version: 66.08
glider: 141
mission: 15
dive: 769
start: 6 4 111 13 8 6
data:
$ID,141
$MISSION,15
$DIVE,769
$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,-56011.023
$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,22
$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,1.92
$_SM_ANGLEo,4.5
$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,16,-0.62,-146.0,0.0,0.0,0,157,0.00,2.03,-131.43,0.000,6,0.000,0.077,3174,2484,3627,0,0,0,0,0,0
$GC,160,-0.62,-146.0,5.2,-9.8,24,168,1.62,2.42,0.00,0.000,4,0.159,0.073,2675,3903,3627,0,0,0,0,0,0
$GC,205,-0.57,-146.0,10.0,-8.2,31,212,0.00,2.25,0.00,0.000,6,0.000,0.053,2675,2480,3627,0,0,0,0,0,0
$GC,552,-0.46,-146.0,71.4,-16.8,92,559,0.15,2.30,0.00,0.000,4,0.219,0.071,2710,1072,3626,0,0,0,0,0,0
$GC,585,-0.40,-146.0,76.6,-15.6,97,592,0.00,2.30,0.00,0.000,6,0.000,0.067,2709,2486,3626,0,0,0,0,0,0
$GC,923,-0.40,-146.0,116.2,-11.6,145,927,0.00,2.38,0.00,0.000,4,0.000,0.083,2709,3910,3625,0,0,0,0,0,0
$GC,953,-0.40,-146.0,119.6,-11.6,147,957,0.00,2.25,0.00,0.000,6,0.000,0.054,2709,2489,3625,0,0,0,0,0,0
$GC,1278,-0.40,-146.0,157.5,-10.9,177,1282,0.00,2.28,0.00,0.000,4,0.000,0.070,2709,1081,3624,0,0,0,0,0,0
$GC,1335,-0.44,-146.0,163.9,-10.8,182,1340,0.00,2.33,0.00,0.000,6,0.000,0.067,2709,2491,3624,0,0,0,0,0,0
$GC,1662,-0.69,-146.0,186.2,0.3,212,1667,0.20,2.38,0.00,0.000,4,0.103,0.083,2638,3906,3624,0,0,0,0,0,0
$STATE,1703,end dive,NO_VERTICAL_VELOCITY
$STATE,1704,begin apogee
$GC,1713,-0.12,0.0,186.2,0.0,215,1841,0.55,0.00,119.20,1.035,6,0.135,0.000,2813,2265,3030,0,0,0,0,0,0
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1844,0.62,146.0,186.3,0.0,227,1977,0.80,2.62,122.30,0.983,4,0.153,0.073,3051,3690,2433,0,0,0,0,0,0
$GC,2015,0.72,283.4,185.0,3.7,242,2147,0.10,2.38,120.90,0.951,6,0.106,0.055,3105,2280,1874,0,0,0,0,0,0
$GC,2463,0.75,283.4,133.9,11.5,284,2468,0.00,2.33,0.00,0.000,4,0.000,0.072,3105,3695,1864,0,0,0,0,0,0
$GC,2485,0.75,283.4,131.2,11.1,285,2492,0.00,2.30,0.00,0.000,6,0.000,0.058,3115,2276,1863,0,0,0,0,0,0
$GC,2815,0.75,283.4,92.9,10.8,321,2823,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,861,1863,0,0,0,0,0,0
$GC,2853,0.79,283.4,88.7,11.0,327,2860,0.00,2.30,0.00,0.000,6,0.000,0.058,3124,2286,1861,0,0,0,0,0,0
$GC,3201,0.82,283.4,47.3,10.6,388,3207,0.00,2.30,0.00,0.000,4,0.000,0.083,3125,3697,1861,0,0,0,0,0,0
$GC,3237,0.82,283.4,43.4,10.9,394,3244,0.00,2.30,0.00,0.000,6,0.000,0.057,3134,2264,1860,0,0,0,0,0,0
$FREEZE,8.87,-1.198,-1.820,3,132,0
$FREEZE,8.27,-1.210,-1.820,3,132,0
$FREEZE,7.70,-1.215,-1.819,3,132,0
$FREEZE,7.02,-1.229,-1.819,3,132,0
$FREEZE,6.57,-1.231,-1.819,3,132,0
$FREEZE,6.02,-1.227,-1.818,3,132,0
$FREEZE,5.53,-1.228,-1.818,3,132,0
$FREEZE,5.03,-1.229,-1.817,3,132,0
$FREEZE,4.35,-1.232,-1.817,3,132,0
$GC,3581,0.84,283.8,4.3,10.0,455,3588,0.00,2.30,0.00,0.000,4,0.000,0.084,3144,861,1860,0,0,0,0,0,0
$FREEZE,2.57,-1.214,-1.815,3,132,0
$STATE,3594,end climb,SURFACE_DEPTH_REACHED
$STATE,3594,begin surface coast
$FREEZE,2.08,-1.119,-1.813,3,132,0
$FREEZE,2.01,-0.952,-1.000,3,132,0
$FINISH,2.0,1.014751
$STATE,3605,end surface coast,FINISH_DEPTH_REACHED
$STATE,3606,begin surface
$RAFOS_CLK,210
$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,47.44
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.00
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,22.2,102.520
$10V_AH,9.8,52.450
$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,3.425,46.650,362.400,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,1048.975,1468.335,424.087,744.057,103.307,0.000,896.210,0.000,746.066,0.000,2.615,0.000
$DEVICE_MAMPS,218.790,84.150,1035.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.267,330.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16822,459
$CAP_FILE_SIZE,51931,0
$CFSIZE,260165632,203829248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.9
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6