version: 66.08
glider: 141
mission: 15
dive: 740
start: 6 3 111 2 16 34
data:
$ID,141
$MISSION,15
$DIVE,740
$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,21
$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,3.43
$_SM_ANGLEo,-66.6
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,139,0.00,0.00,-119.55,0.000,2,0.000,0.000,115,2495,3073,0,0,0,0,0,0
$GC,145,-0.62,-146.0,5.8,-7.4,21,177,13.07,2.42,-12.55,0.000,4,0.320,0.094,2652,3902,3629,0,0,0,0,0,0
$GC,365,-0.57,-146.0,41.4,-13.2,59,372,0.00,2.25,0.00,0.000,6,0.000,0.054,2652,2480,3631,0,0,0,0,0,0
$GC,713,-0.49,-146.0,91.4,-14.3,120,720,0.20,2.28,0.00,0.000,4,0.200,0.070,2705,1083,3630,0,0,0,0,0,0
$GC,774,-0.56,-146.0,98.8,-10.1,130,781,0.00,2.33,0.00,0.000,6,0.000,0.068,2704,2494,3629,0,0,0,0,0,0
$GC,1109,-0.63,-146.0,129.1,-9.1,162,1114,0.12,2.38,0.00,0.000,4,0.117,0.083,2658,3900,3629,0,0,0,0,0,0
$GC,1136,-0.63,-146.0,132.3,-11.0,164,1143,0.00,2.28,0.00,0.000,6,0.000,0.054,2658,2480,3628,0,0,0,0,0,0
$GC,1462,-0.58,-146.0,172.3,-12.5,195,1466,0.00,2.25,0.00,0.000,4,0.000,0.071,2658,1083,3627,0,0,0,0,0,0
$GC,1495,-0.54,-146.0,176.5,-12.5,197,1502,0.12,2.30,0.00,0.000,6,0.206,0.067,2686,2492,3628,0,0,0,0,0,0
$GC,1821,-0.57,-146.0,208.1,-10.1,228,1825,0.00,2.35,0.00,0.000,4,0.000,0.080,2686,3909,3628,0,0,0,0,0,0
$GC,1929,-0.65,-146.0,218.4,-9.9,237,1933,0.00,2.28,0.00,0.000,6,0.000,0.052,2686,2480,3628,0,0,0,0,0,0
$STATE,2213,end dive,NO_VERTICAL_VELOCITY
$STATE,2213,begin apogee
$GC,2219,-0.12,0.0,228.6,0.0,263,2346,0.40,0.00,119.95,1.043,6,0.132,0.000,2816,2264,3030,0,0,0,0,0,0
$STATE,2347,end apogee,CONTROL_FINISHED_OK
$STATE,2347,begin climb
$GC,2350,0.62,146.0,228.3,0.0,274,2481,0.75,2.58,122.15,0.993,4,0.122,0.071,3056,3696,2434,0,0,0,0,0,0
$GC,2613,0.52,146.0,217.6,12.9,297,2621,0.12,2.33,0.00,0.000,6,0.181,0.057,3037,2286,2430,0,0,0,0,0,0
$GC,2940,0.53,153.3,184.4,9.7,328,2949,0.00,0.00,6.85,0.775,6,0.000,0.000,3037,2285,2404,0,0,0,0,0,0
$GC,3269,0.54,163.6,152.9,9.5,359,3285,0.00,2.33,10.10,0.852,4,0.000,0.070,3036,3700,2363,0,0,0,0,0,0
$GC,3315,0.54,163.6,147.9,10.9,363,3319,0.00,2.28,0.00,0.000,6,0.000,0.056,3044,2267,2363,0,0,0,0,0,0
$GC,3641,0.56,177.3,116.2,9.4,393,3664,0.00,2.35,13.30,0.871,4,0.000,0.072,3055,868,2307,0,0,0,0,0,0
$GC,3682,0.61,203.7,112.2,8.8,396,3711,0.00,2.25,23.92,0.900,6,0.000,0.057,3055,2278,2199,0,0,0,0,0,0
$GC,4044,0.66,219.3,76.1,9.3,450,4064,0.00,2.38,14.55,0.856,4,0.000,0.071,3055,3694,2135,0,0,0,0,0,0
$GC,4195,0.66,219.3,60.6,10.5,476,4202,0.00,2.28,0.00,0.000,6,0.000,0.063,3065,2268,2134,0,0,0,0,0,0
$GC,4543,0.76,260.3,29.7,8.1,537,4574,0.12,2.33,22.40,0.911,4,0.103,0.073,3135,867,1967,0,0,0,0,0,0
$GC,4635,0.76,260.3,19.4,12.2,552,4642,0.00,2.28,0.00,0.000,6,0.000,0.057,3135,2278,1962,0,0,0,0,0,0
$FREEZE,8.46,-1.080,-1.814,3,103,0
$FREEZE,7.66,-1.084,-1.813,3,103,0
$FREEZE,6.96,-1.101,-1.812,3,103,0
$FREEZE,6.19,-1.111,-1.812,3,103,0
$FREEZE,5.53,-1.117,-1.811,3,103,0
$FREEZE,5.00,-1.123,-1.811,3,103,0
$FREEZE,4.59,-1.127,-1.810,3,103,0
$FREEZE,3.86,-1.132,-1.810,3,103,0
$FREEZE,3.34,-1.131,-1.809,3,103,0
$FREEZE,2.60,-1.135,-1.809,3,103,0
$STATE,4769,end climb,SURFACE_DEPTH_REACHED
$STATE,4770,begin surface coast
$FREEZE,2.06,-1.130,-1.808,3,103,0
$FREEZE,2.08,-1.114,-1.808,3,103,0
$FREEZE,1.96,-1.076,-1.505,3,103,0
$FREEZE,1.87,-1.076,-0.912,3,103,0
$FINISH,1.9,1.013442
$STATE,4791,end surface coast,FINISH_DEPTH_REACHED
$STATE,4791,begin surface
$RAFOS_CLK,267
$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,47.20
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.40
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.4,17.5
$24V_AH,22.6,99.597
$10V_AH,9.8,51.502
$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,14.925,46.775,333.225,0.000,0.000,0.000,0.000,0.000,12.000,0.000,0.000,1355.185,2151.313,414.300,932.142,122.012,0.000,964.033,0.000,930.764,0.000,5.315,0.000
$DEVICE_MAMPS,319.770,94.095,1043.460,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.368,424.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23497,580
$CAP_FILE_SIZE,62482,0
$CFSIZE,260165632,204783616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6