version: 66.08
glider: 141
mission: 15
dive: 734
start: 6 2 111 16 43 21
data:
$ID,141
$MISSION,15
$DIVE,734
$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,-53794.145
$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,23
$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,-5808.823,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-43.2
$GPS2,020611,124800,6643.217,-5808.823,181,99.0,181,-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,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,16,-0.62,-146.0,0.0,0.0,0,220,0.00,0.00,-198.35,0.000,6,0.000,0.000,117,2498,3625,0,0,0,0,0,0
$GC,223,-0.62,-146.0,3.1,-0.1,35,242,11.50,2.40,0.00,0.000,4,0.275,0.085,2655,3900,3628,0,0,0,0,0,0
$GC,424,-0.59,-146.0,28.2,-15.6,70,431,0.00,2.30,0.00,0.000,6,0.000,0.065,2656,2483,3628,0,0,0,0,0,0
$GC,770,-0.49,-146.0,84.5,-16.0,131,777,0.17,0.00,0.00,0.000,6,0.207,0.000,2699,2483,3628,0,0,0,0,0,0
$GC,1105,-0.52,-146.0,122.0,-10.0,173,1109,0.00,2.28,0.00,0.000,4,0.000,0.072,2700,1082,3626,0,0,0,0,0,0
$GC,1135,-0.56,-146.0,125.2,-11.4,175,1139,0.00,2.30,0.00,0.000,6,0.000,0.067,2699,2488,3626,0,0,0,0,0,0
$GC,1461,-0.62,-146.0,155.7,-9.3,205,1466,0.12,2.40,0.00,0.000,4,0.122,0.081,2655,3903,3625,0,0,0,0,0,0
$GC,1503,-0.60,-146.0,160.3,-12.0,208,1507,0.00,2.28,0.00,0.000,6,0.000,0.054,2655,2482,3626,0,0,0,0,0,0
$GC,1831,-0.55,-146.0,199.1,-11.5,238,1835,0.12,2.30,0.00,0.000,4,0.206,0.070,2685,1076,3626,0,0,0,0,0,0
$GC,1853,-0.55,-146.0,202.0,-12.0,239,1860,0.00,2.33,0.00,0.000,6,0.000,0.066,2685,2500,3626,0,0,0,0,0,0
$GC,2179,-0.59,-146.0,232.2,-9.3,270,2183,0.00,2.35,0.00,0.000,4,0.000,0.079,2685,3907,3627,0,0,0,0,0,0
$GC,2222,-0.66,-146.0,236.0,-9.3,273,2226,0.00,2.25,0.00,0.000,6,0.000,0.053,2684,2486,3627,0,0,0,0,0,0
$STATE,2449,end dive,NO_VERTICAL_VELOCITY
$STATE,2449,begin apogee
$GC,2458,-0.12,0.0,241.5,0.0,294,2590,0.40,0.00,120.75,1.053,6,0.125,0.000,2821,2262,3029,0,0,0,0,0,0
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2594,0.62,146.0,241.7,0.0,306,2728,0.70,2.53,122.82,1.004,4,0.112,0.072,3055,868,2433,0,0,0,0,0,0
$GC,2901,0.62,146.0,229.2,11.1,333,2908,0.00,2.33,0.00,0.000,6,0.000,0.060,3055,2279,2428,0,0,0,0,0,0
$GC,3227,0.58,146.0,196.3,10.1,364,3231,0.00,2.30,0.00,0.000,4,0.000,0.073,3056,3698,2428,0,0,0,0,0,0
$GC,3313,0.49,146.0,186.6,11.7,371,3318,0.15,2.25,0.00,0.000,6,0.177,0.056,3027,2277,2428,0,0,0,0,0,0
$GC,3639,0.56,201.6,160.0,7.4,401,3695,0.00,2.40,46.85,0.950,4,0.000,0.070,3027,3686,2207,0,0,0,0,0,0
$GC,3715,0.63,230.6,153.9,8.7,407,3746,0.00,2.28,26.25,0.915,6,0.000,0.055,3034,2267,2089,0,0,0,0,0,0
$GC,4073,0.75,270.2,123.8,8.2,441,4116,0.20,0.00,34.80,0.913,6,0.080,0.000,3125,2267,1927,0,0,0,0,0,0
$GC,4447,0.70,270.2,66.1,15.7,493,4454,0.12,2.35,0.00,0.000,4,0.193,0.079,3093,3696,1921,0,0,0,0,0,0
$GC,4513,0.70,270.2,56.4,14.3,504,4520,0.00,2.28,0.00,0.000,6,0.000,0.055,3102,2272,1920,0,0,0,0,0,0
$GC,4859,0.70,270.2,17.3,10.9,565,4866,0.00,2.30,0.00,0.000,4,0.000,0.082,3112,861,1920,0,0,0,0,0,0
$GC,4917,0.70,270.2,10.6,12.1,575,4924,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2285,1918,0,0,0,0,0,0
$FREEZE,8.54,-0.940,-1.815,2,97,0
$FREEZE,7.90,-0.940,-1.814,2,97,0
$FREEZE,7.46,-0.940,-1.814,2,97,0
$FREEZE,6.89,-0.939,-1.813,2,97,0
$FREEZE,6.48,-0.938,-1.813,2,97,0
$FREEZE,5.83,-0.935,-1.813,2,97,0
$FREEZE,5.29,-0.936,-1.812,2,97,0
$FREEZE,4.83,-0.938,-1.812,2,97,0
$FREEZE,4.29,-0.935,-1.811,2,97,0
$FREEZE,3.52,-0.931,-1.811,2,97,0
$FREEZE,2.92,-0.929,-1.810,2,97,0
$STATE,4986,end climb,SURFACE_DEPTH_REACHED
$STATE,4988,begin surface coast
$FREEZE,2.19,-0.923,-1.810,2,97,0
$FREEZE,1.77,-0.886,-1.807,2,97,0
$FREEZE,1.84,-0.882,-0.391,2,97,0
$FINISH,1.8,1.005610
$STATE,5006,end surface coast,FINISH_DEPTH_REACHED
$STATE,5006,begin surface
$SM_CCo,5080,126.72,0.064,0,0,750,559.04
$SM_GC,2.63,0.00,0.00,126.72,0.000,0.000,0.064,115,2495,750,-8.59,0.11,559.04
$RAFOS_CLK,318
$RAFOS,6,1307033344,16.833334,16.817778,75,72,59,55,54,53,196,787,180,214,114,155
$RAFOS,2,1307031421,16.299999,16.283611,61,60,59,58,57,49,174,216,136,120,197,982
$RAFOS_FIX,6643.216797,-5808.823242,020611,121200,2,134,1.96
$IRIDIUM_FIX,6641.98,-5703.22,020611,060613
$TT8_MAMPS,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.40
$XPDR_PINGS,63
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.7,98.981
$10V_AH,9.9,51.231
$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,22.050,47.150,351.475,126.725,0.000,96.288,43.170,0.000,16.000,0.000,183.290,1356.875,2337.551,614.115,1294.246,525.512,0.000,1200.781,0.000,966.052,360.000,2.621,0.000
$DEVICE_MAMPS,274.635,84.915,1052.640,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.328,431.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,23396,591
$CAP_FILE_SIZE,72276,0
$CFSIZE,260165632,205012992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,020611,124800,6643.217,-5808.823,181,99.0,181,-37.6