version: 66.08
glider: 141
mission: 15
dive: 798
start: 6 5 111 17 21 23
data:
$ID,141
$MISSION,15
$DIVE,798
$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,-57121.586
$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,2.93
$_SM_ANGLEo,-74.9
$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,-146.0,0.0,0.0,0,174,0.00,0.00,-154.93,0.000,2,0.000,0.000,113,2482,3201,0,0,0,0,0,0
$GC,177,-0.62,-146.0,5.1,-5.3,27,209,13.68,2.42,-9.43,0.000,4,0.324,0.090,2656,3899,3629,0,0,0,0,0,0
$GC,256,-0.46,-146.0,28.7,-21.7,40,264,0.22,2.25,0.00,0.000,6,0.210,0.055,2711,2491,3630,0,0,0,0,0,0
$GC,604,-0.40,-146.0,79.8,-13.5,101,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2490,3630,0,0,0,0,0,0
$GC,944,-0.36,-146.0,125.8,-13.1,145,949,0.12,2.30,0.00,0.000,4,0.222,0.070,2741,1080,3630,0,0,0,0,0,0
$GC,986,-0.40,-146.0,130.6,-11.2,148,990,0.00,2.30,0.00,0.000,6,0.000,0.066,2741,2492,3630,0,0,0,0,0,0
$GC,1313,-0.44,-146.0,163.1,-10.1,178,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2492,3629,0,0,0,0,0,0
$STATE,1498,end dive,NO_VERTICAL_VELOCITY
$STATE,1499,begin apogee
$GC,1507,-0.12,0.0,164.7,0.0,196,1638,0.25,0.00,121.00,1.035,6,0.138,0.000,2825,2255,3030,0,0,0,0,0,0
$STATE,1639,end apogee,CONTROL_FINISHED_OK
$STATE,1639,begin climb
$GC,1642,0.62,146.0,164.8,0.0,208,1770,0.73,0.00,123.93,0.982,6,0.137,0.000,3049,2255,2434,0,0,0,0,0,0
$GC,2091,0.85,260.8,147.3,4.7,250,2201,0.25,2.40,96.97,0.949,4,0.076,0.076,3166,876,1964,0,0,0,0,0,0
$GC,2218,0.79,260.8,131.5,15.1,261,2226,0.17,2.30,0.00,0.000,6,0.187,0.058,3122,2280,1961,0,0,0,0,0,0
$GC,2548,0.79,260.8,92.2,10.8,298,2555,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,3694,1954,0,0,0,0,0,0
$GC,2607,0.79,260.8,85.2,12.0,308,2614,0.00,2.25,0.00,0.000,6,0.000,0.059,3130,2284,1952,0,0,0,0,0,0
$GC,2955,0.81,260.8,46.3,10.5,369,2962,0.00,2.30,0.00,0.000,4,0.000,0.075,3140,870,1953,0,0,0,0,0,0
$GC,3037,0.87,261.5,38.3,10.0,383,3044,0.00,2.28,0.00,0.000,6,0.000,0.070,3141,2281,1951,0,0,0,0,0,0
$FREEZE,8.85,-0.941,-1.816,3,161,0
$FREEZE,8.39,-1.027,-1.817,3,161,0
$FREEZE,7.90,-0.981,-1.816,3,161,0
$FREEZE,7.39,-0.783,-1.811,3,161,0
$FREEZE,6.95,-0.783,-1.813,3,161,0
$FREEZE,6.46,-0.733,-1.812,3,161,0
$FREEZE,5.32,-0.516,-1.811,3,161,0
$GC,3386,0.92,276.3,6.5,9.3,444,3401,0.00,2.35,6.05,0.706,4,0.000,0.074,3140,3675,1902,0,0,0,0,0,0
$FREEZE,3.70,-0.358,-1.809,3,161,0
$FREEZE,3.17,-0.349,-1.809,3,161,0
$FREEZE,2.55,-0.322,-1.809,3,161,0
$STATE,3417,end climb,SURFACE_DEPTH_REACHED
$STATE,3417,begin surface coast
$FREEZE,1.95,-0.311,-1.809,3,161,0
$FREEZE,2.01,-0.261,-1.598,3,161,0
$FREEZE,1.92,-0.262,-1.474,3,161,0
$FREEZE,1.90,-0.285,-1.219,3,161,0
$FREEZE,2.02,-0.271,-1.117,3,161,0
$FINISH,2.0,1.016496
$STATE,3445,end surface coast,CONTROL_FINISHED_OK
$STATE,3445,begin surface
$RAFOS_CLK,240
$RAFOS,4,1307291591,16.566668,16.553055,63,63,58,56,55,53,202,214,166,148,132,182
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,050611,171742
$TT8_MAMPS,0.026964
$HUMID,49.17
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,16.90
$XPDR_PINGS,38
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,22.6,106.109
$10V_AH,9.8,53.215
$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,15.425,25.825,347.950,0.000,0.000,90.074,40.177,0.000,9.750,0.000,185.224,1033.951,1492.031,452.653,1020.700,517.500,0.000,894.484,0.000,702.515,0.000,2.619,0.000
$DEVICE_MAMPS,324.360,90.270,1035.045,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.914,325.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,16821,454
$CAP_FILE_SIZE,53113,0
$CFSIZE,260165632,203018240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,050611,171342,6709.499,-5632.717,0,10000.0,0,-37.6