version: 66.08
glider: 141
mission: 15
dive: 745
start: 6 3 111 9 10 3
data:
$ID,141
$MISSION,15
$DIVE,745
$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,26
$R_STBD_OVSHOOT,24
$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,1.83
$_SM_ANGLEo,4.0
$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,-146.0,0.0,0.0,0,151,0.00,0.28,-125.50,0.000,6,0.000,0.180,3115,2493,3625,0,0,0,0,0,0
$GC,155,-0.62,-146.0,3.8,-5.3,23,162,1.42,2.33,0.00,0.000,4,0.163,0.067,2677,1076,3625,0,0,0,0,0,0
$GC,238,-0.59,-146.0,14.9,-17.3,37,245,0.00,2.33,0.00,0.000,6,0.000,0.067,2677,2489,3626,0,0,0,0,0,0
$GC,586,-0.55,-146.0,63.3,-12.5,98,592,0.00,2.35,0.00,0.000,4,0.000,0.070,2677,1074,3625,0,0,0,0,0,0
$GC,618,-0.53,-146.0,67.5,-12.8,103,625,0.00,2.30,0.00,0.000,6,0.000,0.065,2677,2488,3624,0,0,0,0,0,0
$GC,960,-0.53,-146.0,108.9,-11.9,157,964,0.00,2.35,0.00,0.000,4,0.000,0.081,2678,3905,3624,0,0,0,0,0,0
$GC,1056,-0.55,-146.0,119.9,-11.5,165,1060,0.00,2.22,0.00,0.000,6,0.000,0.053,2677,2492,3623,0,0,0,0,0,0
$GC,1382,-0.55,-146.0,157.3,-10.8,195,1386,0.00,2.28,0.00,0.000,4,0.000,0.069,2677,1077,3622,0,0,0,0,0,0
$GC,1422,-0.55,-146.0,161.9,-11.4,198,1426,0.00,2.30,0.00,0.000,6,0.000,0.064,2677,2495,3622,0,0,0,0,0,0
$GC,1747,-0.55,-146.0,195.5,-10.0,228,1751,0.00,2.35,0.00,0.000,4,0.000,0.079,2677,3900,3621,0,0,0,0,0,0
$GC,1792,-0.60,-146.0,199.7,-8.8,231,1799,0.00,2.25,0.00,0.000,6,0.000,0.050,2677,2485,3621,0,0,0,0,0,0
$GC,2118,-0.88,-146.0,226.3,-0.1,262,2123,0.25,2.25,0.00,0.000,4,0.100,0.063,2582,1079,3621,0,0,0,0,0,0
$GC,2204,-1.10,-146.0,226.3,-0.0,269,2209,0.20,2.30,0.00,0.000,6,0.094,0.060,2507,2501,3622,0,0,0,0,0,0
$STATE,2229,end dive,NO_VERTICAL_VELOCITY
$STATE,2230,begin apogee
$GC,2237,-0.12,0.0,226.3,0.0,271,2362,0.98,0.00,118.68,1.043,6,0.141,0.000,2813,2263,3030,0,0,0,0,0,0
$STATE,2363,end apogee,CONTROL_FINISHED_OK
$STATE,2363,begin climb
$GC,2366,0.62,146.0,226.2,0.0,282,2500,0.75,2.53,122.03,0.988,4,0.125,0.068,3053,3691,2433,0,0,0,0,0,0
$GC,2671,0.55,146.0,199.8,11.4,309,2675,0.00,2.30,0.00,0.000,6,0.000,0.057,3064,2277,2429,0,0,0,0,0,0
$GC,2999,0.51,146.0,165.2,10.1,339,3004,0.12,2.30,0.00,0.000,4,0.178,0.072,3041,867,2428,0,0,0,0,0,0
$GC,3033,0.59,185.5,161.9,8.2,341,3073,0.00,2.25,33.35,0.926,6,0.000,0.057,3041,2281,2272,0,0,0,0,0,0
$GC,3392,0.68,228.0,131.8,8.0,375,3437,0.12,2.33,37.40,0.919,4,0.100,0.070,3098,3694,2099,0,0,0,0,0,0
$GC,3510,0.61,228.0,116.4,14.4,385,3517,0.17,2.25,0.00,0.000,6,0.184,0.056,3063,2275,2096,0,0,0,0,0,0
$GC,3845,0.63,228.0,82.7,10.1,431,3852,0.00,2.30,0.00,0.000,4,0.000,0.071,3073,864,2093,0,0,0,0,0,0
$GC,3865,0.66,228.0,80.7,10.2,434,3872,0.00,2.25,0.00,0.000,6,0.000,0.057,3073,2278,2091,0,0,0,0,0,0
$GC,4214,0.70,230.0,44.7,9.9,495,4221,0.00,2.28,0.00,0.000,4,0.000,0.072,3073,3686,2091,0,0,0,0,0,0
$GC,4284,0.70,230.0,35.8,12.4,507,4291,0.00,2.25,0.00,0.000,6,0.000,0.057,3083,2272,2092,0,0,0,0,0,0
$FREEZE,8.45,-1.173,-1.815,3,108,0
$FREEZE,7.72,-1.174,-1.814,3,108,0
$FREEZE,7.16,-1.175,-1.814,3,108,0
$FREEZE,6.70,-1.179,-1.813,3,108,0
$STATE,4600,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4600,begin subsurface finish
$FINISH1,6.7,1.026544,47
$GC,4609,0.06,46.9,6.7,-12.0,563,4645,0.68,0.00,-31.17,0.000,6,0.182,0.000,2890,2271,2840,0,0,0,0,0,0
$FINISH2,5.0
$STATE,4645,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4646,begin surface
$RAFOS_CLK,253
$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,46.81
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,43
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,22.6,100.063
$10V_AH,9.8,51.680
$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,4.700,51.275,311.450,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,1306.064,1913.475,413.206,949.134,117.795,0.000,962.694,0.000,945.453,0.000,2.617,0.000
$DEVICE_MAMPS,184.365,179.775,1042.695,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.899,413.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20119,569
$CAP_FILE_SIZE,61586,0
$CFSIZE,260165632,204595200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6