version: 66.08
glider: 141
mission: 15
dive: 786
start: 6 5 111 5 53 7
data:
$ID,141
$MISSION,15
$DIVE,786
$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,24
$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,1.99
$_SM_ANGLEo,4.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,146,0.00,0.40,-122.30,0.000,6,0.000,0.151,3144,2498,3626,0,0,0,0,0,0
$GC,150,-0.62,-146.0,4.0,-7.4,22,157,1.62,2.40,0.00,0.000,4,0.189,0.077,2675,3905,3627,0,0,0,0,0,0
$GC,189,-0.52,-146.0,8.5,-9.7,28,196,0.00,2.22,0.00,0.000,6,0.000,0.050,2674,2487,3627,0,0,0,0,0,0
$GC,536,-0.38,-146.0,77.7,-17.5,89,544,0.25,2.30,0.00,0.000,4,0.217,0.068,2740,1070,3627,0,0,0,0,0,0
$GC,569,-0.34,-146.0,82.4,-13.7,94,576,0.00,2.30,0.00,0.000,6,0.000,0.065,2740,2486,3627,0,0,0,0,0,0
$GC,911,-0.37,-146.0,117.4,-10.3,140,915,0.00,2.38,0.00,0.000,4,0.000,0.083,2740,3899,3625,0,0,0,0,0,0
$GC,952,-0.45,-146.0,121.4,-9.5,143,956,0.00,2.25,0.00,0.000,6,0.000,0.053,2740,2489,3625,0,0,0,0,0,0
$GC,1278,-0.50,-146.0,152.8,-10.1,173,1283,0.12,2.30,0.00,0.000,4,0.127,0.070,2696,1082,3624,0,0,0,0,0,0
$GC,1369,-0.50,-146.0,164.5,-13.6,181,1373,0.00,2.30,0.00,0.000,6,0.000,0.066,2696,2496,3624,0,0,0,0,0,0
$STATE,1596,end dive,NO_VERTICAL_VELOCITY
$STATE,1596,begin apogee
$GC,1606,-0.12,0.0,172.0,0.0,202,1731,0.38,0.00,119.30,1.028,6,0.139,0.000,2816,2264,3030,0,0,0,0,0,0
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1736,0.62,146.0,172.0,0.0,213,1869,0.77,2.47,122.47,0.975,4,0.138,0.073,3062,874,2433,0,0,0,0,0,0
$GC,1928,0.86,248.7,165.3,5.3,230,2029,0.22,2.38,89.00,0.939,6,0.076,0.059,3149,2284,2015,0,0,0,0,0,0
$GC,2345,0.83,248.7,113.6,13.0,269,2349,0.00,2.30,0.00,0.000,4,0.000,0.073,3149,3689,2005,0,0,0,0,0,0
$GC,2374,0.77,248.7,109.4,14.6,271,2382,0.17,2.28,0.00,0.000,6,0.182,0.058,3115,2276,2005,0,0,0,0,0,0
$GC,2716,0.84,265.6,75.2,9.2,324,2735,0.00,2.40,14.05,0.861,4,0.000,0.075,3124,864,1946,0,0,0,0,0,0
$GC,2788,0.94,287.5,68.5,9.0,336,2819,0.12,2.30,21.33,0.879,6,0.109,0.058,3176,2284,1857,0,0,0,0,0,0
$GC,3159,0.94,287.5,22.5,11.5,401,3165,0.00,2.30,0.00,0.000,4,0.000,0.073,3177,3699,1852,0,0,0,0,0,0
$GC,3223,0.91,287.5,14.3,13.2,412,3231,0.12,2.30,0.00,0.000,6,0.198,0.057,3158,2270,1851,0,0,0,0,0,0
$FREEZE,8.56,-0.764,-1.817,3,149,0
$FREEZE,8.02,-0.763,-1.817,3,149,0
$FREEZE,7.56,-0.767,-1.816,3,149,0
$FREEZE,7.06,-0.772,-1.816,3,149,0
$FREEZE,6.64,-0.767,-1.816,3,149,0
$FREEZE,6.08,-0.774,-1.815,3,149,0
$FREEZE,5.56,-0.756,-1.815,3,149,0
$FREEZE,4.99,-0.755,-1.814,3,149,0
$FREEZE,4.50,-0.754,-1.814,3,149,0
$FREEZE,3.77,-0.755,-1.813,3,149,0
$FREEZE,3.28,-0.760,-1.813,3,149,0
$FREEZE,2.76,-0.761,-1.813,3,149,0
$STATE,3328,end climb,SURFACE_DEPTH_REACHED
$STATE,3328,begin surface coast
$FREEZE,2.21,-0.756,-1.812,3,149,0
$FREEZE,1.98,-0.745,-1.811,3,149,0
$FREEZE,2.02,-0.735,-1.783,3,149,0
$FREEZE,2.04,-0.751,-1.751,3,149,0
$FREEZE,2.01,-0.757,-1.743,3,149,0
$FINISH,2.0,1.025581
$STATE,3356,end surface coast,CONTROL_FINISHED_OK
$STATE,3356,begin surface
$RAFOS_CLK,202
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026964
$HUMID,48.58
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.20
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,22.5,104.512
$10V_AH,9.8,52.899
$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,3.800,37.950,366.150,0.000,0.000,0.000,0.000,0.000,5.000,0.000,0.000,1009.813,1309.384,410.383,712.378,96.597,0.000,860.261,0.000,711.803,0.000,2.614,0.000
$DEVICE_MAMPS,217.260,150.705,1028.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.984,313.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16769,436
$CAP_FILE_SIZE,50411,0
$CFSIZE,260165632,203333632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6