version: 66.08
glider: 141
mission: 15
dive: 828
start: 6 7 111 8 23 57
data:
$ID,141
$MISSION,15
$DIVE,828
$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,-66741.875
$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,25
$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
$GPS1,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-76.3
$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,16,-0.62,-146.0,0.0,0.0,0,175,0.00,0.00,-155.60,0.000,2,0.000,0.000,116,2496,3172,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.1,-5.6,27,210,13.68,2.42,-10.88,0.000,4,0.331,0.084,2655,1078,3629,0,0,0,0,0,0
$GC,271,-0.52,-146.0,26.2,-18.3,42,278,0.15,2.38,0.00,0.000,6,0.221,0.071,2690,2493,3630,0,0,0,0,0,0
$GC,619,-0.48,-146.0,79.0,-13.1,103,626,0.00,2.40,0.00,0.000,4,0.000,0.086,2690,3900,3630,0,0,0,0,0,0
$GC,673,-0.48,-146.0,86.2,-12.1,112,680,0.00,2.30,0.00,0.000,6,0.000,0.058,2690,2484,3630,0,0,0,0,0,0
$GC,1006,-0.48,-146.0,129.0,-12.6,152,1010,0.00,2.30,0.00,0.000,4,0.000,0.074,2690,1078,3629,0,0,0,0,0,0
$GC,1026,-0.48,-146.0,131.4,-12.7,153,1031,0.00,2.33,0.00,0.000,6,0.000,0.070,2690,2485,3630,0,0,0,0,0,0
$GC,1357,-0.48,-146.0,168.3,-10.4,184,1362,0.00,2.42,0.00,0.000,4,0.000,0.085,2690,3910,3629,0,0,0,0,0,0
$GC,1404,-0.53,-146.0,173.6,-10.8,187,1411,0.00,2.30,0.00,0.000,6,0.000,0.057,2690,2490,3629,0,0,0,0,0,0
$GC,1731,-0.78,-146.0,204.9,-0.5,218,1736,0.22,2.35,0.00,0.000,4,0.103,0.077,2612,1080,3629,0,0,0,0,0,0
$STATE,1854,end dive,NO_VERTICAL_VELOCITY
$STATE,1854,begin apogee
$GC,1863,-0.12,0.0,204.8,0.0,228,1992,0.65,0.00,120.70,1.051,6,0.138,0.000,2815,2280,3030,0,0,0,0,0,0
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1995,0.62,146.0,204.9,0.0,240,2130,0.77,2.58,123.88,0.996,4,0.142,0.070,3062,860,2432,0,0,0,0,0,0
$GC,2201,0.73,215.0,201.1,6.8,258,2268,0.10,2.42,60.17,0.957,6,0.116,0.060,3106,2280,2153,0,0,0,0,0,0
$GC,2587,0.67,215.0,151.1,14.2,294,2591,0.00,2.30,0.00,0.000,4,0.000,0.074,3106,3686,2145,0,0,0,0,0,0
$GC,2682,0.60,215.0,136.4,15.9,302,2690,0.20,2.30,0.00,0.000,6,0.184,0.060,3064,2272,2143,0,0,0,0,0,0
$GC,3009,0.70,252.7,105.9,8.3,333,3046,0.00,2.35,32.35,0.910,4,0.000,0.073,3071,864,1998,0,0,0,0,0,0
$GC,3118,0.86,297.2,97.3,7.9,344,3166,0.20,2.30,39.92,0.900,6,0.082,0.067,3155,2276,1817,0,0,0,0,0,0
$GC,3506,0.82,297.2,38.1,14.2,412,3513,0.00,2.30,0.00,0.000,4,0.000,0.072,3155,3696,1811,0,0,0,0,0,0
$GC,3566,0.77,297.2,29.1,15.1,422,3573,0.20,2.30,0.00,0.000,6,0.181,0.058,3112,2274,1810,0,0,0,0,0,0
$FREEZE,8.54,-1.080,-1.816,1,191,0
$FREEZE,7.98,-0.991,-1.815,1,191,0
$FREEZE,7.50,-0.982,-1.815,1,191,0
$FREEZE,7.02,-0.937,-1.814,1,191,0
$FREEZE,6.56,-0.916,-1.813,1,191,0
$FREEZE,6.13,-0.916,-1.813,1,191,0
$FREEZE,5.62,-0.912,-1.813,1,191,0
$FREEZE,5.22,-0.916,-1.813,1,191,0
$FREEZE,4.63,-0.911,-1.813,1,191,0
$FREEZE,4.16,-0.910,-1.813,1,191,0
$FREEZE,3.64,-0.903,-1.812,1,191,0
$FREEZE,3.17,-0.902,-1.812,1,191,0
$FREEZE,2.75,-0.898,-1.812,1,191,0
$STATE,3834,end climb,SURFACE_DEPTH_REACHED
$STATE,3834,begin surface coast
$FREEZE,1.86,-0.899,-1.811,1,191,0
$FREEZE,1.78,-0.862,-1.769,1,191,0
$FREEZE,1.68,-0.715,-0.302,1,191,0
$FINISH,1.7,1.004279
$STATE,3852,end surface coast,FINISH_DEPTH_REACHED
$STATE,3852,begin surface
$SM_CCo,3877,115.68,0.065,0,0,750,559.04
$SM_GC,2.63,0.00,0.00,115.68,0.000,0.000,0.065,109,2502,750,-8.61,0.31,559.04
$RAFOS_CLK,261
$RAFOS,6,1307436541,8.833333,8.816944,62,56,53,53,51,50,205,116,140,215,175,154
$RAFOS,5,1307436067,8.700000,8.685278,65,64,58,51,49,45,139,219,194,175,116,1933
$RAFOS,4,1307435583,8.566667,8.550834,65,62,60,58,58,57,211,224,198,188,124,154
$RAFOS,3,1307435104,8.433333,8.417778,65,55,55,53,53,53,208,189,175,150,124,222
$RAFOS,0,1307433662,8.033334,8.017222,60,60,58,56,50,48,178,212,199,160,224,135
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,070611,040422
$TT8_MAMPS,0.025466
$HUMID,46.10
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,22.3,109.516
$10V_AH,9.8,54.513
$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,24.700,42.425,377.025,115.675,0.000,101.154,17.453,0.000,9.250,0.000,185.296,1089.677,1621.771,582.461,1095.724,553.518,0.000,1078.860,0.000,790.045,1440.000,2.616,0.000
$DEVICE_MAMPS,331.245,85.680,1051.110,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.518,345.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,16789,473
$CAP_FILE_SIZE,61992,0
$CFSIZE,260165632,202022912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6