version: 66.08
glider: 141
mission: 15
dive: 777
start: 6 4 111 21 0 26
data:
$ID,141
$MISSION,15
$DIVE,777
$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,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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.70
$_SM_ANGLEo,-7.1
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2867,855,3219,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.1,-0.0,1,41,0.52,0.38,-10.02,0.000,4,0.083,0.142,2668,1091,3627,0,0,0,0,0,0
$GC,173,-0.48,-146.0,37.6,-20.0,26,181,0.15,2.25,0.00,0.000,6,0.222,0.063,2701,2487,3630,0,0,0,0,0,0
$GC,521,-0.40,-146.0,96.9,-16.9,87,528,0.12,2.38,0.00,0.000,4,0.237,0.079,2730,3900,3629,0,0,0,0,0,0
$GC,559,-0.40,-146.0,102.8,-13.3,92,563,0.00,2.22,0.00,0.000,6,0.000,0.052,2730,2486,3629,0,0,0,0,0,0
$GC,886,-0.40,-146.0,143.5,-11.2,122,890,0.00,2.28,0.00,0.000,4,0.000,0.070,2730,1074,3628,0,0,0,0,0,0
$GC,984,-0.43,-146.0,155.2,-12.0,130,988,0.00,2.30,0.00,0.000,6,0.000,0.064,2730,2489,3628,0,0,0,0,0,0
$STATE,1296,end dive,NO_VERTICAL_VELOCITY
$STATE,1296,begin apogee
$GC,1304,-0.12,0.0,172.8,0.0,159,1429,0.25,0.00,119.45,1.020,6,0.155,0.000,2813,2273,3030,0,0,0,0,0,0
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$GC,1432,0.62,146.0,172.8,0.0,170,1566,0.75,2.47,121.43,0.970,4,0.127,0.072,3058,871,2434,0,0,0,0,0,0
$GC,1675,0.86,256.3,166.0,4.9,191,1782,0.22,2.33,94.07,0.936,6,0.076,0.058,3150,2279,1984,0,0,0,0,0,0
$GC,2100,0.83,256.3,115.4,12.6,231,2103,0.00,2.30,0.00,0.000,4,0.000,0.073,3150,3691,1974,0,0,0,0,0,0
$GC,2151,0.79,256.3,107.9,14.2,235,2158,0.15,2.28,0.00,0.000,6,0.185,0.057,3123,2265,1973,0,0,0,0,0,0
$GC,2492,0.84,256.3,74.1,10.7,289,2499,0.00,2.30,0.00,0.000,4,0.000,0.085,3125,860,1972,0,0,0,0,0,0
$GC,2546,0.93,257.3,68.7,10.0,298,2553,0.10,2.30,0.00,0.000,6,0.123,0.062,3169,2281,1970,0,0,0,0,0,0
$GC,2893,0.93,261.6,28.9,9.8,359,2900,0.00,2.28,0.00,0.000,4,0.000,0.072,3169,3686,1970,0,0,0,0,0,0
$GC,2930,0.91,261.6,24.9,11.2,365,2937,0.00,2.28,0.00,0.000,6,0.000,0.057,3179,2267,1970,0,0,0,0,0,0
$FREEZE,8.90,-1.013,-1.819,3,140,2
$FREEZE,8.11,-0.986,-1.819,3,140,2
$FREEZE,7.46,-0.977,-1.818,3,140,2
$FREEZE,6.85,-0.965,-1.818,3,140,2
$FREEZE,6.31,-0.951,-1.817,3,140,2
$FREEZE,5.73,-0.925,-1.816,3,140,2
$FREEZE,5.16,-0.910,-1.816,3,140,2
$FREEZE,4.55,-0.899,-1.815,3,140,2
$FREEZE,4.03,-0.891,-1.815,3,140,2
$FREEZE,3.53,-0.794,-1.813,3,140,2
$FREEZE,2.89,-0.676,-1.810,3,140,2
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FREEZE,2.33,-0.527,-1.805,3,140,2
$FREEZE,2.02,-0.477,-1.063,3,140,2
$FREEZE,1.92,-0.399,-1.794,3,140,2
$FREEZE,1.99,-0.524,-0.433,3,140,2
$FREEZE,1.98,-0.565,-0.270,3,140,2
$FINISH,2.0,1.003805
$STATE,3158,end surface coast,CONTROL_FINISHED_OK
$STATE,3160,begin surface
$SM_CCo,3301,132.18,0.065,0,0,750,559.04
$SM_GC,2.96,0.00,0.00,132.18,0.000,0.000,0.065,111,2497,750,-8.60,0.20,559.04
$RAFOS_CLK,194
$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,47.16
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.20
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.7,103.501
$10V_AH,9.8,52.652
$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,11.075,31.050,334.950,132.175,0.000,0.000,0.000,0.000,10.250,0.000,0.000,979.843,1305.108,438.975,676.554,95.198,0.000,849.744,0.000,676.148,0.000,2.613,0.000
$DEVICE_MAMPS,237.150,141.525,1019.745,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.558,294.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13493,406
$CAP_FILE_SIZE,47467,0
$CFSIZE,260165632,203603968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6