version: 66.08
glider: 141
mission: 15
dive: 850
start: 6 8 111 14 20 56
data:
$ID,141
$MISSION,15
$DIVE,850
$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,-71553.297
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-76.7
$GPS2,080611,032949,6703.953,-5649.833,181,99.0,181,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,-0.65,-102.9,0.0,0.0,0,168,0.00,0.00,-146.52,0.000,2,0.000,0.000,109,2499,3128,0,0,0,0,0,0
$GC,172,-0.71,-146.0,5.7,-7.1,26,203,13.57,2.38,-10.23,0.000,4,0.332,0.090,2625,3895,3627,0,0,0,0,0,0
$GC,251,-0.49,-146.0,32.7,-28.4,39,259,0.30,2.25,0.00,0.000,6,0.223,0.058,2698,2490,3630,0,0,0,0,0,0
$GC,600,-0.44,-146.0,97.4,-17.7,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3629,0,0,0,0,0,0
$GC,935,-0.40,-146.0,154.5,-16.8,132,940,0.12,2.30,0.00,0.000,4,0.228,0.067,2727,1083,3630,0,0,0,0,0,0
$GC,953,-0.38,-146.0,158.1,-17.1,133,957,0.00,2.28,0.00,0.000,6,0.000,0.063,2727,2483,3629,0,0,0,0,0,0
$GC,1281,-0.59,-146.0,200.1,-5.7,163,1286,0.17,2.40,0.00,0.000,4,0.106,0.078,2665,3904,3629,0,0,0,0,0,0
$STATE,1416,end dive,NO_VERTICAL_VELOCITY
$STATE,1416,begin apogee
$GC,1425,-0.12,0.0,200.1,0.0,174,1552,0.47,0.00,120.10,1.048,6,0.125,0.000,2818,2270,3030,0,0,0,0,0,0
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1553,begin climb
$GC,1557,0.71,146.0,200.2,0.0,186,1695,0.85,2.62,122.72,0.996,4,0.126,0.071,3085,3696,2432,0,0,0,0,0,0
$GC,1799,0.83,180.6,191.8,7.7,208,1837,0.10,2.33,30.30,0.936,6,0.112,0.057,3138,2279,2292,0,0,0,0,0,0
$GC,2163,0.87,180.6,155.3,10.1,242,2167,0.00,2.33,0.00,0.000,4,0.000,0.074,3149,858,2288,0,0,0,0,0,0
$GC,2276,0.91,180.6,144.2,10.1,251,2283,0.00,2.28,0.00,0.000,6,0.000,0.058,3149,2279,2286,0,0,0,0,0,0
$GC,2603,0.93,180.6,109.7,10.4,282,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2279,2286,0,0,0,0,0,0
$GC,2934,0.97,180.6,75.4,10.1,332,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2279,2286,0,0,0,0,0,0
$GC,3282,1.02,199.7,42.6,8.8,393,3307,0.12,2.38,15.40,0.900,4,0.109,0.071,3197,3678,2214,0,0,0,0,0,0
$GC,3387,0.95,199.7,29.9,14.1,410,3394,0.15,2.30,0.00,0.000,6,0.216,0.058,3173,2263,2214,0,0,0,0,0,0
$FREEZE,8.49,-0.571,-1.808,0,213,0
$FREEZE,8.26,-0.574,-1.807,0,213,0
$FREEZE,7.79,-0.570,-1.806,0,213,0
$FREEZE,7.46,-0.566,-1.805,0,213,0
$FREEZE,7.14,-0.563,-1.804,0,213,0
$STATE,3622,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3622,begin subsurface finish
$FINISH1,7.1,1.026387,55
$GC,3631,0.07,54.6,7.1,-7.2,452,3662,0.93,2.38,-23.05,0.000,4,0.168,0.083,2897,3683,2808,0,0,0,0,0,0
$FINISH2,6.4
$STATE,3663,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$RAFOS_CLK,250
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.026964
$HUMID,49.56
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,22.5,111.623
$10V_AH,9.8,55.433
$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,16.800,30.825,288.525,0.000,0.000,103.224,46.775,0.000,9.750,0.000,183.285,1039.682,1565.219,408.177,1086.641,594.657,0.000,858.329,0.000,752.418,0.000,2.620,0.000
$DEVICE_MAMPS,332.010,90.270,1048.050,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.577,333.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16855,457
$CAP_FILE_SIZE,54010,0
$CFSIZE,260165632,201281536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6