version: 66.08
glider: 141
mission: 15
dive: 733
start: 6 2 111 14 55 26
data:
$ID,141
$MISSION,15
$DIVE,733
$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,-53425.566
$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,28
$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
$GPS1,020611,124800,6643.217,-5808.823,0,2134.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,3.8
$GPS2,020611,124800,6643.217,-5808.823,0,2134.5,0,-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,95.5,68913,-17.5,-10.000
$D_GRID,650
$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,-146.0,0.0,0.0,0,151,0.00,0.35,-126.18,0.000,6,0.000,0.167,3082,2497,3626,0,0,0,0,0,0
$GC,155,-0.62,-146.0,3.4,-5.2,23,162,1.27,2.30,0.00,0.000,4,0.135,0.066,2675,1082,3627,0,0,0,0,0,0
$GC,199,-0.55,-146.0,8.0,-9.6,30,206,0.00,2.33,0.00,0.000,6,0.000,0.074,2675,2493,3626,0,0,0,0,0,0
$GC,546,-0.51,-146.0,60.2,-13.7,91,553,0.00,2.35,0.00,0.000,4,0.000,0.080,2674,3905,3626,0,0,0,0,0,0
$GC,606,-0.51,-146.0,67.3,-10.7,101,613,0.00,2.22,0.00,0.000,6,0.000,0.051,2675,2490,3626,0,0,0,0,0,0
$GC,950,-0.48,-146.0,106.3,-11.2,157,955,0.12,2.30,0.00,0.000,4,0.213,0.069,2705,1075,3624,0,0,0,0,0,0
$GC,1013,-0.56,-146.0,112.5,-8.3,162,1017,0.00,2.30,0.00,0.000,6,0.000,0.065,2705,2492,3624,0,0,0,0,0,0
$GC,1339,-0.63,-146.0,138.5,-8.0,192,1344,0.15,2.38,0.00,0.000,4,0.110,0.080,2651,3899,3622,0,0,0,0,0,0
$GC,1403,-0.61,-146.0,145.3,-10.9,197,1407,0.00,2.22,0.00,0.000,6,0.000,0.053,2651,2490,3622,0,0,0,0,0,0
$GC,1728,-0.55,-146.0,184.9,-12.2,227,1733,0.12,2.28,0.00,0.000,4,0.210,0.067,2680,1081,3621,0,0,0,0,0,0
$GC,1761,-0.55,-146.0,188.9,-10.6,229,1768,0.00,2.30,0.00,0.000,6,0.000,0.070,2680,2491,3621,0,0,0,0,0,0
$GC,2088,-0.58,-146.0,218.7,-9.0,260,2092,0.00,2.33,0.00,0.000,4,0.000,0.078,2680,3900,3621,0,0,0,0,0,0
$GC,2140,-0.64,-146.0,223.4,-9.7,264,2144,0.00,2.22,0.00,0.000,6,0.000,0.049,2680,2477,3621,0,0,0,0,0,0
$GC,2466,-0.84,-146.0,250.1,-3.8,294,2471,0.25,2.28,0.00,0.000,4,0.103,0.064,2587,1077,3622,0,0,0,0,0,0
$STATE,2601,end dive,NO_VERTICAL_VELOCITY
$STATE,2601,begin apogee
$GC,2609,-0.12,0.0,250.0,0.0,305,2736,0.73,0.00,118.82,1.043,6,0.136,0.000,2815,2278,3029,0,0,0,0,0,0
$STATE,2737,end apogee,CONTROL_FINISHED_OK
$STATE,2737,begin climb
$GC,2740,0.62,146.0,250.0,0.0,317,2874,0.75,2.45,122.10,0.991,4,0.125,0.069,3055,3682,2432,0,0,0,0,0,0
$GC,2994,0.53,146.0,226.4,12.8,339,3001,0.00,2.28,0.00,0.000,6,0.000,0.055,3065,2276,2429,0,0,0,0,0,0
$GC,3320,0.46,146.0,188.5,11.7,370,3325,0.17,2.33,0.00,0.000,4,0.173,0.069,3018,3697,2427,0,0,0,0,0,0
