version: 66.08
glider: 141
mission: 15
dive: 834
start: 6 7 111 16 14 29
data:
$ID,141
$MISSION,15
$DIVE,834
$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,-67853.562
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,070611,142946,6709.499,-5646.748,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-75.5
$GPS2,070611,142946,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,16,-0.62,-146.0,0.0,0.0,0,219,0.00,0.00,-198.40,0.000,6,0.000,0.000,115,2503,3626,0,0,0,0,0,0
$GC,223,-0.62,-146.0,3.2,-0.4,35,242,13.38,2.33,0.00,0.000,4,0.326,0.047,2654,1054,3629,0,0,0,0,0,0
$GC,273,-0.54,-146.0,5.5,-9.9,43,281,0.12,2.38,0.00,0.000,6,0.238,0.071,2680,2480,3629,0,0,0,0,0,0
$GC,621,-0.45,-146.0,63.4,-16.2,104,628,0.12,2.45,0.00,0.000,4,0.236,0.085,2710,3909,3629,0,0,0,0,0,0
$GC,703,-0.49,-146.0,74.7,-12.3,118,710,0.00,2.30,0.00,0.000,6,0.000,0.057,2710,2485,3629,0,0,0,0,0,0
$GC,1048,-0.49,-146.0,117.3,-11.8,167,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2484,3628,0,0,0,0,0,0
$GC,1368,-0.52,-146.0,151.2,-9.9,197,1372,0.00,2.33,0.00,0.000,4,0.000,0.073,2710,1077,3627,0,0,0,0,0,0
$GC,1393,-0.55,-146.0,153.9,-10.6,199,1397,0.00,2.35,0.00,0.000,6,0.000,0.070,2710,2490,3627,0,0,0,0,0,0
$GC,1719,-0.59,-146.0,185.1,-9.6,229,1721,0.12,0.00,0.00,0.000,6,0.122,0.000,2664,2490,3626,0,0,0,0,0,0
$GC,2037,-0.88,-146.0,209.6,-0.3,259,2042,0.25,2.38,0.00,0.000,4,0.094,0.078,2565,3910,3627,0,0,0,0,0,0
$GC,2068,-1.13,-146.0,209.5,-0.3,261,2073,0.20,2.30,0.00,0.000,2,0.092,0.053,2491,2476,3627,0,0,0,0,0,0
$STATE,2074,end dive,NO_VERTICAL_VELOCITY
$STATE,2074,begin apogee
$GC,2082,-0.12,0.0,209.6,0.0,261,2210,1.05,0.00,120.35,1.051,6,0.142,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,2211,end apogee,CONTROL_FINISHED_OK
$STATE,2211,begin climb
$GC,2215,0.62,146.0,209.5,0.0,273,2352,0.77,2.53,123.25,0.995,4,0.128,0.073,3068,880,2431,0,0,0,0,0,0
$GC,2433,0.65,174.2,195.4,8.7,293,2467,0.00,2.38,25.33,0.935,6,0.000,0.060,3068,2283,2318,0,0,0,0,0,0
$GC,2786,0.65,174.2,161.4,10.1,326,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2284,2313,0,0,0,0,0,0
$GC,3108,0.67,188.4,130.8,9.3,356,3122,0.00,0.00,12.27,0.874,6,0.000,0.000,3067,2283,2262,0,0,0,0,0,0
$GC,3440,0.74,221.3,99.5,8.5,387,3476,0.10,0.00,29.90,0.912,6,0.113,0.000,3114,2284,2126,0,0,0,0,0,0
$GC,3817,0.74,221.3,55.9,10.8,453,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2283,2123,0,0,0,0,0,0
$GC,4163,0.76,238.1,22.0,9.2,514,4176,0.00,2.40,8.18,0.807,4,0.000,0.073,3114,3700,2058,0,0,0,0,0,0
$GC,4224,0.76,238.1,15.6,11.1,524,4231,0.00,2.30,0.00,0.000,6,0.000,0.057,3125,2277,2058,0,0,0,0,0,0
$FREEZE,8.71,-0.809,-1.814,1,197,0
$FREEZE,8.25,-0.796,-1.813,1,197,0
$FREEZE,7.60,-0.795,-1.813,1,197,0
$FREEZE,7.12,-0.785,-1.813,1,197,0
$FREEZE,6.59,-0.790,-1.813,1,197,0
$FREEZE,6.02,-0.753,-1.812,1,197,0
$FREEZE,5.54,-0.719,-1.811,1,197,0
$FREEZE,4.97,-0.744,-1.812,1,197,0
$FREEZE,4.60,-0.712,-1.810,1,197,0
$FREEZE,3.87,-0.715,-1.810,1,197,0
$FREEZE,3.37,-0.724,-1.810,1,197,0
$FREEZE,2.86,-0.700,-1.809,1,197,0
$STATE,4344,end climb,SURFACE_DEPTH_REACHED
$STATE,4344,begin surface coast
$FREEZE,2.26,-0.698,-1.809,1,197,0
$FREEZE,1.76,-0.699,-1.808,1,197,0
$FREEZE,1.74,-0.714,-1.809,1,197,0
$FREEZE,1.75,-0.637,-1.790,1,197,0
$FREEZE,1.74,-0.686,-1.808,1,197,0
$FREEZE,1.70,-0.693,-1.799,1,197,0
$FINISH,1.7,1.026382
$STATE,4376,end surface coast,CONTROL_FINISHED_OK
$STATE,4377,begin surface
$SM_CCo,4398,141.93,0.065,0,0,750,559.04
$SM_GC,2.62,0.00,0.00,141.93,0.000,0.000,0.065,116,2506,750,-8.59,0.48,559.04
$RAFOS_CLK,300
$RAFOS,6,1307465356,16.833334,16.821112,69,59,58,54,52,51,207,182,195,219,230,164
$RAFOS,5,1307464868,16.700001,16.685556,59,52,51,51,50,49,154,140,177,918,115,212
$RAFOS,4,1307464387,16.566668,16.551945,76,55,53,53,50,46,209,170,128,152,119,223
$RAFOS,3,1307463902,16.433332,16.417223,74,59,59,58,55,54,217,206,233,181,163,151
$RAFOS,2,1307463426,16.299999,16.285000,63,58,56,56,56,50,171,200,132,182,147,223
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,070611,141446
$TT8_MAMPS,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,22.4,110.123
$10V_AH,9.8,54.754
$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,24.750,29.100,319.275,141.925,0.000,98.627,17.385,0.000,13.750,0.000,185.272,1254.101,1930.194,588.536,1160.928,567.872,0.000,1103.014,0.000,857.715,1800.000,2.616,0.000
$DEVICE_MAMPS,325.890,84.915,1051.110,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.452,404.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20119,552
$CAP_FILE_SIZE,64558,0
$CFSIZE,260165632,201814016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6