version: 66.08
glider: 141
mission: 15
dive: 732
start: 6 2 111 13 15 26
data:
$ID,141
$MISSION,15
$DIVE,732
$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,29
$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,8.75
$_SM_ANGLEo,-2.2
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.62,0.000,2,0.000,0.000,2886,3682,3052,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.4,-0.0,1,48,0.60,0.38,-15.30,0.000,4,0.123,0.174,2668,3899,3628,0,0,0,0,0,0
$GC,259,-0.62,-146.0,38.8,-13.1,41,266,0.00,2.22,0.00,0.000,6,0.000,0.048,2668,2487,3630,0,0,0,0,0,0
$GC,605,-0.56,-146.0,86.5,-15.4,102,612,0.00,2.25,0.00,0.000,4,0.000,0.065,2668,1074,3629,0,0,0,0,0,0
$GC,734,-0.56,-146.0,105.3,-14.4,121,738,0.00,2.28,0.00,0.000,6,0.000,0.063,2668,2487,3627,0,0,0,0,0,0
$GC,1059,-0.53,-146.0,146.2,-11.6,151,1064,0.00,2.35,0.00,0.000,4,0.000,0.078,2668,3898,3626,0,0,0,0,0,0
$GC,1092,-0.53,-146.0,150.3,-10.7,153,1099,0.00,2.22,0.00,0.000,6,0.000,0.049,2668,2486,3626,0,0,0,0,0,0
$GC,1419,-0.51,-146.0,186.2,-11.2,184,1423,0.12,2.30,0.00,0.000,4,0.200,0.065,2698,1075,3625,0,0,0,0,0,0
$GC,1452,-0.56,-146.0,189.7,-9.5,186,1459,0.00,2.30,0.00,0.000,6,0.000,0.060,2698,2496,3625,0,0,0,0,0,0
$GC,1779,-0.63,-146.0,215.7,-7.6,217,1784,0.12,2.35,0.00,0.000,4,0.122,0.076,2654,3906,3625,0,0,0,0,0,0
$GC,1818,-0.63,-146.0,219.5,-10.2,220,1825,0.00,2.22,0.00,0.000,6,0.000,0.047,2654,2476,3624,0,0,0,0,0,0
$GC,2145,-0.58,-146.0,254.4,-10.6,251,2149,0.00,2.20,0.00,0.000,4,0.000,0.063,2654,1084,3625,0,0,0,0,0,0
$GC,2174,-0.53,-146.0,257.9,-11.7,253,2179,0.15,2.28,0.00,0.000,6,0.190,0.059,2690,2491,3625,0,0,0,0,0,0
$GC,2502,-0.59,-146.0,283.6,-8.6,283,2506,0.00,2.33,0.00,0.000,4,0.000,0.075,2690,3905,3625,0,0,0,0,0,0
$GC,2548,-0.68,-146.0,287.5,-8.3,287,2553,0.15,2.20,0.00,0.000,6,0.105,0.047,2636,2488,3625,0,0,0,0,0,0
$STATE,2767,end dive,NO_VERTICAL_VELOCITY
$STATE,2767,begin apogee
$GC,2775,-0.12,0.0,292.6,0.0,307,2906,0.57,0.00,119.93,1.062,6,0.149,0.000,2815,2261,3030,0,0,0,0,0,0
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin climb
$GC,2909,0.62,146.0,292.6,0.0,319,3044,0.75,2.55,122.47,1.011,4,0.129,0.067,3052,3678,2433,0,0,0,0,0,0
$GC,3125,0.53,146.0,276.9,14.1,338,3129,0.00,2.30,0.00,0.000,6,0.000,0.052,3062,2282,2430,0,0,0,0,0,0
$GC,3450,0.46,146.0,237.7,11.8,368,3452,0.17,0.00,0.00,0.000,6,0.181,0.000,3016,2282,2428,0,0,0,0,0,0
$GC,3769,0.53,177.1,209.0,8.6,398,3803,0.00,2.33,26.17,0.945,4,0.000,0.067,3017,3688,2308,0,0,0,0,0,0
