version: 66.08
glider: 141
mission: 15
dive: 841
start: 6 8 111 2 7 44
data:
$ID,141
$MISSION,15
$DIVE,841
$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,-69337.797
$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,23
$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
$GPS1,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.32
$_SM_ANGLEo,-5.5
$GPS2,070611,223528,6703.953,-5654.551,0,10000.0,0,-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,148.1,5049,-17.5,-10.000
$D_GRID,541
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.60,0.000,2,0.000,0.000,2891,3686,3035,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.3,-0.0,1,54,0.62,4.25,-15.80,0.000,4,0.127,0.070,2668,1081,3629,0,0,0,0,0,0
$GC,62,-0.51,-146.0,12.5,-11.5,6,69,0.00,2.30,0.00,0.000,6,0.000,0.071,2668,2488,3629,0,0,0,0,0,0
$GC,410,-0.39,-146.0,77.2,-17.2,67,417,0.25,2.30,0.00,0.000,4,0.216,0.061,2734,1071,3629,0,0,0,0,0,0
$GC,496,-0.46,-146.0,87.2,-9.9,81,503,0.00,2.30,0.00,0.000,6,0.000,0.063,2734,2491,3629,0,0,0,0,0,0
$GC,836,-0.51,-146.0,119.4,-8.8,123,841,0.12,2.38,0.00,0.000,4,0.122,0.080,2688,3907,3627,0,0,0,0,0,0
$GC,855,-0.51,-146.0,121.3,-9.2,124,859,0.00,2.25,0.00,0.000,6,0.000,0.050,2688,2478,3627,0,0,0,0,0,0
$GC,1181,-0.46,-146.0,163.3,-12.6,154,1185,0.00,2.25,0.00,0.000,4,0.000,0.065,2688,1077,3626,0,0,0,0,0,0
$GC,1223,-0.44,-146.0,168.5,-12.8,157,1228,0.12,2.33,0.00,0.000,6,0.219,0.063,2714,2493,3626,0,0,0,0,0,0
$GC,1550,-0.46,-146.0,202.2,-10.2,187,1554,0.00,2.35,0.00,0.000,4,0.000,0.079,2714,3902,3625,0,0,0,0,0,0
$GC,1579,-0.50,-146.0,205.4,-10.4,189,1585,0.00,2.25,0.00,0.000,6,0.000,0.050,2715,2488,3625,0,0,0,0,0,0
$STATE,1827,end dive,NO_VERTICAL_VELOCITY
$STATE,1828,begin apogee
$GC,1837,-0.12,0.0,213.2,0.0,213,1963,0.30,0.05,118.90,1.034,6,0.141,0.132,2815,2294,3030,0,0,0,0,0,0
$STATE,1964,end apogee,CONTROL_FINISHED_OK
$STATE,1964,begin climb
$GC,1967,0.62,146.0,213.2,0.0,224,2100,0.80,2.42,122.20,0.985,4,0.150,0.070,3055,3667,2434,0,0,0,0,0,0
$GC,2162,0.65,187.1,206.5,8.1,241,2204,0.00,2.30,35.95,0.940,6,0.000,0.054,3066,2291,2267,0,0,0,0,0,0
$GC,2522,0.71,205.7,175.7,9.1,275,2546,0.00,2.35,16.77,0.900,4,0.000,0.070,3074,862,2189,0,0,0,0,0,0
$GC,2622,0.81,223.0,166.4,9.2,283,2643,0.15,2.22,15.95,0.892,6,0.091,0.055,3140,2263,2121,0,0,0,0,0,0
$GC,2970,0.74,223.0,117.6,14.4,316,2975,0.12,2.33,0.00,0.000,4,0.187,0.069,3108,3694,2117,0,0,0,0,0,0
$GC,3027,0.72,223.0,109.7,13.8,320,3034,0.00,2.28,0.00,0.000,6,0.000,0.054,3116,2274,2117,0,0,0,0,0,0
$GC,3367,0.72,225.8,72.1,9.9,374,3374,0.00,2.28,0.00,0.000,4,0.000,0.068,3125,862,2116,0,0,0,0,0,0
$GC,3452,0.74,240.9,64.1,9.3,388,3477,0.00,2.25,16.60,0.868,6,0.000,0.054,3126,2282,2046,0,0,0,0,0,0
$GC,3819,0.80,269.1,27.7,8.7,452,3838,0.00,0.00,15.25,0.894,6,0.000,0.000,3125,2282,1933,0,0,0,0,0,0
$FREEZE,8.96,-0.680,-1.812,1,204,0
$FREEZE,8.67,-0.676,-1.812,1,204,0
$FREEZE,8.18,-0.672,-1.811,1,204,0
$FREEZE,7.78,-0.672,-1.811,1,204,0
$FREEZE,7.41,-0.672,-1.811,1,204,0
$FREEZE,6.85,-0.672,-1.811,1,204,0
$FREEZE,6.31,-0.672,-1.810,1,204,0
$FREEZE,5.97,-0.671,-1.810,1,204,0
$FREEZE,5.43,-0.673,-1.810,1,204,0
$FREEZE,4.99,-0.673,-1.809,1,204,0
$FREEZE,4.50,-0.675,-1.809,1,204,0
$FREEZE,4.04,-0.682,-1.809,1,204,0
$FREEZE,3.53,-0.673,-1.808,1,204,0
$FREEZE,2.99,-0.673,-1.808,1,204,0
$STATE,4094,end climb,SURFACE_DEPTH_REACHED
$STATE,4094,begin surface coast
$FREEZE,2.35,-0.674,-1.807,1,204,0
$FREEZE,1.76,-0.698,-1.807,1,204,0
$FREEZE,1.71,-0.628,-1.257,1,204,0
$FREEZE,1.70,-0.685,-0.913,1,204,0
$FREEZE,1.73,-0.634,-0.881,1,204,0
$FREEZE,1.70,-0.735,-0.870,1,204,0
$FINISH,1.7,1.012831
$STATE,4127,end surface coast,CONTROL_FINISHED_OK
$STATE,4127,begin surface
$SM_CCo,4146,127.32,0.063,0,0,750,559.04
$SM_GC,2.65,0.00,0.00,127.32,0.000,0.000,0.063,104,2494,750,-8.63,0.14,559.04
$RAFOS_CLK,239
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5654.55,070611,222228
$TT8_MAMPS,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.6,20.4
$24V_AH,22.7,110.820
$10V_AH,9.8,55.054
$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,10.875,44.100,341.625,127.325,0.000,0.000,0.000,0.000,13.250,0.000,0.000,1228.150,1707.954,454.854,821.604,125.314,0.000,928.218,0.000,820.927,0.000,2.622,0.000
$DEVICE_MAMPS,218.790,131.580,1034.280,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.222,372.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20057,507
$CAP_FILE_SIZE,58210,0
$CFSIZE,260165632,201576448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,070611,223528,6703.953,-5654.551,181,99.0,181,-37.6