version: 66.08
glider: 141
mission: 15
dive: 590
start: 5 10 111 13 13 32
data:
$ID,141
$MISSION,15
$DIVE,590
$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,-2
$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,-47699.234
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,100511,082725,6709.083,-5845.883,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.42
$_SM_ANGLEo,-8.9
$GPS2,100511,082725,6709.083,-5845.883,181,99.0,181,-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,135.1,85871,-17.5,-10.000
$D_GRID,1290
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.90,0.000,2,0.000,0.000,2855,3694,3181,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.5,-0.0,1,52,0.52,4.40,-17.12,0.000,4,0.074,0.076,2662,1076,3627,0,0,0,0,0,0
$STATE,144,end dive,NO_VERTICAL_VELOCITY
$STATE,144,begin apogee
$FREEZE,7.55,-1.755,-1.796,2,125,1
$FREEZE,7.44,-1.753,-1.796,2,125,1
$FREEZE,7.48,-1.754,-1.796,2,125,1
$FREEZE,7.48,-1.751,-1.796,2,125,1
$FREEZE,7.48,-1.737,-1.795,2,125,1
$FREEZE,7.50,-1.754,-1.796,2,125,1
$FREEZE,7.55,-1.737,-1.795,2,125,1
$FREEZE,7.46,-1.752,-1.796,2,125,1
$FREEZE,7.50,-1.754,-1.796,2,125,1
$GC,151,-0.12,0.0,7.5,0.0,21,227,0.52,0.00,68.20,0.873,6,0.174,0.000,2813,2274,3028,0,0,0,0,0,0
$STATE,231,end apogee,CONTROL_FINISHED_OK
$STATE,231,begin climb
$FREEZE,7.65,-1.743,-1.795,2,125,1
$FREEZE,7.58,-1.686,-1.792,2,125,1
$FREEZE,7.47,-1.747,-1.795,2,125,1
$FREEZE,7.39,-1.735,-1.794,2,125,1
$FREEZE,7.45,-1.701,-1.792,2,125,1
$FREEZE,7.37,-1.745,-1.795,2,125,1
$FREEZE,7.25,-1.753,-1.796,2,125,1
$FREEZE,7.18,-1.749,-1.795,2,125,1
$FREEZE,7.17,-1.755,-1.796,2,125,1
$FREEZE,7.17,-1.754,-1.796,2,125,1
$GC,233,0.62,146.0,7.6,0.0,31,316,0.85,2.58,70.25,0.836,4,0.190,0.086,3047,3679,2431,0,0,0,0,0,0
$FREEZE,7.02,-1.754,-1.795,2,125,1
$FREEZE,7.09,-1.751,-1.795,2,125,1
$FREEZE,7.05,-1.756,-1.796,2,125,1
$FREEZE,7.03,-1.753,-1.795,2,125,1
$FREEZE,6.95,-1.754,-1.795,2,125,1
$FREEZE,6.80,-1.753,-1.795,2,125,1
$FREEZE,6.89,-1.754,-1.795,2,125,1
$FREEZE,6.66,-1.755,-1.795,2,125,1
$FREEZE,6.55,-1.731,-1.794,2,125,1
$FREEZE,6.56,-1.745,-1.795,2,125,1
$FREEZE,6.55,-1.751,-1.795,2,125,1
$FREEZE,6.58,-1.751,-1.795,2,125,1
$FREEZE,6.58,-1.748,-1.795,2,125,1
$FREEZE,6.58,-1.753,-1.795,2,125,1
$FREEZE,6.59,-1.753,-1.795,2,125,1
$FREEZE,6.59,-1.752,-1.795,2,125,1
$FREEZE,6.55,-1.753,-1.795,2,125,1
$FREEZE,6.66,-1.754,-1.796,2,125,1
$FREEZE,6.56,-1.753,-1.795,2,125,1
$FREEZE,6.56,-1.754,-1.795,2,125,1
$FREEZE,6.49,-1.754,-1.795,2,125,1
$FREEZE,6.53,-1.754,-1.795,2,125,1
$FREEZE,6.58,-1.753,-1.795,2,125,1
$FREEZE,6.59,-1.756,-1.795,2,125,1
$FREEZE,6.56,-1.757,-1.795,2,125,1
$FREEZE,6.55,-1.757,-1.795,2,125,1
$FREEZE,6.59,-1.757,-1.795,2,125,1
$FREEZE,6.63,-1.756,-1.795,2,125,1
$FREEZE,6.59,-1.755,-1.795,2,125,1
$FREEZE,6.51,-1.755,-1.795,2,125,1
$FREEZE,6.60,-1.755,-1.795,2,125,1
$FREEZE,6.59,-1.756,-1.795,2,125,1
$FREEZE,6.57,-1.755,-1.795,2,125,1
$FREEZE,6.58,-1.753,-1.795,2,125,1
$FREEZE,6.53,-1.755,-1.795,2,125,1
$FREEZE,6.63,-1.756,-1.795,2,125,1
$STATE,502,end climb,NO_VERTICAL_VELOCITY
$STATE,502,begin subsurface finish
$FINISH1,6.6,1.026303,59
$GC,512,0.07,58.7,6.6,0.1,78,521,0.60,0.00,-4.95,0.000,2,0.189,0.000,2894,2268,2540,0,0,0,0,0,0
$FINISH2,6.6
$STATE,521,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,522,begin surface
$RAFOS_CLK,52
$RAFOS_FIX,6709.083008,-5845.882812,100511,080825,7,115,0.18
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,7.6,999.0
$24V_AH,23.3,77.756
$10V_AH,10.1,40.095
$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,2.500,11.425,138.450,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,233.942,49.548,152.742,114.212,26.366,0.000,249.192,0.000,129.010,0.000,2.798,0.000
$DEVICE_MAMPS,190.485,86.445,872.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,53.903,59.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,205,79
$CAP_FILE_SIZE,13532,0
$CFSIZE,260165632,215490560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$GPS,100511,082725,6709.083,-5845.883,181,99.0,181,-37.6