version: 66.08
glider: 141
mission: 15
dive: 785
start: 6 5 111 4 53 27
data:
$ID,141
$MISSION,15
$DIVE,785
$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,-56380.594
$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,38
$R_STBD_OVSHOOT,17
$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,2.09
$_SM_ANGLEo,2.2
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,75,0.00,1.95,-51.85,0.000,6,0.000,0.069,2866,2500,3626,0,0,0,0,0,0
$GC,78,-0.62,-146.0,2.2,-0.1,10,86,0.55,2.33,0.00,0.000,4,0.096,0.071,2668,3908,3626,0,0,0,0,0,0
$GC,313,-0.52,-146.0,41.5,-16.3,51,320,0.00,2.28,0.00,0.000,6,0.000,0.061,2668,2486,3627,0,0,0,0,0,0
$GC,665,-0.38,-146.0,102.3,-17.8,112,667,0.25,0.00,0.00,0.000,6,0.210,0.000,2731,2486,3627,0,0,0,0,0,0
$GC,985,-0.38,-146.0,138.8,-11.0,142,989,0.00,2.28,0.00,0.000,4,0.000,0.070,2731,1074,3625,0,0,0,0,0,0
$GC,1027,-0.43,-146.0,143.5,-10.6,145,1032,0.00,2.33,0.00,0.000,6,0.000,0.065,2731,2494,3625,0,0,0,0,0,0
$GC,1355,-0.74,-146.0,172.6,-0.1,175,1360,0.28,2.35,0.00,0.000,4,0.099,0.079,2628,3908,3623,0,0,0,0,0,0
$STATE,1464,end dive,NO_VERTICAL_VELOCITY
$STATE,1464,begin apogee
$GC,1473,-0.12,0.0,172.4,0.0,184,1599,0.57,0.00,119.32,1.026,6,0.124,0.000,2818,2264,3030,0,0,0,0,0,0
$STATE,1600,end apogee,CONTROL_FINISHED_OK
$STATE,1600,begin climb
$GC,1603,0.62,146.0,172.6,0.0,195,1736,0.75,2.47,122.50,0.975,4,0.138,0.072,3055,869,2432,0,0,0,0,0,0
$GC,1841,0.83,232.7,163.3,6.0,216,1921,0.22,2.35,73.95,0.939,6,0.077,0.060,3146,2276,2081,0,0,0,0,0,0
$GC,2243,0.78,232.7,114.5,12.2,253,2248,0.12,2.33,0.00,0.000,4,0.189,0.073,3116,3694,2070,0,0,0,0,0,0
$GC,2289,0.78,232.7,108.8,11.8,257,2293,0.00,2.30,0.00,0.000,6,0.000,0.058,3124,2269,2068,0,0,0,0,0,0
$GC,2631,0.78,232.7,70.1,11.2,310,2638,0.00,2.28,0.00,0.000,4,0.000,0.073,3134,865,2068,0,0,0,0,0,0
$GC,2702,0.78,232.7,62.0,10.9,322,2709,0.00,2.28,0.00,0.000,6,0.000,0.057,3134,2280,2067,0,0,0,0,0,0
$GC,3049,0.84,264.1,29.3,8.6,383,3073,0.00,2.33,17.67,0.900,4,0.000,0.072,3134,3691,1951,0,0,0,0,0,0
$GC,3138,0.84,264.1,20.2,10.8,398,3148,0.00,2.28,0.00,0.000,6,0.000,0.057,3144,2266,1948,0,0,0,0,0,0
$FREEZE,8.80,-0.837,-1.817,3,148,0
$FREEZE,8.42,-0.836,-1.816,3,148,0
$FREEZE,7.95,-0.835,-1.816,3,148,0
$FREEZE,7.43,-0.839,-1.816,3,148,0
$FREEZE,6.84,-0.837,-1.815,3,148,0
$FREEZE,6.47,-0.837,-1.815,3,148,0
$FREEZE,5.89,-0.835,-1.815,3,148,0
$FREEZE,5.44,-0.836,-1.814,3,148,0
$FREEZE,4.88,-0.835,-1.814,3,148,0
$FREEZE,4.44,-0.836,-1.814,3,148,0
$FREEZE,3.95,-0.835,-1.813,3,148,0
$FREEZE,3.46,-0.839,-1.813,3,148,0
$FREEZE,3.01,-0.839,-1.813,3,148,0
$FREEZE,2.52,-0.840,-1.812,3,148,0
$STATE,3316,end climb,SURFACE_DEPTH_REACHED
$STATE,3316,begin surface coast
$FREEZE,2.02,-0.843,-1.812,3,148,0
$FREEZE,2.02,-0.833,-1.085,3,148,0
$FREEZE,1.99,-0.841,-1.585,3,148,0
$FREEZE,1.97,-0.840,-1.287,3,148,0
$FREEZE,2.03,-0.832,-0.928,3,148,0
$FINISH,2.0,1.013679
$STATE,3347,end surface coast,FINISH_DEPTH_REACHED
$STATE,3347,begin surface
$RAFOS_CLK,194
$RAFOS,6,1307249378,4.833333,4.827222,68,64,58,56,54,54,206,189,165,147,120,220
$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,48.42
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.00
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.5,104.411
$10V_AH,10.0,52.871
$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,2.750,34.750,333.450,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,1050.872,1340.516,325.474,719.045,93.818,0.000,758.841,0.000,719.239,0.000,2.806,0.000
$DEVICE_MAMPS,209.610,78.795,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.935,313.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16832,435
$CAP_FILE_SIZE,47523,0
$CFSIZE,260165632,203370496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6