version: 66.08
glider: 141
mission: 15
dive: 832
start: 6 7 111 13 17 31
data:
$ID,141
$MISSION,15
$DIVE,832
$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,-67112.445
$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,25
$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
$GPS1,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,4.7
$GPS2,070611,040122,6709.499,-5648.380,181,99.0,181,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,-146.0,0.0,0.0,0,145,0.00,1.95,-117.93,0.000,6,0.000,0.073,3187,2488,3627,0,0,0,0,0,0
$GC,149,-0.62,-146.0,5.5,-9.2,22,157,1.48,2.30,0.00,0.000,4,0.089,0.063,2668,1075,3627,0,0,0,0,0,0
$GC,166,-1.15,-146.0,7.0,-9.7,24,173,0.50,2.33,0.00,0.000,6,0.102,0.070,2500,2492,3626,0,0,0,0,0,0
$GC,516,-0.72,-146.0,121.1,-31.5,80,521,0.55,2.35,0.00,0.000,4,0.272,0.074,2623,3902,3626,0,0,0,0,0,0
$GC,642,-0.57,-146.0,148.2,-19.5,90,650,0.20,2.25,0.00,0.000,6,0.210,0.050,2673,2489,3626,0,0,0,0,0,0
$GC,968,-0.50,-146.0,195.4,-13.5,121,973,0.00,2.25,0.00,0.000,4,0.000,0.063,2673,1078,3624,0,0,0,0,0,0
$GC,987,-0.43,-146.0,198.1,-14.3,122,992,0.17,2.30,0.00,0.000,6,0.212,0.062,2715,2487,3624,0,0,0,0,0,0
$STATE,1246,end dive,NO_VERTICAL_VELOCITY
$STATE,1246,begin apogee
$GC,1253,-0.12,0.0,208.3,0.0,146,1379,0.30,0.00,119.18,1.037,6,0.126,0.000,2820,2263,3030,0,0,0,0,0,0
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1383,0.62,146.0,208.4,0.0,157,1515,0.73,2.53,122.18,0.988,4,0.122,0.067,3053,3692,2433,0,0,0,0,0,0
$GC,1618,0.65,170.4,195.3,8.9,178,1645,0.00,2.33,21.58,0.916,6,0.000,0.054,3062,2277,2334,0,0,0,0,0,0
$GC,1966,0.75,221.6,166.9,7.6,210,2021,0.12,2.42,44.15,0.939,4,0.099,0.071,3131,859,2124,0,0,0,0,0,0
$GC,2103,0.71,221.6,150.7,12.3,222,2108,0.15,2.28,0.00,0.000,6,0.190,0.055,3094,2281,2120,0,0,0,0,0,0
$GC,2435,0.74,221.6,112.7,11.1,253,2440,0.00,2.28,0.00,0.000,4,0.000,0.070,3094,3694,2118,0,0,0,0,0,0
$GC,2499,0.74,221.6,104.8,11.9,258,2503,0.00,2.28,0.00,0.000,6,0.000,0.053,3102,2268,2118,0,0,0,0,0,0
$GC,2842,0.74,221.6,69.9,10.4,314,2848,0.00,2.28,0.00,0.000,4,0.000,0.080,3112,869,2118,0,0,0,0,0,0
$GC,2951,0.78,221.6,58.8,10.4,333,2958,0.00,2.28,0.00,0.000,6,0.000,0.064,3112,2279,2117,0,0,0,0,0,0
$GC,3299,0.88,278.2,28.6,7.4,394,3336,0.10,2.40,30.77,0.931,4,0.113,0.070,3158,3687,1895,0,0,0,0,0,0
$GC,3429,0.84,278.2,12.9,13.7,416,3437,0.12,2.30,0.00,0.000,6,0.196,0.063,3139,2275,1889,0,0,0,0,0,0
$FREEZE,8.92,-0.763,-1.812,1,195,1
$FREEZE,8.40,-0.764,-1.813,1,195,1
$FREEZE,7.86,-0.744,-1.813,1,195,1
$FREEZE,7.25,-0.733,-1.812,1,195,1
$FREEZE,6.82,-0.725,-1.812,1,195,1
$FREEZE,6.27,-0.731,-1.812,1,195,1
$FREEZE,5.79,-0.732,-1.812,1,195,1
$FREEZE,5.19,-0.734,-1.812,1,195,1
$FREEZE,4.54,-0.724,-1.811,1,195,1
$FREEZE,4.08,-0.723,-1.811,1,195,1
$FREEZE,3.61,-0.716,-1.811,1,195,1
$FREEZE,2.92,-0.716,-1.810,1,195,1
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$FREEZE,2.34,-0.702,-1.810,1,195,1
$FREEZE,1.81,-0.681,-1.809,1,195,1
$FREEZE,1.77,-0.414,-1.641,1,195,1
$FREEZE,1.67,-0.600,-0.862,1,195,1
$FREEZE,1.76,-0.529,-0.856,1,195,1
$FREEZE,1.72,-0.685,-0.853,1,195,1
$FINISH,1.7,1.012566
$STATE,3548,end surface coast,CONTROL_FINISHED_OK
$STATE,3549,begin surface
$SM_CCo,3570,122.65,0.063,0,0,751,559.04
$SM_GC,2.62,0.00,0.00,122.65,0.000,0.000,0.063,114,2494,751,-8.60,0.11,559.04
$RAFOS_CLK,207
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,070611,040422
$TT8_MAMPS,0.026215
$HUMID,45.78
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.2,17.4
$24V_AH,22.7,109.917
$10V_AH,9.8,54.651
$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,13.075,39.775,337.850,122.650,0.000,0.000,0.000,0.000,16.250,0.000,0.000,1010.647,1381.716,519.163,733.110,110.610,0.000,958.394,0.000,732.830,0.000,5.500,0.000
$DEVICE_MAMPS,271.575,80.325,1037.340,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.878,317.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16743,438
$CAP_FILE_SIZE,52434,0
$CFSIZE,260165632,201900032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.7
$GPS,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6