version: 66.08
glider: 141
mission: 15
dive: 650
start: 5 18 111 18 27 40
data:
$ID,141
$MISSION,15
$DIVE,650
$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,-49000.867
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,180511,163342,6706.950,-5800.422,0,5104.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,3.8
$GPS2,180511,163342,6706.950,-5800.422,0,5104.0,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,285.8,114668,-17.5,-10.000
$D_GRID,850
$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
$STATE,13,begin dive
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$STATE,7324,end dive,NO_VERTICAL_VELOCITY
$STATE,7324,begin apogee
$GC,7333,-0.12,0.0,822.1,0.0,561,7468,0.73,0.00,129.07,1.450,6,0.126,0.000,2815,2274,3030,0,0,0,0,0,0
$STATE,7469,end apogee,CONTROL_FINISHED_OK
$STATE,7469,begin climb
$GC,7473,0.62,146.0,822.1,0.0,566,7624,0.80,2.72,138.75,1.398,4,0.132,0.074,3065,869,2433,0,0,0,0,0,0
$GC,7700,0.62,146.0,815.7,27567.1,573,7704,0.00,2.50,0.00,0.000,6,0.000,0.063,3065,2277,2429,0,0,0,0,0,0
$GC,8031,0.62,146.0,779.5,27567.1,584,8035,0.00,2.38,0.00,0.000,4,0.000,0.076,3075,860,2426,0,0,0,0,0,0
$GC,8131,0.62,146.0,768.0,27567.1,587,8135,0.00,2.35,0.00,0.000,6,0.000,0.066,3074,2280,2425,0,0,0,0,0,0
$GC,8462,0.62,146.0,729.4,27567.1,598,8466,0.00,2.35,0.00,0.000,4,0.000,0.081,3074,3691,2425,0,0,0,0,0,0
$GC,8551,0.62,146.0,717.2,27567.1,600,8558,0.00,2.33,0.00,0.000,6,0.000,0.064,3084,2270,2424,0,0,0,0,0,0
$GC,8866,0.62,146.0,678.3,27567.1,611,8870,0.00,2.35,0.00,0.000,4,0.000,0.077,3085,3691,2424,0,0,0,0,0,0
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$GC,10889,0.62,146.0,440.4,27567.1,757,10894,0.12,2.30,0.00,0.000,6,0.209,0.061,3068,2272,2423,0,0,0,0,0,0
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$GC,12270,0.62,146.0,288.6,27567.1,884,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2274,2423,0,0,0,0,0,0
$GC,12590,0.62,146.0,257.4,27567.1,914,12595,0.00,2.35,0.00,0.000,4,0.000,0.075,3068,3696,2423,0,0,0,0,0,0
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$GC,12948,0.62,146.0,220.3,27567.1,946,12952,0.00,2.38,0.00,0.000,4,0.000,0.075,3077,3693,2423,0,0,0,0,0,0
$GC,13060,0.62,146.0,206.1,27567.1,955,13067,0.00,2.33,0.00,0.000,6,0.000,0.060,3086,2276,2423,0,0,0,0,0,0
$GC,13386,0.62,146.0,170.7,27567.1,986,13390,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,3699,2423,0,0,0,0,0,0
$GC,13508,0.62,146.0,156.2,27567.1,996,13513,0.12,2.33,0.00,0.000,6,0.200,0.060,3068,2270,2424,0,0,0,0,0,0
$GC,13835,0.62,146.0,128.0,27567.1,1026,13839,0.00,2.35,0.00,0.000,4,0.000,0.074,3068,3691,2424,0,0,0,0,0,0
$GC,13885,0.62,146.0,123.3,27567.1,1030,13892,0.00,2.30,0.00,0.000,6,0.000,0.060,3076,2275,2424,0,0,0,0,0,0
$STATE,13963,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13964,begin subsurface finish
$FINISH1,116.5,1.026958,27
$GC,13970,0.03,26.6,116.5,-27567.1,1038,13978,0.65,0.00,-3.03,0.000,6,0.171,0.000,2885,2274,2931,0,0,0,0,0,0
$FINISH2,115.6
$STATE,13979,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13979,begin surface
$RAFOS_CLK,757
$RAFOS,65,-437894763,263574501257347980066816.000000,13975962.000000,152,93,65,150,182,52,25377,122,161,206,217,186
$RAFOS,5,1305751287,20.700001,20.690834,163,65,64,60,59,58,464,215,204,171,183,138
$RAFOS,4,1305750782,20.566668,20.550556,116,71,61,56,54,48,737,192,213,121,146,174
$RAFOS,3,1305750310,20.433332,20.419445,63,60,60,56,52,51,209,200,861,186,135,229
$RAFOS,2,1305749840,20.299999,20.288889,67,56,55,52,51,46,201,213,167,182,148,116
$RAFOS,1,1305749348,20.166666,20.152222,96,60,60,60,54,53,865,200,222,174,163,211
$RAFOS,0,1305748884,20.033333,20.023333,65,60,59,58,57,52,157,909,200,124,219,179
$RAFOS_FIX,6704.469238,-5758.842773,180511,202013,3,125,0.33
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,18.9,19.2
$ALTIM_BOTTOM_PING,118.3,19.3
$24V_AH,21.0,85.627
$10V_AH,9.9,44.357
$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,6.125,145.475,267.825,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,2618.175,8828.114,427.549,1908.590,262.375,0.000,1472.632,0.000,1884.298,2520.000,23.013,0.000
$DEVICE_MAMPS,273.870,154.530,1450.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.451,800.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40019,1039
$CAP_FILE_SIZE,142904,0
$CFSIZE,260165632,211415040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,180511,203013,6704.469,-5758.843,0,3125.0,0,-37.6