version: 66.08
glider: 141
mission: 15
dive: 808
start: 6 6 111 4 28 7
data:
$ID,141
$MISSION,15
$DIVE,808
$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,-60076.941
$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,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
$GPS1,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-75.9
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-156.93,0.000,2,0.000,0.000,115,2483,3215,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.5,-6.6,27,211,13.88,2.35,-9.32,0.000,4,0.336,0.085,2654,1071,3630,0,0,0,0,0,0
$GC,254,-0.50,-146.0,25.6,-18.9,39,261,0.17,2.38,0.00,0.000,6,0.219,0.078,2696,2493,3631,0,0,0,0,0,0
$GC,600,-0.46,-146.0,73.7,-12.3,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2493,3631,0,0,0,0,0,0
$GC,938,-0.46,-146.0,119.0,-13.3,148,942,0.00,2.40,0.00,0.000,4,0.000,0.086,2696,3906,3631,0,0,0,0,0,0
$GC,991,-0.51,-146.0,125.5,-12.1,152,995,0.00,2.28,0.00,0.000,6,0.000,0.055,2696,2488,3630,0,0,0,0,0,0
$STATE,1032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1039,-0.12,0.0,131.0,12.1,156,1167,0.43,0.00,121.03,1.028,6,0.195,0.000,2816,2263,3030,0,0,0,0,0,0
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1171,0.62,146.0,138.7,0.0,167,1306,0.80,2.53,123.60,0.974,4,0.158,0.077,3056,875,2433,0,0,0,0,0,0
$GC,1325,0.79,244.6,135.0,5.4,180,1422,0.17,2.50,88.38,0.936,6,0.088,0.064,3124,2281,2031,0,0,0,0,0,0
$GC,1752,0.75,244.6,79.8,14.3,232,1759,0.00,2.35,0.00,0.000,4,0.000,0.079,3125,3688,2020,0,0,0,0,0,0
$GC,1833,0.70,244.6,67.5,14.8,246,1841,0.17,2.33,0.00,0.000,6,0.186,0.064,3090,2276,2019,0,0,0,0,0,0
$GC,2184,0.81,273.1,33.8,8.7,307,2209,0.10,2.38,16.95,0.923,4,0.122,0.079,3144,865,1915,0,0,0,0,0,0
$GC,2274,0.81,273.1,24.1,11.8,322,2281,0.00,2.30,0.00,0.000,6,0.000,0.063,3144,2281,1911,0,0,0,0,0,0
$FREEZE,8.85,-0.226,-1.812,0,171,0
$FREEZE,8.34,-0.231,-1.812,0,171,0
$FREEZE,7.60,-0.240,-1.812,0,171,0
$FREEZE,7.12,-0.245,-1.812,0,171,0
$FREEZE,6.49,-0.252,-1.812,0,171,0
$FREEZE,5.97,-0.262,-1.811,0,171,0
$FREEZE,5.45,-0.268,-1.811,0,171,0
$FREEZE,4.85,-0.270,-1.810,0,171,0
$FREEZE,4.32,-0.287,-1.809,0,171,0
$FREEZE,3.75,-0.291,-1.809,0,171,0
$FREEZE,3.24,-0.292,-1.808,0,171,0
$FREEZE,2.73,-0.292,-1.808,0,171,0
$STATE,2461,end climb,SURFACE_DEPTH_REACHED
$STATE,2461,begin surface coast
$FREEZE,2.10,-0.291,-1.807,0,171,0
$FREEZE,2.04,-0.286,-0.989,0,171,0
$FREEZE,1.97,-0.285,-0.958,0,171,0
$FREEZE,1.98,-0.288,-1.805,0,171,0
$FREEZE,1.95,-0.284,-1.676,0,171,0
$FINISH,2.0,1.024600
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2630,127.05,0.068,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,127.05,0.000,0.000,0.068,116,2499,751,-8.59,0.23,559.04
$RAFOS_CLK,210
$RAFOS,6,1307335744,4.833333,4.817778,59,56,55,53,53,53,216,229,201,120,130,153
$RAFOS,5,1307335261,4.700000,4.683611,65,61,56,56,47,47,202,222,166,180,119,140
$RAFOS,4,1307334786,4.566667,4.551667,73,63,61,60,54,50,168,210,197,135,110,144
$RAFOS,0,1307332861,4.033333,4.016944,63,59,56,51,49,45,198,220,159,142,119,129
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.80
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.0,107.165
$10V_AH,9.8,53.603
$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,24.425,24.475,349.950,127.050,0.000,85.469,63.563,0.000,7.000,0.000,185.253,837.017,900.187,559.912,924.952,516.117,0.000,962.428,0.000,588.327,1080.000,2.811,0.000
$DEVICE_MAMPS,335.835,85.680,1028.160,68.085,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.049,256.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13463,361
$CAP_FILE_SIZE,49072,0
$CFSIZE,260165632,202715136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.5
$GPS,060611,041820,6709.499,-5632.717,0,10000.0,0,-37.6