DIVE,831
$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,-67112.445
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,4.6
$GPS2,070611,040122,6709.499,-5648.380,181,99.0,181,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,-146.0,0.0,0.0,0,146,0.00,0.35,-121.82,0.000,6,0.000,0.167,3181,2502,3626,0,0,0,0,0,0
$GC,150,-0.62,-146.0,5.4,-9.1,22,157,1.60,0.00,0.00,0.000,6,0.147,0.000,2677,2502,3628,0,0,0,0,0,0
$GC,497,-0.50,-146.0,59.6,-17.1,83,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2502,3627,0,0,0,0,0,0
$GC,838,-0.42,-146.0,115.0,-14.7,135,843,0.17,2.35,0.00,0.000,4,0.217,0.079,2718,3895,3626,0,0,0,0,0,0
$GC,880,-0.48,-146.0,120.3,-11.4,138,885,0.00,2.25,0.00,0.000,6,0.000,0.050,2717,2483,3626,0,0,0,0,0,0
$GC,1207,-0.51,-146.0,154.3,-9.6,168,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2483,3625,0,0,0,0,0,0
$GC,1528,-0.55,-146.0,185.1,-9.7,198,1532,0.00,2.25,0.00,0.000,4,0.000,0.067,2718,1082,3624,0,0,0,0,0,0
$GC,1549,-0.60,-146.0,187.7,-9.8,199,1557,0.15,2.30,0.00,0.000,6,0.110,0.063,2664,2486,3624,0,0,0,0,0,0
$STATE,1873,end dive,NO_VERTICAL_VELOCITY
$STATE,1873,begin apogee
$GC,1880,-0.12,0.0,207.8,0.0,230,2006,0.47,0.00,119.18,1.032,6,0.145,0.000,2815,2266,3030,0,0,0,0,0,0
$STATE,2007,end apogee,CONTROL_FINISHED_OK
$STATE,2007,begin climb
$GC,2010,0.62,146.0,207.8,0.0,241,2143,0.80,2.60,122.53,0.985,4,0.147,0.069,3056,3685,2433,0,0,0,0,0,0
$GC,2213,0.69,202.4,199.8,7.4,259,2269,0.00,2.35,48.90,0.945,6,0.000,0.055,3066,2282,2205,0,0,0,0,0,0
$GC,2588,0.83,251.1,170.3,7.8,294,2636,0.17,2.38,42.03,0.930,4,0.086,0.070,3153,859,2006,0,0,0,0,0,0
$GC,2729,0.81,251.1,152.3,13.5,306,2733,0.00,2.30,0.00,0.000,6,0.000,0.057,3152,2282,1999,0,0,0,0,0,0
$GC,3060,0.75,251.1,104.0,13.5,337,3065,0.17,2.28,0.00,0.000,4,0.184,0.070,3106,3693,1998,0,0,0,0,0,0
$GC,3118,0.79,251.1,97.3,10.3,343,3125,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2272,1998,0,0,0,0,0,0
$GC,3467,0.85,270.6,64.9,9.1,404,3492,0.00,2.30,17.35,0.874,4,0.000,0.068,3124,865,1925,0,0,0,0,0,0
$GC,3551,0.95,274.0,56.8,9.8,418,3565,0.12,2.28,4.40,0.621,6,0.108,0.057,3178,2277,1912,0,0,0,0,0,0
$GC,3906,0.90,274.0,9.3,12.7,480,3912,0.00,2.30,0.00,0.000,4,0.000,0.069,3178,3689,1910,0,0,0,0,0,0
$FREEZE,7.27,-0.795,-1.812,1,194,0
$FREEZE,6.58,-0.777,-1.811,1,194,0
$FREEZE,5.77,-0.780,-1.811,1,194,0
$FREEZE,5.05,-0.767,-1.811,1,194,0
$FREEZE,4.24,-0.742,-1.810,1,194,0
$FREEZE,3.54,-0.746,-1.811,1,194,0
$FREEZE,2.80,-0.725,-1.810,1,194,0
$STATE,3948,end climb,SURFACE_DEPTH_REACHED
$STATE,3949,begin surface coast
$FREEZE,2.00,-0.725,-1.809,1,194,0
$FREEZE,2.09,-0.702,-1.158,1,194,0
$FREEZE,2.10,-0.684,-0.890,1,194,0
$FREEZE,2.02,-0.709,-0.647,1,194,0
$FINISH,2.0,1.009474
$STATE,3973,end surface coast,FINISH_DEPTH_REACHED
$STATE,3973,begin surface
$RAFOS_CLK,226
$RAFOS,6,1307450951,12.833333,12.819722,65,63,57,56,52,49,176,152,210,195,134,111
$RAFOS,5,1307450462,12.700000,12.683888,63,61,59,52,51,50,170,182,199,132,211,141
$RAFOS,4,1307449985,12.566667,12.551389,68,53,51,48,48,43,210,151,188,127,177,98
$RAFOS,3,1307449507,12.433333,12.418612,63,60,58,58,51,48,174,145,192,213,130,119
$RAFOS,2,1307449023,12.300000,12.284166,75,62,58,56,52,48,211,196,162,177,224,147
$RAFOS,1,1307448543,12.166667,12.150833,64,57,56,54,54,53,220,196,157,179,1207,130
$RAFOS,0,1307448066,12.033333,12.018333,63,60,56,54,54,53,201,218,186,166,299,121
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,070611,040422
$TT8_MAMPS,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.70
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.5,109.819
$10V_AH,9.8,54.622
$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,3.675,30.900,354.375,0.000,0.000,0.000,0.000,0.000,10.750,0.000,0.000,1135.952,1719.132,395.155,798.484,107.804,0.000,880.069,0.000,794.276,2160.000,2.815,0.000
$DEVICE_MAMPS,217.260,166.770,1031.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.747,357.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16762,492
$CAP_FILE_SIZE,54436,0
$CFSIZE,260165632,201928704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$GPS,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6