version: 66.08
glider: 141
mission: 15
dive: 806
start: 6 6 111 2 10 46
data:
$ID,141
$MISSION,15
$DIVE,806
$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,-59335.91
$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,19
$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
$GPS1,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-75.8
$GPS2,050611,192910,6715.065,-5621.740,181,99.0,181,-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,257.9,29307,-17.5,-10.000
$D_GRID,130
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-154.32,0.000,2,0.000,0.000,113,2486,3159,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.1,-5.5,27,211,13.82,2.35,-10.77,0.000,4,0.333,0.085,2654,1074,3627,0,0,0,0,0,0
$GC,247,-0.48,-146.0,23.8,-20.4,38,254,0.20,2.38,0.00,0.000,6,0.213,0.079,2703,2489,3629,0,0,0,0,0,0
$GC,595,-0.45,-146.0,73.6,-13.4,99,602,0.00,2.42,0.00,0.000,4,0.000,0.086,2703,3904,3629,0,0,0,0,0,0
$GC,615,-0.45,-146.0,76.6,-13.8,102,622,0.00,2.28,0.00,0.000,6,0.000,0.057,2703,2483,3629,0,0,0,0,0,0
$GC,953,-0.45,-146.0,117.8,-11.6,149,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2483,3628,0,0,0,0,0,0
$STATE,1067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1067,begin apogee
$GC,1075,-0.12,0.0,131.3,11.8,160,1202,0.38,0.00,120.45,1.028,6,0.192,0.000,2811,2261,3030,0,0,0,0,0,0
$STATE,1202,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1206,0.62,146.0,138.1,0.0,171,1340,0.82,2.58,123.47,0.972,4,0.163,0.077,3059,876,2433,0,0,0,0,0,0
$GC,1365,0.76,228.1,132.8,6.2,185,1446,0.15,2.47,73.22,0.934,6,0.093,0.063,3119,2278,2099,0,0,0,0,0,0
$GC,1779,0.72,228.1,82.7,11.9,235,1786,0.00,2.38,0.00,0.000,4,0.000,0.080,3119,3699,2088,0,0,0,0,0,0
$GC,1851,0.67,228.1,72.9,14.5,247,1859,0.17,2.33,0.00,0.000,6,0.190,0.063,3085,2282,2088,0,0,0,0,0,0
$GC,2203,0.75,254.5,42.4,8.8,308,2233,0.00,2.42,21.02,0.892,4,0.000,0.079,3093,867,1991,0,0,0,0,0,0
$GC,2253,0.89,293.5,37.9,8.2,316,2284,0.17,2.35,25.55,0.946,6,0.091,0.073,3167,2288,1833,0,0,0,0,0,0
$FREEZE,8.48,-0.599,-1.815,0,169,0
$FREEZE,7.73,-0.359,-1.812,0,169,0
$FREEZE,7.11,-0.365,-1.813,0,169,0
$FREEZE,6.24,-0.333,-1.812,0,169,0
$FREEZE,5.57,-0.335,-1.813,0,169,0
$FREEZE,4.77,-0.315,-1.812,0,169,0
$FREEZE,4.08,-0.336,-1.812,0,169,0
$FREEZE,3.37,-0.318,-1.812,0,169,0
$FREEZE,2.60,-0.317,-1.811,0,169,0
$STATE,2508,end climb,SURFACE_DEPTH_REACHED
$STATE,2508,begin surface coast
$FREEZE,2.00,-0.309,-1.807,0,169,0
$FREEZE,2.03,-0.230,-1.653,0,169,0
$FREEZE,1.92,-0.304,-1.283,0,169,0
$FREEZE,2.01,-0.291,-0.590,0,169,0
$FINISH,2.0,1.008642
$STATE,2531,end surface coast,CONTROL_FINISHED_OK
$STATE,2531,begin surface
$SM_CCo,2672,117.18,0.068,0,0,750,559.04
$SM_GC,2.92,0.00,0.00,117.18,0.000,0.000,0.068,109,2503,750,-8.61,0.37,559.04
$RAFOS_CLK,203
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5621.74,050611,191910
$TT8_MAMPS,0.026964
$HUMID,47.51
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.80
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.7,17.7
$24V_AH,22.3,106.951
$10V_AH,9.8,53.519
$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,24.425,24.650,363.725,117.175,0.000,98.847,17.150,0.000,8.250,0.000,185.206,836.743,931.204,564.010,884.926,524.639,0.000,960.669,0.000,582.800,0.000,2.616,0.000
$DEVICE_MAMPS,332.775,87.975,1028.160,68.085,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.186,261.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13470,365
$CAP_FILE_SIZE,48475,0
$CFSIZE,260165632,202780672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$GPS,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6