version: 66.08
glider: 141
mission: 15
dive: 799
start: 6 5 111 18 22 42
data:
$ID,141
$MISSION,15
$DIVE,799
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,050611,171342,6709.499,-5632.717,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,3.6
$GPS2,050611,171342,6709.499,-5632.717,0,10000.0,0,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,-146.0,0.0,0.0,0,152,0.00,1.95,-126.90,0.000,6,0.000,0.070,3149,2489,3626,0,0,0,0,0,0
$GC,155,-0.62,-146.0,4.6,-10.2,23,163,1.65,2.42,0.00,0.000,4,0.179,0.075,2658,3904,3627,0,0,0,0,0,0
$GC,177,-0.83,-146.0,7.0,-9.0,26,184,0.17,2.22,0.00,0.000,6,0.121,0.050,2600,2489,3627,0,0,0,0,0,0
$GC,525,-0.55,-146.0,94.3,-26.9,87,532,0.30,2.28,0.00,0.000,4,0.236,0.066,2676,1083,3627,0,0,0,0,0,0
$GC,788,-0.51,-146.0,136.9,-14.9,112,792,0.00,2.30,0.00,0.000,6,0.000,0.066,2676,2487,3625,0,0,0,0,0,0
$STATE,1082,end dive,NO_VERTICAL_VELOCITY
$STATE,1082,begin apogee
$GC,1089,-0.12,0.0,154.9,0.0,139,1215,0.40,0.00,119.55,1.021,6,0.119,0.000,2816,2274,3030,0,0,0,0,0,0
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1219,0.62,146.0,155.0,0.0,150,1356,0.77,2.58,122.75,0.968,4,0.132,0.074,3063,867,2431,0,0,0,0,0,0
$GC,1450,0.81,224.4,146.6,6.4,171,1527,0.17,2.38,67.53,0.932,6,0.086,0.061,3137,2280,2114,0,0,0,0,0,0
$GC,1846,0.79,224.4,104.8,11.2,208,1850,0.00,2.30,0.00,0.000,4,0.000,0.076,3137,3687,2105,0,0,0,0,0,0
$GC,1943,0.74,224.4,92.6,12.5,221,1950,0.17,2.28,0.00,0.000,6,0.180,0.070,3102,2277,2104,0,0,0,0,0,0
$GC,2292,0.85,266.5,63.5,8.1,282,2334,0.12,2.42,36.00,0.906,4,0.104,0.075,3166,864,1942,0,0,0,0,0,0
$GC,2384,0.85,266.5,53.6,11.8,297,2391,0.00,2.30,0.00,0.000,6,0.000,0.060,3166,2276,1938,0,0,0,0,0,0
$GC,2730,0.85,266.5,15.8,10.1,358,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2276,1936,0,0,0,0,0,0
$FREEZE,8.48,-1.063,-1.816,0,162,0
$FREEZE,7.97,-1.072,-1.817,0,162,0
$FREEZE,7.45,-1.010,-1.817,0,162,0
$FREEZE,6.92,-0.888,-1.813,0,162,0
$FREEZE,6.46,-0.811,-1.814,0,162,0
$FREEZE,5.90,-0.633,-1.810,0,162,0
$FREEZE,5.39,-0.571,-1.810,0,162,0
$FREEZE,4.84,-0.477,-1.809,0,162,0
$FREEZE,4.33,-0.494,-1.810,0,162,0
$FREEZE,3.81,-0.486,-1.810,0,162,0
$FREEZE,3.23,-0.476,-1.810,0,162,0
$FREEZE,2.70,-0.467,-1.810,0,162,0
$STATE,2855,end climb,SURFACE_DEPTH_REACHED
$STATE,2855,begin surface coast
$FREEZE,2.01,-0.480,-1.812,0,162,0
$FREEZE,2.16,-0.440,-1.810,0,162,0
$FREEZE,1.99,-0.432,-1.810,0,162,0
$FREEZE,1.94,-0.361,-0.161,0,162,0
$FREEZE,1.92,-0.390,-1.681,0,162,0
$FINISH,1.9,1.024679
$STATE,2883,end surface coast,CONTROL_FINISHED_OK
$STATE,2883,begin surface
$SM_CCo,3024,128.68,0.067,0,0,751,559.04
$SM_GC,2.78,0.00,0.00,128.68,0.000,0.000,0.067,116,2502,751,-8.59,0.31,559.04
$RAFOS_CLK,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,47.48
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.7,17.7
$24V_AH,22.6,106.206
$10V_AH,9.8,53.241
$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,12.500,26.125,345.825,128.675,0.000,0.000,0.000,0.000,6.000,0.000,0.000,879.126,1063.971,529.499,653.776,89.526,0.000,938.002,0.000,651.846,0.000,2.614,0.000
$DEVICE_MAMPS,236.385,79.560,1021.275,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.538,275.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13510,386
$CAP_FILE_SIZE,44393,0
$CFSIZE,260165632,202997760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,050611,171342,6709.499,-5632.717,181,99.0,181,-37.6