version: 66.08
glider: 141
mission: 15
dive: 749
start: 6 3 111 14 35 17
data:
$ID,141
$MISSION,15
$DIVE,749
$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,-55271.02
$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,20
$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,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.14
$_SM_ANGLEo,-5.0
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.95,0.000,2,0.000,0.000,2889,859,3069,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.0,-0.0,1,53,0.62,5.10,-14.40,0.000,4,0.127,0.076,2668,3900,3628,0,0,0,0,0,0
$GC,292,-0.58,-146.0,47.0,-11.9,47,299,0.00,2.25,0.00,0.000,6,0.000,0.060,2668,2482,3630,0,0,0,0,0,0
$GC,639,-0.49,-146.0,92.1,-13.5,108,647,0.12,2.30,0.00,0.000,4,0.214,0.069,2696,1082,3629,0,0,0,0,0,0
$GC,700,-0.49,-146.0,99.4,-11.1,118,707,0.00,2.30,0.00,0.000,6,0.000,0.065,2696,2497,3628,0,0,0,0,0,0
$GC,1025,-0.49,-146.0,134.6,-10.5,149,1029,0.00,2.33,0.00,0.000,4,0.000,0.069,2696,1076,3627,0,0,0,0,0,0
$GC,1060,-0.49,-146.0,138.5,-11.2,152,1064,0.00,2.33,0.00,0.000,6,0.000,0.064,2696,2498,3627,0,0,0,0,0,0
$GC,1392,-0.49,-146.0,172.8,-10.3,183,1396,0.00,2.33,0.00,0.000,4,0.000,0.079,2696,3908,3626,0,0,0,0,0,0
$GC,1470,-0.54,-146.0,180.7,-9.4,189,1477,0.00,2.28,0.00,0.000,6,0.000,0.059,2696,2488,3626,0,0,0,0,0,0
$GC,1798,-0.72,-146.0,211.2,-4.4,220,1802,0.20,2.28,0.00,0.000,4,0.109,0.066,2627,1079,3627,0,0,0,0,0,0
$STATE,1931,end dive,NO_VERTICAL_VELOCITY
$STATE,1931,begin apogee
$GC,1940,-0.12,0.0,211.2,0.0,231,2068,0.57,0.00,119.30,1.030,6,0.121,0.000,2817,2280,3030,0,0,0,0,0,0
$STATE,2068,end apogee,CONTROL_FINISHED_OK
$STATE,2068,begin climb
$GC,2071,0.62,146.0,211.2,0.0,243,2206,0.77,2.47,121.62,0.977,4,0.146,0.071,3052,3687,2434,0,0,0,0,0,0
$GC,2253,0.60,165.6,204.0,9.1,259,2276,0.00,2.38,18.05,0.898,6,0.000,0.055,3062,2273,2354,0,0,0,0,0,0
$GC,2595,0.60,165.6,170.3,10.5,291,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2273,2349,0,0,0,0,0,0
$GC,2917,0.60,165.6,137.3,10.2,321,2921,0.00,2.33,0.00,0.000,4,0.000,0.068,3063,3695,2349,0,0,0,0,0,0
$GC,2961,0.56,165.6,131.9,10.9,324,2970,0.00,2.28,0.00,0.000,6,0.000,0.054,3073,2270,2349,0,0,0,0,0,0
$GC,3289,0.57,175.8,98.4,9.5,356,3308,0.00,2.35,9.27,0.815,4,0.000,0.070,3083,869,2312,0,0,0,0,0,0
$GC,3366,0.58,184.1,90.7,9.6,369,3380,0.12,2.28,8.55,0.808,6,0.174,0.056,3052,2285,2279,0,0,0,0,0,0
$GC,3723,0.73,248.4,63.2,7.0,431,3788,0.15,2.33,56.65,0.897,4,0.089,0.068,3118,3691,2016,0,0,0,0,0,0
$GC,3858,0.68,248.4,46.6,14.1,454,3865,0.17,2.30,0.00,0.000,6,0.180,0.063,3083,2270,2011,0,0,0,0,0,0
$GC,4209,0.71,248.4,14.7,11.5,515,4216,0.00,2.28,0.00,0.000,4,0.000,0.073,3083,867,2007,0,0,0,0,0,0
$FREEZE,8.99,-0.973,-1.816,3,112,0
$FREEZE,8.82,-0.975,-1.816,3,112,0
$FREEZE,8.40,-0.972,-1.816,3,112,0
$FREEZE,8.19,-0.969,-1.815,3,112,0
$FREEZE,7.63,-0.967,-1.815,3,112,0
$FREEZE,6.96,-0.971,-1.814,3,112,0
$GC,4310,0.91,326.3,9.0,6.4,532,4356,0.20,2.28,38.38,0.824,6,0.096,0.056,3159,2285,1698,0,0,0,0,0,0
$FREEZE,4.95,-0.972,-1.813,3,112,0
$FREEZE,4.35,-0.971,-1.812,3,112,0
$FREEZE,3.54,-0.967,-1.812,3,112,0
$FREEZE,2.75,-0.968,-1.811,3,112,0
$STATE,4378,end climb,SURFACE_DEPTH_REACHED
$STATE,4379,begin surface coast
$FREEZE,2.01,-0.961,-1.810,3,112,0
$FREEZE,2.02,-0.803,-0.227,3,112,0
$FINISH,2.0,1.003142
$STATE,4390,end surface coast,FINISH_DEPTH_REACHED
$STATE,4391,begin surface
$RAFOS_CLK,245
$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,46.65
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,17.30
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.6,18.1
$24V_AH,22.7,100.452
$10V_AH,9.9,51.830
$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,2.950,48.700,371.825,0.000,0.000,0.000,0.000,0.000,13.250,0.000,0.000,1274.397,1953.851,355.484,872.650,116.753,0.000,863.852,0.000,870.663,0.000,2.618,0.000
$DEVICE_MAMPS,214.200,78.795,1029.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.350,398.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20099,544
$CAP_FILE_SIZE,58469,0
$CFSIZE,260165632,204460032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6