version: 66.08
glider: 141
mission: 15
dive: 737
start: 6 2 111 21 38 51
data:
$ID,141
$MISSION,15
$DIVE,737
$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,25
$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,1.89
$_SM_ANGLEo,7.4
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,145,0.00,0.32,-117.00,0.000,6,0.000,0.181,3088,2488,3628,0,0,0,0,0,0
$GC,148,-0.62,-146.0,4.7,-8.1,22,156,1.65,2.40,0.00,0.000,4,0.240,0.070,2672,1075,3628,0,0,0,0,0,0
$GC,204,-0.56,-146.0,10.2,-12.0,31,210,0.00,2.33,0.00,0.000,6,0.000,0.069,2672,2495,3628,0,0,0,0,0,0
$GC,550,-0.50,-146.0,55.8,-12.7,92,557,0.00,2.38,0.00,0.000,4,0.000,0.083,2672,3909,3628,0,0,0,0,0,0
$GC,582,-0.46,-146.0,59.8,-12.4,97,590,0.15,2.28,0.00,0.000,6,0.194,0.054,2711,2489,3628,0,0,0,0,0,0
$GC,931,-0.52,-146.0,87.9,-7.9,158,937,0.00,2.30,0.00,0.000,4,0.000,0.071,2711,1081,3626,0,0,0,0,0,0
$GC,1023,-0.60,-146.0,95.0,-8.0,174,1031,0.12,2.33,0.00,0.000,6,0.126,0.068,2669,2491,3626,0,0,0,0,0,0
$GC,1354,-0.57,-146.0,130.0,-10.9,209,1358,0.00,2.35,0.00,0.000,4,0.000,0.083,2669,3902,3624,0,0,0,0,0,0
$GC,1375,-0.57,-146.0,132.7,-11.4,210,1382,0.00,2.25,0.00,0.000,6,0.000,0.054,2668,2487,3624,0,0,0,0,0,0
$GC,1701,-0.55,-146.0,168.5,-11.0,241,1705,0.00,2.28,0.00,0.000,4,0.000,0.070,2668,1082,3624,0,0,0,0,0,0
$GC,1757,-0.55,-146.0,174.8,-10.5,246,1761,0.00,2.33,0.00,0.000,6,0.000,0.067,2668,2495,3623,0,0,0,0,0,0
$GC,2083,-0.55,-146.0,208.0,-10.4,276,2087,0.00,2.35,0.00,0.000,4,0.000,0.081,2668,3909,3623,0,0,0,0,0,0
$GC,2152,-0.57,-146.0,215.0,-9.6,282,2156,0.00,2.25,0.00,0.000,6,0.000,0.052,2668,2484,3624,0,0,0,0,0,0
$GC,2479,-0.88,-146.0,240.1,0.0,312,2484,0.25,2.38,0.00,0.000,4,0.107,0.075,2573,3906,3624,0,0,0,0,0,0
$STATE,2565,end dive,NO_VERTICAL_VELOCITY
$STATE,2565,begin apogee
$GC,2575,-0.12,0.0,240.1,0.0,319,2703,0.75,0.00,119.32,1.049,6,0.121,0.000,2818,2263,3030,0,0,0,0,0,0
$STATE,2704,end apogee,CONTROL_FINISHED_OK
$STATE,2704,begin climb
$GC,2706,0.62,146.0,240.1,0.0,331,2837,0.75,0.00,122.62,0.999,6,0.128,0.000,3055,2263,2434,0,0,0,0,0,0
$GC,3155,0.60,160.7,203.3,9.3,373,3178,0.00,2.42,13.25,0.890,4,0.000,0.071,3054,3694,2373,0,0,0,0,0,0
$GC,3272,0.54,160.7,190.3,11.5,383,3276,0.00,2.28,0.00,0.000,6,0.000,0.057,3065,2270,2372,0,0,0,0,0,0
$GC,3604,0.49,160.7,154.1,10.5,414,3609,0.15,2.35,0.00,0.000,4,0.176,0.071,3026,3700,2372,0,0,0,0,0,0
$GC,3624,0.46,160.7,152.3,10.5,415,3629,0.00,2.28,0.00,0.000,6,0.000,0.055,3033,2265,2372,0,0,0,0,0,0
$GC,3951,0.54,201.6,123.7,8.1,445,3995,0.00,2.38,35.50,0.929,4,0.000,0.073,3042,865,2207,0,0,0,0,0,0
$GC,4045,0.67,253.8,116.6,7.6,453,4101,0.10,2.30,46.03,0.916,6,0.118,0.057,3092,2286,1995,0,0,0,0,0,0
$GC,4433,0.67,253.8,70.4,11.2,509,4440,0.00,2.28,0.00,0.000,4,0.000,0.080,3093,3686,1987,0,0,0,0,0,0
$GC,4503,0.64,253.8,60.8,12.9,521,4511,0.12,2.25,0.00,0.000,6,0.187,0.057,3074,2269,1986,0,0,0,0,0,0
$GC,4852,0.78,299.0,30.6,7.9,582,4889,0.12,2.35,26.27,0.902,4,0.100,0.073,3142,873,1809,0,0,0,0,0,0
$GC,4897,0.75,299.0,25.7,12.5,589,4905,0.12,2.28,0.00,0.000,6,0.187,0.057,3112,2276,1807,0,0,0,0,0,0
$FREEZE,8.35,-1.134,-1.811,2,100,2
$FREEZE,7.87,-1.135,-1.811,2,100,2
$FREEZE,7.29,-1.134,-1.810,2,100,2
$FREEZE,6.64,-1.136,-1.810,2,100,2
$FREEZE,6.09,-1.136,-1.809,2,100,2
$FREEZE,5.52,-1.139,-1.809,2,100,2
$FREEZE,5.06,-1.143,-1.808,2,100,2
$FREEZE,4.67,-1.141,-1.808,2,100,2
$FREEZE,4.01,-1.144,-1.807,2,100,2
$FREEZE,3.47,-1.149,-1.807,2,100,2
$FREEZE,3.00,-1.166,-1.806,2,100,2
$FREEZE,2.54,-1.184,-1.806,2,100,2
$STATE,5108,end climb,SURFACE_DEPTH_REACHED
$STATE,5108,begin surface coast
$FREEZE,2.12,-1.217,-1.805,2,100,2
$FREEZE,2.15,-1.239,-1.807,2,100,2
$FREEZE,2.07,-1.188,-1.804,2,100,2
$FREEZE,2.08,-1.244,-1.807,2,100,2
$FREEZE,2.11,-1.239,-1.807,2,100,2
$FINISH,2.1,1.026504
$STATE,5138,end surface coast,CONTROL_FINISHED_OK
$STATE,5138,begin surface
$SM_CCo,5278,113.82,0.063,0,0,750,559.04
$SM_GC,2.25,0.00,0.00,113.82,0.000,0.000,0.063,110,2494,750,-8.61,0.11,559.04
$RAFOS_CLK,293
$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,46.57
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.5,99.301
$10V_AH,9.8,51.378
$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,12.950,56.650,363.000,113.825,0.000,0.000,0.000,0.000,9.750,0.000,0.000,1458.463,2279.509,559.263,1017.555,141.031,0.000,1154.433,0.000,1013.350,0.000,2.812,0.000
$DEVICE_MAMPS,240.210,180.540,1048.815,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.473,461.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,23394,632
$CAP_FILE_SIZE,70729,0
$CFSIZE,260165632,204890112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,020611,182227,6647.443,-5724.906,181,99.0,181,-37.6