version: 66.08
glider: 141
mission: 15
dive: 739
start: 6 3 111 0 52 47
data:
$ID,141
$MISSION,15
$DIVE,739
$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,22
$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,6.73
$_SM_ANGLEo,-0.1
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.88,0.000,2,0.000,0.000,2887,3691,3021,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.0,-0.0,1,53,0.65,4.28,-17.15,0.000,4,0.109,0.066,2667,1079,3628,0,0,0,0,0,0
$GC,164,-0.58,-146.0,25.9,-14.7,24,171,0.00,2.33,0.00,0.000,6,0.000,0.076,2667,2485,3628,0,0,0,0,0,0
$GC,511,-0.51,-146.0,76.0,-13.4,85,518,0.12,0.00,0.00,0.000,6,0.221,0.000,2694,2486,3628,0,0,0,0,0,0
$GC,851,-0.54,-146.0,112.3,-10.1,135,855,0.00,2.30,0.00,0.000,4,0.000,0.073,2695,1080,3626,0,0,0,0,0,0
$GC,882,-0.57,-146.0,115.3,-10.5,137,886,0.00,2.33,0.00,0.000,6,0.000,0.068,2695,2500,3626,0,0,0,0,0,0
$GC,1208,-0.61,-146.0,147.2,-9.6,167,1212,0.00,2.35,0.00,0.000,4,0.000,0.083,2695,3909,3625,0,0,0,0,0,0
$GC,1253,-0.69,-146.0,151.7,-9.7,170,1261,0.17,2.25,0.00,0.000,6,0.108,0.054,2635,2490,3625,0,0,0,0,0,0
$GC,1579,-0.60,-146.0,197.0,-14.3,201,1584,0.12,2.33,0.00,0.000,4,0.214,0.072,2663,1081,3624,0,0,0,0,0,0
$GC,1604,-0.54,-146.0,200.3,-13.7,203,1608,0.00,2.30,0.00,0.000,6,0.000,0.068,2663,2490,3624,0,0,0,0,0,0
$GC,1932,-0.57,-146.0,234.6,-9.1,233,1936,0.00,2.42,0.00,0.000,4,0.000,0.089,2663,3909,3624,0,0,0,0,0,0
$GC,1951,-0.80,-146.0,234.5,-0.7,234,1956,0.17,2.22,0.00,0.000,6,0.099,0.045,2600,2482,3624,0,0,0,0,0,0
$STATE,2069,end dive,NO_VERTICAL_VELOCITY
$STATE,2070,begin apogee
$GC,2076,-0.12,0.0,234.4,0.0,245,2203,0.65,0.00,119.30,1.048,6,0.128,0.000,2813,2261,3030,0,0,0,0,0,0
$STATE,2203,end apogee,CONTROL_FINISHED_OK
$STATE,2204,begin climb
$GC,2206,0.62,146.0,234.5,0.0,256,2338,0.77,2.58,122.55,0.996,4,0.141,0.075,3051,3687,2433,0,0,0,0,0,0
$GC,2471,0.52,164.8,229.7,9.1,279,2493,0.00,2.33,16.60,0.915,6,0.000,0.060,3061,2284,2358,0,0,0,0,0,0
$GC,2815,0.48,164.8,189.5,12.2,311,2819,0.15,2.35,0.00,0.000,4,0.180,0.072,3022,3700,2355,0,0,0,0,0,0
$GC,2853,0.48,164.8,185.1,10.7,314,2860,0.00,2.30,0.00,0.000,6,0.000,0.057,3029,2272,2355,0,0,0,0,0,0
$GC,3180,0.54,180.9,154.5,9.3,345,3199,0.00,0.00,14.68,0.888,6,0.000,0.000,3030,2272,2292,0,0,0,0,0,0
$GC,3520,0.62,211.6,124.9,8.6,377,3550,0.10,0.00,27.55,0.913,6,0.117,0.000,3079,2272,2167,0,0,0,0,0,0
$GC,3877,0.62,211.6,81.1,12.7,423,3884,0.00,2.28,0.00,0.000,4,0.000,0.073,3090,867,2163,0,0,0,0,0,0
$GC,3902,0.62,211.6,77.7,13.0,427,3909,0.00,2.28,0.00,0.000,6,0.000,0.058,3089,2279,2162,0,0,0,0,0,0
$GC,4249,0.62,211.6,35.9,10.6,488,4256,0.00,2.28,0.00,0.000,4,0.000,0.073,3089,3687,2162,0,0,0,0,0,0
$GC,4280,0.62,211.6,32.6,11.6,493,4287,0.12,2.25,0.00,0.000,6,0.189,0.057,3069,2269,2162,0,0,0,0,0,0
$FREEZE,9.00,-1.278,-1.814,2,102,0
$FREEZE,8.66,-1.278,-1.813,2,102,0
$FREEZE,8.43,-1.283,-1.812,2,102,0
$FREEZE,8.12,-1.284,-1.812,2,102,0
$FREEZE,7.74,-1.276,-1.812,2,102,0
$FREEZE,7.39,-1.276,-1.812,2,102,0
$FREEZE,7.13,-1.286,-1.812,2,102,0
$FREEZE,6.69,-1.281,-1.811,2,102,0
$FREEZE,6.17,-1.283,-1.811,2,102,0
$FREEZE,5.52,-1.287,-1.810,2,102,0
$FREEZE,4.51,-1.259,-1.810,2,102,0
$FREEZE,3.76,-1.287,-1.809,2,102,0
$FREEZE,2.87,-1.270,-1.808,2,102,0
$GC,4627,0.78,301.5,6.7,5.8,554,4667,0.12,0.00,37.28,0.825,2,0.103,0.000,3126,2269,1857,0,0,0,0,0,0
$STATE,4668,end climb,SURFACE_DEPTH_REACHED
$STATE,4668,begin surface coast
$FREEZE,1.85,-1.308,-1.808,2,102,0
$FREEZE,1.88,-1.281,-0.948,2,102,0
$FINISH,1.9,1.013969
$STATE,4682,end surface coast,FINISH_DEPTH_REACHED
$STATE,4682,begin surface
$SM_CCo,4780,118.68,0.066,0,0,750,559.04
$SM_GC,3.53,0.00,0.00,118.68,0.000,0.000,0.066,114,2494,750,-8.60,0.11,559.04
$RAFOS_CLK,266
$RAFOS,6,1307062142,0.833333,0.817222,106,66,61,61,57,54,799,214,232,198,117,184
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$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,33
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,22.7,99.503
$10V_AH,9.8,51.466
$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,11.850,44.425,337.950,118.675,0.000,0.000,0.000,0.000,8.500,0.000,0.000,1368.142,2128.572,454.358,890.826,128.012,0.000,963.894,0.000,892.948,0.000,2.616,0.000
$DEVICE_MAMPS,221.085,88.740,1048.050,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.539,415.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20087,561
$CAP_FILE_SIZE,62993,0
$CFSIZE,260165632,204820480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.0
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6