version: 66.08
glider: 141
mission: 15
dive: 753
start: 6 3 111 19 28 9
data:
$ID,141
$MISSION,15
$DIVE,753
$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,-55271.02
$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,27
$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,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,3.3
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,156,0.00,0.35,-133.93,0.000,6,0.000,0.168,3162,2495,3626,0,0,0,0,0,0
$GC,160,-0.62,-146.0,2.3,-0.0,24,167,1.62,2.38,0.00,0.000,4,0.174,0.066,2674,1076,3626,0,0,0,0,0,0
$GC,209,-0.54,-146.0,7.4,-10.7,32,217,0.00,2.28,0.00,0.000,6,0.000,0.066,2674,2485,3626,0,0,0,0,0,0
$GC,557,-0.47,-146.0,59.6,-13.8,93,564,0.12,2.33,0.00,0.000,4,0.226,0.070,2704,1081,3625,0,0,0,0,0,0
$GC,589,-0.47,-146.0,64.1,-13.2,98,596,0.00,2.33,0.00,0.000,6,0.000,0.066,2704,2501,3625,0,0,0,0,0,0
$GC,936,-0.49,-146.0,99.2,-9.8,159,943,0.00,2.35,0.00,0.000,4,0.000,0.082,2704,3903,3623,0,0,0,0,0,0
$GC,995,-0.56,-146.0,104.9,-9.5,165,1000,0.00,2.25,0.00,0.000,6,0.000,0.053,2704,2482,3624,0,0,0,0,0,0
$GC,1327,-0.60,-146.0,135.0,-8.7,196,1329,0.12,0.00,0.00,0.000,6,0.126,0.000,2661,2482,3622,0,0,0,0,0,0
$GC,1645,-0.54,-146.0,175.6,-12.9,226,1649,0.00,2.28,0.00,0.000,4,0.000,0.069,2661,1079,3621,0,0,0,0,0,0
$GC,1712,-0.51,-146.0,184.8,-13.9,231,1719,0.15,2.30,0.00,0.000,6,0.201,0.066,2695,2493,3622,0,0,0,0,0,0
$STATE,2024,end dive,NO_VERTICAL_VELOCITY
$STATE,2024,begin apogee
$GC,2031,-0.12,0.0,198.9,0.0,261,2155,0.38,0.00,118.25,1.030,6,0.129,0.000,2820,2257,3030,0,0,0,0,0,0
$STATE,2156,end apogee,CONTROL_FINISHED_OK
$STATE,2156,begin climb
$GC,2159,0.62,146.0,198.9,0.0,272,2292,0.73,2.45,121.78,0.977,4,0.118,0.070,3067,871,2432,0,0,0,0,0,0
$GC,2444,0.63,156.7,185.5,9.5,297,2463,0.00,2.28,9.60,0.829,6,0.000,0.057,3067,2277,2390,0,0,0,0,0,0
$GC,2783,0.65,169.4,153.6,9.4,329,2801,0.00,0.00,12.10,0.864,6,0.000,0.000,3067,2277,2338,0,0,0,0,0,0
$GC,3120,0.66,178.8,120.7,9.6,361,3135,0.00,2.35,9.15,0.825,4,0.000,0.071,3066,3680,2301,0,0,0,0,0,0
$GC,3192,0.63,178.8,112.7,11.8,367,3198,0.00,2.22,0.00,0.000,6,0.000,0.055,3078,2280,2300,0,0,0,0,0,0
$GC,3528,0.65,200.0,81.7,9.0,416,3552,0.00,0.00,19.65,0.888,6,0.000,0.000,3077,2280,2214,0,0,0,0,0,0
$GC,3893,0.69,200.0,47.3,10.2,480,3901,0.00,2.33,0.00,0.000,4,0.000,0.075,3086,863,2211,0,0,0,0,0,0
$GC,3927,0.75,203.7,43.9,9.8,485,3940,0.00,2.28,4.22,0.601,6,0.000,0.056,3086,2281,2199,0,0,0,0,0,0
$GC,4282,0.83,248.7,13.1,7.9,547,4312,0.12,0.00,22.85,0.845,6,0.103,0.000,3141,2281,2014,0,0,0,0,0,0
$FREEZE,8.99,-0.929,-1.817,3,116,0
$FREEZE,8.39,-0.929,-1.817,3,116,0
$FREEZE,7.79,-0.929,-1.816,3,116,0
$FREEZE,7.07,-0.928,-1.815,3,116,0
$FREEZE,6.45,-0.928,-1.815,3,116,0
$FREEZE,5.90,-0.927,-1.815,3,116,0
$FREEZE,5.40,-0.928,-1.814,3,116,0
$FREEZE,4.92,-0.921,-1.814,3,116,0
$FREEZE,4.30,-0.924,-1.813,3,116,0
$FREEZE,3.64,-0.923,-1.813,3,116,0
$FREEZE,3.36,-0.914,-1.812,3,116,0
$FREEZE,2.98,-0.909,-1.812,3,116,0
$STATE,4377,end climb,SURFACE_DEPTH_REACHED
$STATE,4377,begin surface coast
$FREEZE,2.63,-0.908,-1.812,3,116,0
$FREEZE,2.09,-0.915,-1.811,3,116,0
$FREEZE,1.96,-0.795,-1.054,3,116,0
$FREEZE,2.01,-0.855,-0.988,3,116,0
$FINISH,2.0,1.014582
$STATE,4398,end surface coast,FINISH_DEPTH_REACHED
$STATE,4399,begin surface
$RAFOS_CLK,248
$RAFOS,4,1307133187,20.566668,20.551945,64,63,58,55,54,53,202,179,146,159,120,193
$RAFOS,3,1307132703,20.433332,20.417500,60,59,53,50,49,48,191,179,215,121,1412,134
$RAFOS,2,1307132225,20.299999,20.284721,62,60,59,55,49,49,219,184,196,150,210,100
$RAFOS,1,1307131743,20.166666,20.150833,73,65,58,58,53,52,168,135,195,216,121,1729
$RAFOS,0,1307131273,20.033333,20.020277,62,56,55,51,48,47,215,192,113,123,171,143
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.029211
$HUMID,47.75
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,17.30
$XPDR_PINGS,43
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,22.8,100.829
$10V_AH,9.8,51.962
$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,3.250,33.100,317.600,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,1303.069,1866.811,390.682,907.464,113.403,0.000,922.378,0.000,903.211,2160.000,2.812,0.000
$DEVICE_MAMPS,225.675,168.300,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.050,413.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20141,568
$CAP_FILE_SIZE,58882,0
$CFSIZE,260165632,204324864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6