version: 66.08
glider: 141
mission: 15
dive: 742
start: 6 3 111 4 57 23
data:
$ID,141
$MISSION,15
$DIVE,742
$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,-54900.625
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,6.1
$GPS2,030611,004656,6639.497,-5814.677,0,2087.0,0,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,140,0.00,0.32,-117.03,0.000,6,0.000,0.174,3131,2498,3625,0,0,0,0,0,0
$GC,144,-0.62,-146.0,2.5,-0.9,21,151,1.60,2.33,0.00,0.000,4,0.191,0.065,2676,1082,3626,0,0,0,0,0,0
$GC,308,-0.55,-146.0,24.8,-15.5,49,315,0.00,2.33,0.00,0.000,6,0.000,0.067,2677,2487,3626,0,0,0,0,0,0
$GC,655,-0.51,-146.0,76.5,-13.3,110,662,0.00,2.33,0.00,0.000,4,0.000,0.071,2677,1076,3625,0,0,0,0,0,0
$GC,754,-0.51,-146.0,89.7,-12.9,127,761,0.00,2.33,0.00,0.000,6,0.000,0.068,2677,2499,3625,0,0,0,0,0,0
$GC,1092,-0.48,-146.0,130.8,-11.1,165,1096,0.12,2.38,0.00,0.000,4,0.213,0.083,2707,3899,3623,0,0,0,0,0,0
$GC,1133,-0.57,-146.0,134.8,-8.8,168,1137,0.00,2.22,0.00,0.000,6,0.000,0.054,2707,2491,3623,0,0,0,0,0,0
$GC,1459,-0.62,-146.0,161.2,-7.7,198,1464,0.15,2.33,0.00,0.000,4,0.115,0.070,2655,1076,3622,0,0,0,0,0,0
$GC,1539,-0.59,-146.0,170.0,-11.8,205,1543,0.00,2.33,0.00,0.000,6,0.000,0.067,2655,2490,3622,0,0,0,0,0,0
$GC,1871,-0.53,-146.0,212.2,-12.6,236,1876,0.15,2.38,0.00,0.000,4,0.200,0.079,2691,3900,3622,0,0,0,0,0,0
$GC,1913,-0.59,-146.0,216.6,-9.3,239,1917,0.00,2.22,0.00,0.000,6,0.000,0.051,2691,2488,3621,0,0,0,0,0,0
$STATE,2162,end dive,NO_VERTICAL_VELOCITY
$STATE,2164,begin apogee
$GC,2170,-0.12,0.0,224.4,0.0,262,2296,0.38,0.00,118.85,1.035,6,0.139,0.000,2812,2251,3030,0,0,0,0,0,0
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2299,0.62,146.0,224.3,0.0,273,2433,0.77,2.42,121.85,0.985,4,0.135,0.070,3064,883,2433,0,0,0,0,0,0
$GC,2630,0.64,161.8,200.7,9.3,302,2649,0.00,2.25,14.00,0.884,6,0.000,0.058,3064,2278,2370,0,0,0,0,0,0
$GC,2967,0.64,168.1,166.4,9.7,334,2980,0.00,2.38,6.80,0.763,4,0.000,0.072,3064,3694,2344,0,0,0,0,0,0
$GC,3016,0.59,168.1,161.1,11.5,338,3020,0.00,2.25,0.00,0.000,6,0.000,0.056,3075,2275,2343,0,0,0,0,0,0
$GC,3341,0.55,168.1,126.1,10.8,368,3346,0.12,2.30,0.00,0.000,4,0.181,0.072,3051,865,2343,0,0,0,0,0,0
$GC,3363,0.55,168.1,123.8,10.1,369,3370,0.00,2.28,0.00,0.000,6,0.000,0.057,3051,2276,2342,0,0,0,0,0,0
$GC,3694,0.61,198.7,95.3,8.6,404,3731,0.00,2.38,27.40,0.900,4,0.000,0.072,3050,3687,2218,0,0,0,0,0,0
$GC,3825,0.61,198.7,82.4,10.3,426,3832,0.00,2.28,0.00,0.000,6,0.000,0.055,3061,2270,2217,0,0,0,0,0,0
$GC,4172,0.71,225.0,51.3,8.8,487,4203,0.00,2.30,23.42,0.877,4,0.000,0.072,3070,866,2111,0,0,0,0,0,0
$GC,4223,0.82,253.4,47.0,8.7,495,4255,0.17,2.30,24.35,0.881,6,0.085,0.066,3146,2287,1996,0,0,0,0,0,0
$FREEZE,8.10,-1.072,-1.814,3,105,1
$FREEZE,7.40,-1.071,-1.813,3,105,1
$FREEZE,6.59,-1.073,-1.813,3,105,1
$FREEZE,5.93,-1.074,-1.812,3,105,1
$FREEZE,5.23,-1.073,-1.812,3,105,1
$FREEZE,4.11,-1.073,-1.811,3,105,1
$FREEZE,3.19,-1.072,-1.810,3,105,1
$FREEZE,2.33,-1.072,-1.810,3,105,1
$STATE,4552,end climb,SURFACE_DEPTH_REACHED
$STATE,4552,begin surface coast
$FREEZE,1.84,-0.992,-1.747,3,105,1
$FREEZE,1.95,-0.998,-0.159,3,105,1
$FREEZE,1.95,-1.024,-1.060,3,105,1
$FINISH,2.0,1.015652
$STATE,4569,end surface coast,CONTROL_FINISHED_OK
$STATE,4569,begin surface
$RAFOS_CLK,256
$RAFOS,6,1307076546,4.833333,4.818333,69,58,56,56,55,54,201,158,184,236,115,146
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,47.00
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.40
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,22.6,99.780
$10V_AH,9.8,51.569
$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,3.475,46.950,336.675,0.000,0.000,0.000,0.000,0.000,9.500,0.000,0.000,1294.785,2044.185,390.405,904.700,117.210,0.000,925.058,0.000,902.166,0.000,2.617,0.000
$DEVICE_MAMPS,213.435,174.420,1035.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.324,404.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20167,556
$CAP_FILE_SIZE,60575,0
$CFSIZE,260165632,204718080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.3
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6