$GC,3832,0.56,178.2,203.1,9.9,403,3839,0.00,2.28,0.00,0.000,6,0.000,0.050,3024,2262,2307,0,0,0,0,0,0
$GC,4161,0.63,205.2,173.8,8.8,434,4188,0.12,0.00,25.10,0.929,6,0.101,0.000,3085,2262,2192,0,0,0,0,0,0
$GC,4506,0.57,205.2,126.5,14.2,467,4511,0.12,2.35,0.00,0.000,4,0.181,0.067,3052,3691,2189,0,0,0,0,0,0
$GC,4568,0.57,205.2,118.2,12.7,472,4575,0.00,2.25,0.00,0.000,6,0.000,0.050,3061,2268,2188,0,0,0,0,0,0
$GC,4903,0.57,205.2,80.3,11.0,519,4910,0.00,2.33,0.00,0.000,4,0.000,0.065,3061,3699,2188,0,0,0,0,0,0
$GC,4941,0.57,205.2,76.1,11.7,525,4947,0.00,2.22,0.00,0.000,6,0.000,0.050,3072,2275,2188,0,0,0,0,0,0
$GC,5287,0.62,242.6,42.0,8.3,586,5317,0.00,2.35,24.23,0.949,4,0.000,0.067,3082,870,2039,0,0,0,0,0,0
$GC,5389,0.73,276.0,33.6,8.5,603,5414,0.00,2.28,18.42,0.909,6,0.000,0.055,3082,2281,1904,0,0,0,0,0,0
$FREEZE,8.62,-0.885,-1.816,2,95,1
$FREEZE,8.10,-0.887,-1.816,2,95,1
$FREEZE,7.75,-0.902,-1.817,2,95,1
$FREEZE,7.20,-0.887,-1.815,2,95,1
$FREEZE,6.77,-0.900,-1.815,2,95,1
$FREEZE,6.40,-0.918,-1.815,2,95,1
$FREEZE,6.09,-0.936,-1.814,2,95,1
$FREEZE,5.70,-0.943,-1.813,2,95,1
$FREEZE,5.21,-0.948,-1.813,2,95,1
$FREEZE,4.79,-0.928,-1.813,2,95,1
$FREEZE,4.11,-0.927,-1.812,2,95,1
$FREEZE,3.63,-0.929,-1.811,2,95,1
$FREEZE,3.16,-0.938,-1.810,2,95,1
$FREEZE,2.65,-0.966,-1.811,2,95,1
$STATE,5730,end climb,SURFACE_DEPTH_REACHED
$STATE,5730,begin surface coast
$FREEZE,2.68,-0.993,-1.812,2,95,1
$FREEZE,2.66,-0.982,-1.810,2,95,1
$FREEZE,2.63,-1.010,-1.812,2,95,1
$FREEZE,2.72,-1.012,-1.812,2,95,1
$FREEZE,2.63,-1.018,-1.813,2,95,1
$FREEZE,2.62,-1.032,-1.814,2,95,1
$FINISH,2.6,1.026589
$STATE,5762,end surface coast,CONTROL_FINISHED_OK
$STATE,5762,begin surface
$RAFOS_CLK,309
$RAFOS_FIX,6643.216797,-5808.823242,020611,121200,2,134,1.96
$IRIDIUM_FIX,6641.98,-5703.22,020611,060613
$TT8_MAMPS,0.026215
$HUMID,47.04
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,17.20
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.8,98.771
$10V_AH,9.9,51.137
$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,2.900,53.425,336.325,0.000,0.000,0.000,0.000,0.000,12.750,0.000,0.000,1603.705,2801.080,331.401,1061.856,146.005,0.000,928.018,0.000,1062.029,0.000,2.818,0.000
$DEVICE_MAMPS,200.430,173.655,1061.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.497,496.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26778,670
$CAP_FILE_SIZE,71129,0
$CFSIZE,260165632,205090816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,020611,124800,6643.217,-5808.823,0,2134.5,0,-37.6