version: 66.08
glider: 141
mission: 15
dive: 736
start: 6 2 111 20 14 8
data:
$ID,141
$MISSION,15
$DIVE,736
$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,-54532.059
$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,27
$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
$GPS1,020611,182227,6647.443,-5724.906,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-81.7
$GPS2,020611,182227,6647.443,-5724.906,181,99.0,181,-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,80.4,39248,-17.5,-10.000
$D_GRID,715
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,191,0.00,0.00,-172.45,0.000,2,0.000,0.000,107,2500,3562,0,0,0,0,0,0
$GC,195,-0.62,-146.0,5.6,-5.0,30,215,13.43,2.42,-1.45,0.000,4,0.325,0.096,2656,3892,3630,0,0,0,0,0,0
$GC,472,-0.56,-146.0,61.3,-14.5,78,480,0.00,2.25,0.00,0.000,6,0.000,0.057,2656,2493,3632,0,0,0,0,0,0
$GC,819,-0.49,-146.0,114.4,-15.1,131,823,0.17,2.38,0.00,0.000,4,0.202,0.083,2699,3893,3630,0,0,0,0,0,0
$GC,860,-0.56,-146.0,119.6,-10.1,134,864,0.00,2.25,0.00,0.000,6,0.000,0.057,2699,2482,3630,0,0,0,0,0,0
$GC,1186,-0.62,-146.0,150.6,-8.9,164,1191,0.10,2.33,0.00,0.000,4,0.142,0.075,2665,1072,3629,0,0,0,0,0,0
$GC,1275,-0.62,-146.0,161.3,-12.2,171,1282,0.00,2.35,0.00,0.000,6,0.000,0.070,2665,2489,3629,0,0,0,0,0,0
$GC,1602,-0.59,-146.0,198.0,-10.8,202,1606,0.00,2.38,0.00,0.000,4,0.000,0.083,2665,3903,3628,0,0,0,0,0,0
$GC,1686,-0.59,-146.0,206.8,-10.4,209,1690,0.00,2.25,0.00,0.000,6,0.000,0.054,2665,2485,3629,0,0,0,0,0,0
$GC,2012,-0.56,-146.0,241.2,-11.0,239,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2485,3630,0,0,0,0,0,0
$STATE,2190,end dive,NO_VERTICAL_VELOCITY
$STATE,2190,begin apogee
$GC,2197,-0.12,0.0,241.8,0.0,256,2329,0.47,0.00,121.12,1.055,6,0.134,0.000,2816,2257,3029,0,0,0,0,0,0
$STATE,2329,end apogee,CONTROL_FINISHED_OK
$STATE,2329,begin climb
$GC,2332,0.62,146.0,241.7,0.0,268,2466,0.75,2.53,122.72,1.008,4,0.125,0.072,3065,872,2433,0,0,0,0,0,0
$GC,2586,0.59,146.0,227.1,10.0,290,2593,0.00,2.35,0.00,0.000,6,0.000,0.058,3065,2281,2429,0,0,0,0,0,0
$GC,2912,0.53,146.0,189.6,11.7,321,2916,0.00,2.30,0.00,0.000,4,0.000,0.073,3065,3690,2428,0,0,0,0,0,0
$GC,3043,0.43,146.0,172.9,13.0,332,3048,0.25,2.25,0.00,0.000,6,0.174,0.056,3009,2273,2428,0,0,0,0,0,0
$GC,3370,0.56,194.1,147.0,7.8,362,3413,0.10,0.00,41.00,0.939,6,0.116,0.000,3059,2273,2238,0,0,0,0,0,0
$GC,3729,0.56,194.1,105.0,11.1,396,3733,0.00,2.30,0.00,0.000,4,0.000,0.072,3070,862,2234,0,0,0,0,0,0
$GC,3762,0.56,194.1,101.2,10.8,398,3769,0.00,2.28,0.00,0.000,6,0.000,0.057,3070,2279,2233,0,0,0,0,0,0
$GC,4106,0.60,228.7,68.5,8.4,458,4142,0.00,2.38,30.12,0.896,4,0.000,0.071,3070,3683,2097,0,0,0,0,0,0
$GC,4178,0.60,228.7,61.7,10.7,470,4185,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2262,2095,0,0,0,0,0,0
$GC,4524,0.70,258.9,29.8,8.6,531,4549,0.00,2.33,16.62,0.914,4,0.000,0.074,3088,860,1972,0,0,0,0,0,0
$GC,4597,0.79,272.1,23.6,9.4,543,4610,0.00,2.30,6.68,0.767,6,0.000,0.058,3088,2283,1919,0,0,0,0,0,0
$FREEZE,8.61,-1.025,-1.814,2,99,0
$FREEZE,8.10,-1.025,-1.813,2,99,0
$FREEZE,7.54,-1.026,-1.813,2,99,0
$FREEZE,7.10,-1.026,-1.812,2,99,0
$FREEZE,6.52,-1.027,-1.812,2,99,0
$FREEZE,6.10,-1.026,-1.812,2,99,0
$FREEZE,5.45,-1.029,-1.811,2,99,0
$FREEZE,4.99,-1.030,-1.811,2,99,0
$FREEZE,4.40,-1.031,-1.810,2,99,0
$FREEZE,3.98,-1.032,-1.810,2,99,0
$FREEZE,3.88,-1.045,-1.810,2,99,0
$FREEZE,3.31,-1.049,-1.809,2,99,0
$FREEZE,2.85,-1.039,-1.809,2,99,0
$STATE,4801,end climb,SURFACE_DEPTH_REACHED
$STATE,4801,begin surface coast
$FREEZE,2.41,-1.044,-1.808,2,99,0
$FREEZE,2.38,-1.055,-1.809,2,99,0
$FREEZE,2.43,-1.053,-1.809,2,99,0
$FREEZE,2.33,-1.062,-1.809,2,99,0
$FREEZE,2.40,-1.067,-1.809,2,99,0
$FREEZE,2.46,-1.060,-1.808,2,99,0
$FREEZE,2.49,-1.060,-1.808,2,99,0
$FREEZE,2.50,-1.070,-1.809,2,99,0
$FINISH,2.5,1.026520
$STATE,4846,end surface coast,CONTROL_FINISHED_OK
$STATE,4846,begin surface
$RAFOS_CLK,311
$RAFOS,6,1307047742,20.833334,20.817223,73,58,57,56,52,51,211,147,129,228,160,192
$RAFOS,5,1307047265,20.700001,20.684723,133,57,56,54,53,51,679,136,191,206,219,126
$RAFOS,4,1307046791,20.566668,20.553055,60,60,55,54,50,49,165,218,186,206,135,150
$RAFOS,3,1307046306,20.433332,20.418333,64,61,53,53,52,50,212,182,134,154,67,193
$RAFOS,2,1307045822,20.299999,20.283890,61,61,61,58,53,50,152,187,212,167,224,135
$RAFOS_FIX,6643.216797,-5808.823242,020611,121200,2,134,1.96
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.00
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.6,99.197
$10V_AH,9.9,51.338
$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,15.275,42.225,338.275,0.000,0.000,100.915,17.350,0.000,13.500,0.000,183.286,1366.354,2285.739,439.808,1265.270,511.111,0.000,1012.512,0.000,957.568,1800.000,2.813,0.000
$DEVICE_MAMPS,325.125,95.625,1054.935,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.827,428.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23470,588
$CAP_FILE_SIZE,69073,0
$CFSIZE,260165632,204935168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.3
$GPS,020611,182227,6647.443,-5724.906,181,99.0,181,-37.6