version: 66.08
glider: 141
mission: 15
dive: 735
start: 6 2 111 18 30 22
data:
$ID,141
$MISSION,15
$DIVE,735
$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,-54163.488
$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,25
$R_STBD_OVSHOOT,25
$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,2.82
$_SM_ANGLEo,-72.6
$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,-146.0,0.0,0.0,0,185,0.00,0.00,-165.73,0.000,2,0.000,0.000,115,2495,3370,0,0,0,0,0,0
$GC,188,-0.62,-146.0,6.3,-8.4,29,214,13.25,2.38,-5.43,0.000,4,0.321,0.094,2649,3895,3629,0,0,0,0,0,0
$GC,471,-0.55,-146.0,58.4,-14.6,78,479,0.12,2.25,0.00,0.000,6,0.204,0.057,2679,2483,3631,0,0,0,0,0,0
$GC,822,-0.55,-146.0,105.8,-12.7,136,826,0.00,2.33,0.00,0.000,4,0.000,0.075,2680,1071,3630,0,0,0,0,0,0
$GC,862,-0.55,-146.0,111.2,-12.6,139,866,0.00,2.33,0.00,0.000,6,0.000,0.070,2679,2485,3630,0,0,0,0,0,0
$GC,1187,-0.55,-146.0,151.2,-11.6,169,1192,0.00,2.40,0.00,0.000,4,0.000,0.084,2679,3906,3628,0,0,0,0,0,0
$GC,1221,-0.58,-146.0,155.0,-11.1,171,1228,0.00,2.30,0.00,0.000,6,0.000,0.057,2680,2479,3628,0,0,0,0,0,0
$GC,1547,-0.58,-146.0,189.4,-10.2,202,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2479,3628,0,0,0,0,0,0
$GC,1868,-0.60,-146.0,221.3,-10.0,232,1872,0.00,2.28,0.00,0.000,4,0.000,0.071,2679,1080,3629,0,0,0,0,0,0
$GC,1918,-0.65,-146.0,227.1,-10.8,236,1925,0.00,2.33,0.00,0.000,6,0.000,0.067,2679,2495,3628,0,0,0,0,0,0
$GC,2244,-0.90,-146.0,241.8,-0.1,267,2249,0.28,2.33,0.00,0.000,6,0.091,0.073,2573,3902,3630,0,0,0,0,0,0
$STATE,2250,end dive,NO_VERTICAL_VELOCITY
$STATE,2250,begin apogee
$GC,2260,-0.12,0.0,241.8,0.0,267,2387,0.77,0.00,121.03,1.057,6,0.135,0.000,2818,2262,3030,0,0,0,0,0,0
$STATE,2388,end apogee,CONTROL_FINISHED_OK
$STATE,2388,begin climb
$GC,2391,0.62,146.0,241.8,0.0,279,2525,0.75,2.55,123.00,1.006,4,0.126,0.070,3066,858,2434,0,0,0,0,0,0
$GC,2711,0.58,146.0,226.9,10.8,307,2717,0.00,2.33,0.00,0.000,6,0.000,0.060,3066,2284,2429,0,0,0,0,0,0
$GC,3037,0.53,151.6,191.6,9.7,338,3049,0.00,2.30,5.40,0.713,4,0.000,0.073,3066,3693,2413,0,0,0,0,0,0
$GC,3123,0.42,151.6,181.4,11.9,345,3130,0.25,2.28,0.00,0.000,6,0.175,0.057,3007,2274,2412,0,0,0,0,0,0
$GC,3449,0.57,211.5,157.9,7.2,376,3507,0.12,2.38,52.20,0.949,4,0.101,0.071,3069,3691,2166,0,0,0,0,0,0
$GC,3542,0.51,211.5,147.4,13.7,384,3549,0.17,2.30,0.00,0.000,6,0.170,0.056,3033,2273,2165,0,0,0,0,0,0
$GC,3868,0.64,273.8,121.1,7.1,415,3928,0.12,2.35,54.12,0.922,4,0.102,0.072,3105,857,1912,0,0,0,0,0,0
$GC,3955,0.64,273.8,110.8,12.8,422,3963,0.12,2.30,0.00,0.000,6,0.177,0.058,3074,2281,1908,0,0,0,0,0,0
$GC,4297,0.68,273.8,73.9,10.4,474,4304,0.00,2.30,0.00,0.000,4,0.000,0.073,3074,3693,1904,0,0,0,0,0,0
$GC,4392,0.71,273.8,63.1,11.4,490,4399,0.00,2.30,0.00,0.000,6,0.000,0.066,3083,2263,1903,0,0,0,0,0,0
$GC,4739,0.77,285.1,26.3,9.5,551,4752,0.00,2.28,7.07,0.765,4,0.000,0.072,3091,870,1866,0,0,0,0,0,0
$GC,4789,0.89,301.8,21.8,9.2,559,4803,0.17,2.28,8.82,0.814,6,0.089,0.060,3166,2286,1799,0,0,0,0,0,0
$FREEZE,8.87,-0.980,-1.815,2,98,0
$FREEZE,8.19,-0.981,-1.814,2,98,0
$FREEZE,7.24,-0.980,-1.813,2,98,0
$FREEZE,6.46,-0.980,-1.813,2,98,0
$FREEZE,5.64,-0.979,-1.812,2,98,0
$FREEZE,4.82,-0.978,-1.811,2,98,0
$FREEZE,4.12,-0.978,-1.811,2,98,0
$FREEZE,3.32,-0.978,-1.810,2,98,0
$FREEZE,2.60,-0.974,-1.810,2,98,0
$STATE,4923,end climb,SURFACE_DEPTH_REACHED
$STATE,4923,begin surface coast
$FREEZE,1.81,-0.971,-1.809,2,98,0
$FREEZE,1.89,-0.943,-1.738,2,98,0
$FREEZE,1.75,-0.924,-1.088,2,98,0
$FINISH,1.8,1.016057
$STATE,4940,end surface coast,CONTROL_FINISHED_OK
$STATE,4941,begin surface
$SM_CCo,4966,112.95,0.064,0,0,750,559.04
$SM_GC,2.66,0.00,0.00,112.95,0.000,0.000,0.064,108,2496,750,-8.61,0.17,559.04
$RAFOS_CLK,318
$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,45.39
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,22.5,99.096
$10V_AH,9.9,51.285
$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,24.850,51.850,371.650,112.950,0.000,81.605,107.545,0.000,13.750,0.000,184.059,1346.483,2248.536,593.996,1338.359,527.666,0.000,1167.299,0.000,961.911,0.000,2.620,0.000
$DEVICE_MAMPS,321.300,94.095,1057.230,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.289,428.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,23423,586
$CAP_FILE_SIZE,71984,0
$CFSIZE,260165632,204972032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,020611,182227,6647.443,-5724.906,0,10000.0,0,-37.6