version: 66.08
glider: 141
mission: 15
dive: 801
start: 6 5 111 20 52 3
data:
$ID,141
$MISSION,15
$DIVE,801
$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,-57859.691
$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,23
$R_STBD_OVSHOOT,27
$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,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-76.6
$GPS2,050611,171342,6709.499,-5632.717,181,99.0,181,-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,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,16,-0.62,-146.0,0.0,0.0,0,175,0.00,0.00,-155.40,0.000,2,0.000,0.000,108,2498,3223,0,0,0,0,0,0
$GC,178,-0.62,-146.0,5.7,-7.6,27,209,13.52,2.38,-8.98,0.000,4,0.325,0.083,2654,1073,3629,0,0,0,0,0,0
$GC,321,-0.49,-146.0,41.3,-19.0,51,328,0.17,2.35,0.00,0.000,6,0.216,0.079,2696,2481,3630,0,0,0,0,0,0
$GC,669,-0.43,-146.0,92.9,-13.7,112,675,0.00,2.40,0.00,0.000,4,0.000,0.086,2696,3900,3630,0,0,0,0,0,0
$GC,723,-0.43,-146.0,99.9,-11.0,121,730,0.00,2.28,0.00,0.000,6,0.000,0.057,2696,2489,3630,0,0,0,0,0,0
$GC,1052,-0.40,-146.0,141.5,-12.9,152,1058,0.12,0.00,0.00,0.000,6,0.217,0.000,2727,2489,3629,0,0,0,0,0,0
$STATE,1334,end dive,NO_VERTICAL_VELOCITY
$STATE,1335,begin apogee
$GC,1342,-0.12,0.0,154.6,0.0,179,1474,0.25,0.00,120.70,1.032,6,0.125,0.000,2816,2262,3029,0,0,0,0,0,0
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1478,0.62,146.0,154.7,0.0,191,1611,0.77,2.65,123.10,0.975,4,0.145,0.075,3050,3687,2433,0,0,0,0,0,0
$GC,1771,0.69,201.9,143.8,7.4,217,1826,0.00,2.33,47.67,0.933,6,0.000,0.061,3060,2284,2206,0,0,0,0,0,0
$GC,2145,0.85,270.1,116.1,6.8,252,2211,0.20,2.40,59.22,0.924,4,0.082,0.077,3153,865,1928,0,0,0,0,0,0
$GC,2238,0.79,270.1,104.3,15.1,260,2243,0.12,2.35,0.00,0.000,6,0.199,0.063,3125,2283,1924,0,0,0,0,0,0
$GC,2582,0.79,270.1,60.9,11.6,318,2589,0.00,2.33,0.00,0.000,4,0.000,0.080,3124,3687,1918,0,0,0,0,0,0
$GC,2643,0.77,270.1,53.1,13.4,328,2650,0.00,2.30,0.00,0.000,6,0.000,0.061,3132,2270,1917,0,0,0,0,0,0
$GC,2989,0.80,270.1,10.7,10.7,389,2996,0.00,2.30,0.00,0.000,4,0.000,0.084,3142,867,1917,0,0,0,0,0,0
$FREEZE,8.59,-0.471,-1.813,0,164,0
$FREEZE,8.04,-0.446,-1.812,0,164,0
$FREEZE,7.51,-0.399,-1.813,0,164,0
$FREEZE,7.09,-0.379,-1.813,0,164,0
$FREEZE,6.50,-0.379,-1.813,0,164,0
$FREEZE,6.05,-0.361,-1.814,0,164,0
$FREEZE,5.52,-0.328,-1.813,0,164,0
$FREEZE,5.14,-0.285,-1.812,0,164,0
$FREEZE,4.49,-0.322,-1.812,0,164,0
$FREEZE,4.05,-0.332,-1.812,0,164,0
$FREEZE,3.45,-0.313,-1.811,0,164,0
$FREEZE,3.01,-0.293,-1.811,0,164,0
$GC,3067,0.83,270.1,3.0,10.6,403,3074,0.00,2.30,0.00,0.000,6,0.000,0.064,3142,2276,1916,0,0,0,0,0,0
$FREEZE,1.92,-0.253,-0.943,0,164,0
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FREEZE,1.96,-0.236,-0.467,0,164,0
$FREEZE,1.95,-0.228,-1.747,0,164,0
$FREEZE,1.93,-0.242,-1.810,0,164,0
$FREEZE,1.97,-0.240,-1.796,0,164,0
$FREEZE,1.93,-0.231,-1.781,0,164,0
$FREEZE,1.87,-0.241,-1.792,0,164,0
$FREEZE,2.03,-0.233,-1.801,0,164,0
$FINISH,2.0,1.026380
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3259,127.30,0.067,0,0,750,559.04
$SM_GC,2.76,0.00,0.00,127.30,0.000,0.000,0.067,116,2499,750,-8.59,0.25,559.04
$RAFOS_CLK,238
$RAFOS,3,1307305506,20.433332,20.418333,59,59,54,53,52,50,198,214,157,170,182,129
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5621.74,050611,191910
$TT8_MAMPS,0.026215
$HUMID,47.20
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,22.4,106.422
$10V_AH,9.8,53.331
$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,23.950,29.050,350.700,127.300,0.000,99.330,17.406,0.000,7.750,0.000,182.287,946.982,1304.043,575.503,975.685,539.836,0.000,1015.422,0.000,672.617,0.000,2.616,0.000
$DEVICE_MAMPS,325.125,85.680,1031.985,66.555,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.710,297.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,16801,412
$CAP_FILE_SIZE,53680,0
$CFSIZE,260165632,202919936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,050611,192910,6715.065,-5621.740,0,10000.0,0,-37.6