version: 66.08
glider: 141
mission: 15
dive: 754
start: 6 3 111 20 45 26
data:
$ID,141
$MISSION,15
$DIVE,754
$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,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,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,4.3
$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,-146.0,0.0,0.0,0,145,0.00,0.35,-117.22,0.000,6,0.000,0.169,3141,2495,3627,0,0,0,0,0,0
$GC,148,-0.62,-146.0,4.1,-7.5,22,156,1.65,2.38,0.00,0.000,4,0.198,0.067,2660,1081,3627,0,0,0,0,0,0
$GC,198,-0.50,-146.0,11.0,-14.4,30,206,0.15,2.30,0.00,0.000,6,0.221,0.065,2695,2485,3627,0,0,0,0,0,0
$GC,547,-0.50,-146.0,57.5,-11.4,91,553,0.00,2.33,0.00,0.000,4,0.000,0.079,2695,1077,3626,0,0,0,0,0,0
$GC,578,-0.50,-146.0,61.8,-12.7,96,585,0.00,2.33,0.00,0.000,6,0.000,0.065,2695,2496,3626,0,0,0,0,0,0
$GC,925,-0.50,-146.0,99.8,-10.6,157,932,0.00,2.35,0.00,0.000,4,0.000,0.082,2695,3900,3625,0,0,0,0,0,0
$GC,1000,-0.54,-146.0,107.5,-10.4,164,1006,0.00,2.22,0.00,0.000,6,0.000,0.054,2695,2491,3625,0,0,0,0,0,0
$GC,1325,-0.54,-146.0,142.1,-10.6,195,1329,0.00,2.28,0.00,0.000,4,0.000,0.067,2695,1074,3623,0,0,0,0,0,0
$GC,1354,-0.54,-146.0,145.3,-11.6,197,1358,0.00,2.30,0.00,0.000,6,0.000,0.064,2695,2495,3623,0,0,0,0,0,0
$GC,1680,-0.56,-146.0,178.4,-9.8,227,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2494,3623,0,0,0,0,0,0
$STATE,1974,end dive,NO_VERTICAL_VELOCITY
$STATE,1976,begin apogee
$GC,1983,-0.12,0.0,191.5,0.0,255,2108,0.35,0.00,118.35,1.026,6,0.125,0.000,2817,2262,3031,0,0,0,0,0,0
$STATE,2109,end apogee,CONTROL_FINISHED_OK
$STATE,2109,begin climb
$GC,2112,0.62,146.0,191.5,0.0,266,2245,0.75,2.45,121.38,0.975,4,0.134,0.071,3057,867,2433,0,0,0,0,0,0
$GC,2251,0.74,215.0,186.8,6.8,278,2323,0.12,2.42,60.97,0.936,6,0.100,0.057,3111,2277,2152,0,0,0,0,0,0
$GC,2642,0.69,215.0,135.2,13.7,315,2646,0.00,2.30,0.00,0.000,4,0.000,0.073,3111,3686,2145,0,0,0,0,0,0
$GC,2768,0.61,215.0,116.7,14.5,326,2773,0.22,2.28,0.00,0.000,6,0.178,0.057,3061,2275,2143,0,0,0,0,0,0
$GC,3103,0.71,252.3,87.2,8.3,369,3144,0.00,2.38,32.00,0.896,4,0.000,0.072,3070,870,2000,0,0,0,0,0,0
$GC,3170,0.84,283.7,81.6,8.5,380,3207,0.17,2.30,29.35,0.879,6,0.086,0.057,3145,2285,1873,0,0,0,0,0,0
$GC,3546,0.84,283.7,30.0,14.3,446,3553,0.00,2.30,0.00,0.000,4,0.000,0.072,3145,3694,1865,0,0,0,0,0,0
$GC,3628,0.81,283.7,18.3,14.0,460,3634,0.00,2.25,0.00,0.000,6,0.000,0.056,3155,2275,1864,0,0,0,0,0,0
$FREEZE,8.74,-1.002,-1.817,3,117,0
$FREEZE,7.97,-1.002,-1.816,3,117,0
$FREEZE,7.43,-1.003,-1.816,3,117,0
$FREEZE,6.84,-1.003,-1.815,3,117,0
$STATE,3720,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3720,begin subsurface finish
$FINISH1,6.8,1.026563,46
$GC,3728,0.06,45.9,6.8,-12.4,476,3781,0.90,2.33,-44.72,0.000,4,0.177,0.080,2892,858,2843,0,0,0,0,0,0
$FINISH2,4.6
$STATE,3782,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3782,begin surface
$RAFOS_CLK,214
$RAFOS,6,1307134142,20.833334,20.817223,66,65,60,59,54,54,188,156,205,170,145,219
$RAFOS,5,1307133663,20.700001,20.684166,56,54,52,50,49,47,197,215,169,118,184,137
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.025466
$HUMID,47.48
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.40
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.5,100.928
$10V_AH,9.8,51.992
$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,4.325,40.200,362.050,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,1050.457,1462.626,447.834,778.531,100.590,0.000,927.046,0.000,779.242,360.000,2.616,0.000
$DEVICE_MAMPS,221.085,169.065,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.765,350.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16791,485
$CAP_FILE_SIZE,52476,0
$CFSIZE,260165632,204304384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6