$GC,3350,0.46,146.0,185.4,10.5,372,3354,0.00,2.25,0.00,0.000,6,0.000,0.054,3026,2270,2428,0,0,0,0,0,0
$GC,3676,0.54,186.4,158.1,8.1,402,3715,0.00,0.00,34.03,0.927,6,0.000,0.000,3026,2270,2269,0,0,0,0,0,0
$GC,4034,0.63,216.6,127.9,8.6,436,4069,0.12,2.33,26.92,0.908,4,0.102,0.067,3085,3685,2146,0,0,0,0,0,0
$GC,4118,0.55,216.6,117.3,15.2,443,4122,0.20,2.25,0.00,0.000,6,0.179,0.053,3044,2266,2145,0,0,0,0,0,0
$GC,4452,0.65,256.7,85.8,8.1,487,4494,0.00,2.42,35.22,0.896,4,0.000,0.067,3044,3697,1983,0,0,0,0,0,0
$GC,4525,0.75,274.6,79.8,9.2,499,4551,0.15,2.28,17.42,0.852,6,0.090,0.053,3114,2265,1909,0,0,0,0,0,0
$GC,4890,0.75,274.6,32.4,12.6,563,4898,0.00,2.28,0.00,0.000,4,0.000,0.070,3124,866,1904,0,0,0,0,0,0
$GC,4978,0.75,274.6,22.3,11.1,578,4984,0.00,2.25,0.00,0.000,6,0.000,0.057,3124,2278,1902,0,0,0,0,0,0
$FREEZE,8.79,-0.841,-1.817,2,96,0
$FREEZE,8.15,-0.840,-1.816,2,96,0
$FREEZE,7.53,-0.855,-1.816,2,96,0
$FREEZE,6.91,-0.851,-1.815,2,96,0
$FREEZE,6.09,-0.865,-1.815,2,96,0
$FREEZE,5.55,-0.863,-1.814,2,96,0
$FREEZE,5.13,-0.866,-1.814,2,96,0
$FREEZE,4.77,-0.876,-1.814,2,96,0
$FREEZE,4.24,-0.871,-1.813,2,96,0
$FREEZE,3.70,-0.862,-1.813,2,96,0
$FREEZE,3.33,-0.868,-1.812,2,96,0
$FREEZE,2.93,-0.873,-1.812,2,96,0
$STATE,5149,end climb,SURFACE_DEPTH_REACHED
$STATE,5149,begin surface coast
$FREEZE,2.52,-0.884,-1.811,2,96,0
$FREEZE,1.83,-0.887,-1.811,2,96,0
$FREEZE,1.80,-0.845,-0.313,2,96,0
$FINISH,1.8,1.004442
$STATE,5166,end surface coast,FINISH_DEPTH_REACHED
$STATE,5166,begin surface
$SM_CCo,5185,123.68,0.062,0,0,750,559.04
$SM_GC,2.67,0.00,0.00,123.68,0.000,0.000,0.062,117,2498,750,-8.59,0.25,559.04
$RAFOS_CLK,284
$RAFOS,1,1307030942,16.166666,16.150555,69,54,52,49,49,47,204,176,217,156,133,235
$RAFOS,0,1307030461,16.033333,16.016945,60,57,55,54,51,51,194,152,210,167,182,121
$RAFOS_FIX,6643.216797,-5808.823242,020611,121200,2,134,1.96
$IRIDIUM_FIX,6641.98,-5703.22,020611,060613
$TT8_MAMPS,0.028462
$HUMID,44.84
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.30
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,22.9,98.873
$10V_AH,9.8,51.177
$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,12.675,55.575,354.525,123.675,0.000,0.000,0.000,0.000,13.750,0.000,0.000,1414.057,2255.169,561.023,1004.244,140.534,0.000,1139.385,0.000,1000.974,1080.000,2.618,0.000
$DEVICE_MAMPS,213.435,166.770,1042.695,61.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.552,447.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23510,612
$CAP_FILE_SIZE,69986,0
$CFSIZE,260165632,205053952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.0
$GPS,020611,124800,6643.217,-5808.823,181,99.0,181,-37.6