version: 66.08
glider: 141
mission: 15
dive: 738
start: 6 2 111 23 27 33
data:
$ID,141
$MISSION,15
$DIVE,738
$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,-54900.625
$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
$GPS1,020611,182227,6647.443,-5724.906,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-44.8
$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,-146.0,0.0,0.0,0,153,0.00,0.00,-134.73,0.000,2,0.000,0.000,110,2496,3076,0,0,0,0,0,0
$GC,159,-0.62,-146.0,5.4,-4.8,24,195,13.38,2.42,-13.88,0.000,4,0.323,0.104,2660,3897,3628,0,0,0,0,0,0
$GC,428,-0.59,-146.0,49.4,-13.3,71,435,0.00,2.25,0.00,0.000,6,0.000,0.057,2659,2487,3630,0,0,0,0,0,0
$GC,775,-0.52,-146.0,97.5,-12.6,132,782,0.12,2.35,0.00,0.000,4,0.219,0.075,2689,1079,3629,0,0,0,0,0,0
$GC,870,-0.56,-146.0,107.2,-9.4,142,874,0.00,2.33,0.00,0.000,6,0.000,0.070,2689,2492,3629,0,0,0,0,0,0
$GC,1196,-0.59,-146.0,137.5,-9.3,172,1200,0.00,2.38,0.00,0.000,4,0.000,0.085,2689,3910,3628,0,0,0,0,0,0
$GC,1229,-0.64,-146.0,140.8,-9.8,174,1236,0.00,2.28,0.00,0.000,6,0.000,0.057,2689,2483,3628,0,0,0,0,0,0
$GC,1555,-0.68,-146.0,170.6,-9.0,205,1560,0.15,2.33,0.00,0.000,4,0.115,0.073,2637,1072,3627,0,0,0,0,0,0
$GC,1624,-0.63,-146.0,179.3,-13.1,211,1628,0.00,2.35,0.00,0.000,6,0.000,0.070,2636,2490,3627,0,0,0,0,0,0
$GC,1950,-0.54,-146.0,222.4,-13.5,241,1955,0.20,2.40,0.00,0.000,4,0.207,0.081,2687,3905,3627,0,0,0,0,0,0
$GC,2059,-0.61,-146.0,232.9,-8.6,250,2063,0.00,2.25,0.00,0.000,6,0.000,0.054,2686,2483,3628,0,0,0,0,0,0
$STATE,2292,end dive,NO_VERTICAL_VELOCITY
$STATE,2292,begin apogee
$GC,2302,-0.12,0.0,239.4,0.0,272,2434,0.40,0.00,120.75,1.057,6,0.135,0.000,2818,2263,3030,0,0,0,0,0,0
$STATE,2434,end apogee,CONTROL_FINISHED_OK
$STATE,2434,begin climb
$GC,2438,0.62,146.0,239.3,0.0,284,2572,0.75,2.58,122.95,1.007,4,0.128,0.073,3055,3696,2434,0,0,0,0,0,0
$GC,2635,0.52,160.0,234.9,9.4,301,2655,0.12,2.40,13.12,0.900,6,0.187,0.058,3038,2282,2377,0,0,0,0,0,0
$GC,2975,0.53,168.1,202.8,9.6,333,2988,0.00,2.40,8.15,0.824,4,0.000,0.072,3038,3692,2344,0,0,0,0,0,0
$GC,3016,0.53,168.1,198.0,11.0,336,3023,0.00,2.30,0.00,0.000,6,0.000,0.067,3046,2263,2344,0,0,0,0,0,0
$GC,3345,0.53,168.3,165.3,10.0,367,3349,0.00,2.33,0.00,0.000,4,0.000,0.071,3045,3691,2343,0,0,0,0,0,0
$GC,3375,0.50,168.3,162.0,10.5,369,3379,0.00,2.28,0.00,0.000,6,0.000,0.057,3056,2275,2343,0,0,0,0,0,0
$GC,3706,0.52,179.7,128.8,9.5,400,3722,0.00,2.33,11.57,0.866,4,0.000,0.072,3067,857,2297,0,0,0,0,0,0
$GC,3740,0.54,197.1,125.5,9.2,402,3763,0.10,2.30,16.33,0.895,6,0.178,0.060,3043,2288,2226,0,0,0,0,0,0
$GC,4085,0.62,226.3,97.7,8.7,436,4120,0.00,2.35,26.17,0.905,4,0.000,0.073,3043,3686,2106,0,0,0,0,0,0
$GC,4157,0.67,234.4,91.2,9.6,448,4171,0.00,2.28,8.60,0.804,6,0.000,0.066,3050,2265,2074,0,0,0,0,0,0
$GC,4512,0.77,267.9,60.7,8.5,510,4548,0.17,2.38,30.05,0.891,4,0.086,0.073,3140,868,1937,0,0,0,0,0,0
$GC,4635,0.74,267.9,43.0,14.5,531,4643,0.15,2.30,0.00,0.000,6,0.194,0.060,3103,2283,1932,0,0,0,0,0,0
$FREEZE,8.83,-1.289,-1.811,2,101,0
$FREEZE,8.29,-1.289,-1.811,2,101,0
$FREEZE,7.91,-1.290,-1.810,2,101,0
$FREEZE,7.31,-1.289,-1.810,2,101,0
$STATE,4953,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4953,begin subsurface finish
$FINISH1,7.3,1.026488,50
$GC,4960,0.06,49.6,7.3,-9.3,587,5002,0.70,2.40,-35.45,0.000,4,0.175,0.090,2887,3691,2829,0,0,0,0,0,0
$FINISH2,5.5
$STATE,5003,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5003,begin surface
$RAFOS_CLK,310
$RAFOS,5,1307061663,0.700000,0.684167,68,63,62,61,51,49,698,135,212,171,185,226
$RAFOS,4,1307061190,0.566667,0.552778,58,58,55,54,54,49,161,209,143,191,182,219
$RAFOS,3,1307060701,0.433333,0.416944,63,61,58,53,52,46,203,172,224,133,110,479
$RAFOS,2,1307060222,0.300000,0.283889,66,63,62,52,52,50,213,204,190,161,129,117
$RAFOS,1,1307059744,0.166667,0.151111,67,67,58,56,55,52,174,196,205,141,184,132
$RAFOS,0,1307059263,0.033333,0.017500,62,56,56,55,54,51,216,182,124,204,145,173
$RAFOS_FIX,6643.216797,-5808.823242,020611,121200,2,134,1.96
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.029211
$HUMID,45.94
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.6,17.3
$24V_AH,22.6,99.407
$10V_AH,9.8,51.431
$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,16.250,54.250,357.700,0.000,0.000,98.447,19.446,0.000,12.500,0.000,183.285,1350.138,2287.406,469.889,1273.857,503.267,0.000,1046.747,0.000,963.279,2520.000,2.618,0.000
$DEVICE_MAMPS,322.830,104.040,1057.230,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.911,434.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23378,594
$CAP_FILE_SIZE,70919,0
$CFSIZE,260165632,204849152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.4
$GPS,020611,182227,6647.443,-5724.906,181,99.0,181,-37.6