version: 66.08
glider: 141
mission: 15
dive: 763
start: 6 4 111 6 38 36
data:
$ID,141
$MISSION,15
$DIVE,763
$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,-55640.59
$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,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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,3.2
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,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,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,163,0.00,0.38,-137.48,0.000,6,0.000,0.157,3146,2493,3627,0,0,0,0,0,0
$GC,167,-0.62,-146.0,3.8,-6.7,25,174,1.65,2.40,0.00,0.000,4,0.195,0.076,2672,3903,3627,0,0,0,0,0,0
$GC,303,-0.54,-146.0,24.4,-16.6,48,310,0.00,2.25,0.00,0.000,6,0.000,0.051,2671,2485,3627,0,0,0,0,0,0
$GC,650,-0.39,-146.0,88.5,-18.7,109,656,0.22,0.00,0.00,0.000,6,0.219,0.000,2727,2485,3627,0,0,0,0,0,0
$GC,988,-0.39,-146.0,127.7,-11.7,148,992,0.00,2.30,0.00,0.000,4,0.000,0.070,2727,1073,3625,0,0,0,0,0,0
$GC,1039,-0.44,-146.0,133.9,-11.5,152,1046,0.00,2.33,0.00,0.000,6,0.000,0.065,2727,2491,3626,0,0,0,0,0,0
$GC,1366,-0.47,-146.0,170.6,-11.0,183,1370,0.00,2.35,0.00,0.000,4,0.000,0.081,2727,3899,3624,0,0,0,0,0,0
$GC,1393,-0.52,-146.0,173.9,-10.8,185,1400,0.00,2.25,0.00,0.000,6,0.000,0.052,2726,2482,3624,0,0,0,0,0,0
$GC,1721,-0.81,-146.0,195.1,-0.1,216,1728,0.38,0.00,0.00,0.000,6,0.098,0.000,2598,2482,3624,0,0,0,0,0,0
$STATE,1769,end dive,NO_VERTICAL_VELOCITY
$STATE,1769,begin apogee
$GC,1776,-0.12,0.0,195.3,0.0,221,1902,0.68,0.00,119.28,1.037,6,0.126,0.000,2818,2263,3030,0,0,0,0,0,0
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1906,0.62,146.0,195.2,0.0,232,2038,0.75,2.60,121.75,0.979,4,0.136,0.071,3052,3688,2434,0,0,0,0,0,0
$GC,2152,0.72,205.3,183.0,7.3,254,2214,0.10,2.30,51.17,0.937,6,0.112,0.056,3101,2282,2191,0,0,0,0,0,0
$GC,2532,0.75,214.5,148.4,9.6,290,2545,0.00,2.40,8.15,0.800,4,0.000,0.073,3111,862,2154,0,0,0,0,0,0
$GC,2605,0.79,226.0,141.7,9.5,296,2621,0.00,2.28,11.55,0.855,6,0.000,0.058,3111,2285,2108,0,0,0,0,0,0
$GC,2944,0.82,233.5,107.4,9.7,327,2957,0.00,2.35,7.68,0.786,4,0.000,0.072,3111,3686,2078,0,0,0,0,0,0
$GC,2970,0.83,242.3,104.6,9.6,329,2985,0.00,2.28,9.75,0.825,6,0.000,0.056,3122,2267,2041,0,0,0,0,0,0
$GC,3324,0.86,242.3,69.8,10.6,387,3331,0.00,2.28,0.00,0.000,4,0.000,0.073,3130,864,2039,0,0,0,0,0,0
$GC,3372,0.91,242.3,64.5,10.7,395,3379,0.00,2.25,0.00,0.000,6,0.000,0.057,3131,2281,2037,0,0,0,0,0,0
$GC,3718,0.97,271.4,28.8,8.7,456,3744,0.12,2.30,17.92,0.896,4,0.106,0.071,3182,3685,1921,0,0,0,0,0,0
$GC,3770,0.89,271.4,22.8,13.1,464,3777,0.17,2.30,0.00,0.000,6,0.195,0.060,3149,2266,1919,0,0,0,0,0,0
$FREEZE,8.84,-0.991,-1.820,3,126,0
$FREEZE,8.33,-0.993,-1.819,3,126,0
$FREEZE,7.70,-0.995,-1.819,3,126,0
$FREEZE,7.27,-0.995,-1.818,3,126,0
$FREEZE,6.82,-0.993,-1.818,3,126,0
$FREEZE,6.36,-0.997,-1.818,3,126,0
$FREEZE,5.91,-0.998,-1.817,3,126,0
$FREEZE,5.35,-0.997,-1.817,3,126,0
$FREEZE,4.82,-1.001,-1.816,3,126,0
$FREEZE,4.37,-0.998,-1.816,3,126,0
$FREEZE,4.01,-0.997,-1.815,3,126,0
$FREEZE,3.51,-0.997,-1.815,3,126,0
$FREEZE,3.06,-0.999,-1.815,3,126,0
$FREEZE,2.64,-1.000,-1.814,3,126,0
$STATE,3961,end climb,SURFACE_DEPTH_REACHED
$STATE,3961,begin surface coast
$FREEZE,2.20,-0.999,-1.814,3,126,0
$FREEZE,2.06,-1.001,-1.039,3,126,0
$FINISH,2.1,1.015326
$STATE,3977,end surface coast,FINISH_DEPTH_REACHED
$STATE,3977,begin surface
$RAFOS_CLK,223
$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,48.89
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.10
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.6,101.895
$10V_AH,9.8,52.265
$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,4.075,37.900,347.250,0.000,0.000,0.000,0.000,0.000,6.250,0.000,0.000,1166.440,1661.896,416.009,810.098,105.643,0.000,910.597,0.000,810.331,0.000,2.616,0.000
$DEVICE_MAMPS,218.790,156.825,1036.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.358,360.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20157,501
$CAP_FILE_SIZE,55762,0
$CFSIZE,260165632,204017664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6