version: 66.08
glider: 141
mission: 15
dive: 741
start: 6 3 111 3 40 21
data:
$ID,141
$MISSION,15
$DIVE,741
$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,24
$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
$GPS1,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,3.6
$GPS2,030611,004656,6639.497,-5814.677,0,2087.0,0,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,16,-0.62,-146.0,0.0,0.0,0,157,0.00,0.35,-131.73,0.000,6,0.000,0.168,3135,2488,3625,0,0,0,0,0,0
$GC,161,-0.62,-146.0,2.1,-0.0,24,168,1.65,2.38,0.00,0.000,4,0.197,0.070,2675,1084,3626,0,0,0,0,0,0
$GC,184,-0.92,-146.0,3.7,-6.4,27,192,0.32,2.30,0.00,0.000,6,0.096,0.065,2566,2488,3626,0,0,0,0,0,0
$GC,532,-0.64,-146.0,85.8,-24.5,88,539,0.32,2.35,0.00,0.000,4,0.244,0.080,2645,3900,3625,0,0,0,0,0,0
$GC,626,-0.59,-146.0,101.2,-13.9,104,631,0.00,2.28,0.00,0.000,6,0.000,0.054,2645,2481,3624,0,0,0,0,0,0
$GC,952,-0.51,-146.0,146.8,-13.2,134,957,0.17,2.30,0.00,0.000,4,0.205,0.070,2690,1076,3623,0,0,0,0,0,0
$GC,974,-0.48,-146.0,149.7,-11.9,135,981,0.00,2.30,0.00,0.000,6,0.000,0.067,2690,2488,3622,0,0,0,0,0,0
$GC,1301,-0.52,-146.0,178.3,-8.2,166,1304,0.00,2.38,0.00,0.000,4,0.000,0.081,2690,3905,3621,0,0,0,0,0,0
$GC,1341,-0.59,-146.0,181.8,-8.6,169,1348,0.00,2.25,0.00,0.000,6,0.000,0.054,2690,2483,3621,0,0,0,0,0,0
$GC,1668,-0.64,-146.0,209.3,-9.6,200,1672,0.00,2.25,0.00,0.000,4,0.000,0.068,2690,1080,3621,0,0,0,0,0,0
$GC,1690,-0.69,-146.0,211.4,-8.5,201,1697,0.15,2.30,0.00,0.000,6,0.109,0.066,2636,2496,3621,0,0,0,0,0,0
$STATE,1981,end dive,NO_VERTICAL_VELOCITY
$STATE,1981,begin apogee
$GC,1988,-0.12,0.0,225.4,0.0,229,2113,0.55,0.00,118.75,1.040,6,0.127,0.000,2815,2252,3030,0,0,0,0,0,0
$STATE,2113,end apogee,CONTROL_FINISHED_OK
$STATE,2113,begin climb
$GC,2117,0.62,146.0,225.3,0.0,240,2252,0.77,2.60,121.82,0.988,4,0.140,0.070,3052,3687,2434,0,0,0,0,0,0
$GC,2373,0.56,146.0,210.4,10.2,262,2380,0.00,2.30,0.00,0.000,6,0.000,0.067,3063,2284,2430,0,0,0,0,0,0
$GC,2699,0.52,146.0,175.0,10.4,293,2701,0.12,0.00,0.00,0.000,6,0.180,0.000,3031,2284,2429,0,0,0,0,0,0
$GC,3017,0.61,187.4,149.9,8.1,323,3054,0.00,0.00,34.88,0.931,6,0.000,0.000,3031,2284,2266,0,0,0,0,0,0
$GC,3371,0.70,208.9,118.5,9.0,356,3394,0.17,0.00,19.52,0.890,6,0.082,0.000,3112,2284,2178,0,0,0,0,0,0
$GC,3722,0.63,208.9,67.9,14.2,407,3730,0.17,2.33,0.00,0.000,4,0.181,0.070,3065,3694,2175,0,0,0,0,0,0
$GC,3799,0.63,208.9,58.0,11.8,420,3806,0.00,2.28,0.00,0.000,6,0.000,0.055,3073,2273,2175,0,0,0,0,0,0
$GC,4147,0.71,223.8,23.2,9.3,481,4160,0.00,2.38,7.35,0.773,4,0.000,0.071,3084,858,2117,0,0,0,0,0,0
$GC,4191,0.80,259.2,19.4,8.4,488,4216,0.10,2.33,18.30,0.848,6,0.119,0.060,3130,2288,1972,0,0,0,0,0,0
$FREEZE,8.60,-1.060,-1.814,3,104,0
$FREEZE,8.04,-1.056,-1.813,3,104,0
$FREEZE,7.34,-1.066,-1.813,3,104,0
$FREEZE,6.77,-1.079,-1.812,3,104,0
$FREEZE,6.39,-1.068,-1.812,3,104,0
$FREEZE,5.87,-1.071,-1.812,3,104,0
$FREEZE,5.24,-1.075,-1.811,3,104,0
$FREEZE,4.78,-1.089,-1.811,3,104,0
$FREEZE,4.20,-1.093,-1.810,3,104,0
$FREEZE,3.83,-1.100,-1.810,3,104,0
$FREEZE,3.19,-1.102,-1.809,3,104,0
$FREEZE,2.87,-1.132,-1.809,3,104,0
$STATE,4346,end climb,SURFACE_DEPTH_REACHED
$STATE,4346,begin surface coast
$FREEZE,2.85,-1.135,-1.808,3,104,0
$FREEZE,2.86,-1.152,-1.809,3,104,0
$FREEZE,2.88,-1.163,-1.809,3,104,0
$FREEZE,2.85,-1.164,-1.808,3,104,0
$FREEZE,2.82,-1.151,-1.807,3,104,0
$FREEZE,2.85,-1.129,-1.806,3,104,0
$FINISH,2.8,1.026479
$STATE,4383,end surface coast,CONTROL_FINISHED_OK
$STATE,4383,begin surface
$RAFOS_CLK,249
$RAFOS,5,1307076065,4.700000,4.684722,133,60,58,57,54,51,697,185,219,163,151,115
$RAFOS,4,1307075586,4.566667,4.551667,61,57,55,54,52,50,190,203,155,134,121,174
$RAFOS,3,1307075106,4.433333,4.418334,62,60,60,56,54,50,191,116,218,178,203,153
$RAFOS,2,1307074625,4.300000,4.284722,58,53,53,52,52,51,153,214,224,143,188,175
$RAFOS,1,1307074147,4.166667,4.151945,69,57,55,54,54,51,219,146,134,198,158,168
$RAFOS,0,1307073665,4.033333,4.018055,63,62,59,57,57,53,153,132,167,200,209,187
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.028462
$HUMID,47.00
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,17.30
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,22.6,99.687
$10V_AH,9.8,51.535
$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,4.525,38.000,320.625,0.000,0.000,0.000,0.000,0.000,11.500,0.000,0.000,1229.268,2010.981,388.835,827.259,111.687,0.000,889.767,0.000,825.829,2520.000,2.618,0.000
$DEVICE_MAMPS,244.035,168.300,1040.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.543,380.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20183,522
$CAP_FILE_SIZE,59024,0
$CFSIZE,260165632,204746752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6