version: 66.08
glider: 141
mission: 15
dive: 860
start: 6 9 111 4 4 45
data:
$ID,141
$MISSION,15
$DIVE,860
$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,-74505.867
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.61
$_SM_ANGLEo,-58.0
$GPS2,080611,141440,6703.953,-5642.035,181,99.0,181,-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,285.3,4655,-17.5,-10.000
$D_GRID,432
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.57,0.000,2,0.000,0.000,103,2510,946,0,0,0,0,0,0
$GC,29,-0.62,-146.0,9.7,-0.0,1,135,13.05,2.45,-81.47,0.000,4,0.317,0.083,2654,1074,3629,0,0,0,0,0,0
$GC,285,-0.55,-146.0,35.8,-16.9,45,293,0.12,2.35,0.00,0.000,6,0.221,0.079,2682,2487,3630,0,0,0,0,0,0
$GC,634,-0.50,-146.0,88.3,-13.8,106,641,0.00,2.40,0.00,0.000,4,0.000,0.085,2682,3910,3629,0,0,0,0,0,0
$GC,700,-0.50,-146.0,97.7,-13.0,117,706,0.00,2.30,0.00,0.000,6,0.000,0.058,2682,2482,3629,0,0,0,0,0,0
$GC,1029,-0.47,-146.0,140.8,-12.2,149,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2482,3628,0,0,0,0,0,0
$GC,1346,-0.47,-146.0,178.6,-11.5,179,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2482,3627,0,0,0,0,0,0
$GC,1670,-0.55,-146.0,214.2,-6.9,209,1674,0.00,2.30,0.00,0.000,4,0.000,0.072,2682,1076,3628,0,0,0,0,0,0
$STATE,1803,end dive,NO_VERTICAL_VELOCITY
$STATE,1803,begin apogee
$GC,1812,-0.12,0.0,214.2,0.0,220,1940,0.43,0.00,120.40,1.044,6,0.150,0.000,2814,2281,3030,0,0,0,0,0,0
$STATE,1941,end apogee,CONTROL_FINISHED_OK
$STATE,1941,begin climb
$GC,1944,0.62,146.0,214.2,0.0,232,2079,0.77,2.60,123.70,0.995,4,0.142,0.072,3059,873,2432,0,0,0,0,0,0
$GC,2091,0.71,218.1,209.6,6.7,245,2164,0.00,2.45,64.57,0.959,6,0.000,0.059,3059,2273,2140,0,0,0,0,0,0
$GC,2484,0.75,220.9,171.6,9.9,282,2489,0.12,2.38,0.00,0.000,4,0.099,0.074,3118,3694,2131,0,0,0,0,0,0
$GC,2525,0.65,220.9,165.9,15.1,285,2530,0.20,2.33,0.00,0.000,6,0.189,0.059,3078,2269,2130,0,0,0,0,0,0
$GC,2851,0.65,220.9,129.2,11.2,315,2855,0.00,2.30,0.00,0.000,4,0.000,0.073,3086,859,2130,0,0,0,0,0,0
$GC,2880,0.68,220.9,125.9,11.1,317,2885,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2278,2129,0,0,0,0,0,0
$GC,3212,0.70,220.9,90.6,10.6,354,3219,0.00,2.30,0.00,0.000,4,0.000,0.071,3086,3687,2129,0,0,0,0,0,0
$GC,3238,0.70,220.9,87.8,11.1,358,3245,0.00,2.30,0.00,0.000,6,0.000,0.056,3096,2264,2129,0,0,0,0,0,0
$GC,3585,0.73,220.9,50.7,10.6,419,3592,0.00,2.30,0.00,0.000,4,0.000,0.071,3107,857,2129,0,0,0,0,0,0
$GC,3611,0.76,220.9,48.0,10.8,423,3618,0.00,2.33,0.00,0.000,6,0.000,0.060,3107,2279,2129,0,0,0,0,0,0
$GC,3958,0.78,244.5,13.3,8.9,484,3977,0.00,2.35,12.20,0.824,4,0.000,0.079,3107,3683,2032,0,0,0,0,0,0
$FREEZE,8.56,-0.888,-1.810,0,223,0
$FREEZE,8.11,-0.880,-1.810,0,223,0
$STATE,4010,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4010,begin subsurface finish
$FINISH1,8.1,1.026470,50
$GC,4022,0.06,50.5,8.1,-9.8,493,4059,0.75,2.38,-27.45,0.000,4,0.161,0.085,2891,3682,2827,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4059,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4060,begin surface
$RAFOS_CLK,272
$RAFOS,6,1307594941,4.833333,4.816945,64,58,54,53,53,50,216,198,140,116,171,149
$RAFOS,5,1307594467,4.700000,4.685278,56,54,53,52,50,50,147,222,171,211,201,159
$RAFOS,4,1307593981,4.566667,4.550278,65,65,57,57,54,47,184,221,208,199,153,133
$RAFOS,3,1307593511,4.433333,4.419722,64,62,61,57,55,54,217,189,138,115,169,157
$RAFOS,2,1307593023,4.300000,4.284167,67,57,56,56,51,51,216,166,181,142,194,117
$RAFOS,1,1307592544,4.166667,4.151111,70,57,54,53,50,48,196,214,147,136,223,162
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026215
$HUMID,47.00
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.8,16.4
$24V_AH,22.2,112.805
$10V_AH,9.8,55.862
$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,15.450,44.400,320.875,0.000,0.000,100.785,17.379,0.000,12.250,0.000,183.283,1163.516,1799.676,392.352,1100.599,612.318,0.000,869.965,0.000,798.884,2160.000,2.614,0.000
$DEVICE_MAMPS,317.475,84.915,1044.225,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.503,366.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,20151,499
$CAP_FILE_SIZE,59476,0
$CFSIZE,260165632,200957952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6