version: 66.08
glider: 141
mission: 15
dive: 802
start: 6 5 111 22 8 30
data:
$ID,141
$MISSION,15
$DIVE,802
$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,-58228.273
$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,23
$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
$GPS1,050611,192910,6715.065,-5621.740,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-76.0
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-157.27,0.000,2,0.000,0.000,116,2500,3254,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.8,-8.7,28,213,13.57,2.40,-7.75,0.000,4,0.328,0.091,2657,1088,3630,0,0,0,0,0,0
$GC,297,-0.50,-146.0,36.2,-18.4,47,305,0.17,2.35,0.00,0.000,6,0.223,0.080,2698,2494,3632,0,0,0,0,0,0
$GC,645,-0.46,-146.0,86.9,-14.1,108,652,0.00,2.38,0.00,0.000,4,0.000,0.086,2698,3906,3632,0,0,0,0,0,0
$GC,716,-0.46,-146.0,95.9,-11.6,120,723,0.00,2.28,0.00,0.000,6,0.000,0.057,2699,2482,3632,0,0,0,0,0,0
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1004,-0.12,0.0,130.5,12.3,149,1135,0.40,0.00,120.85,1.029,6,0.198,0.000,2813,2259,3030,0,0,0,0,0,0
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1139,0.62,146.0,138.1,0.0,161,1274,0.82,2.50,123.05,0.972,4,0.160,0.076,3060,870,2433,0,0,0,0,0,0
$GC,1288,0.78,230.5,132.9,6.1,174,1370,0.15,2.47,75.18,0.933,6,0.093,0.063,3120,2276,2090,0,0,0,0,0,0
$GC,1696,0.76,230.5,82.4,12.3,223,1703,0.00,2.35,0.00,0.000,4,0.000,0.079,3120,3697,2078,0,0,0,0,0,0
$GC,1801,0.68,230.5,68.3,13.6,241,1809,0.17,2.33,0.00,0.000,6,0.192,0.063,3087,2278,2077,0,0,0,0,0,0
$GC,2152,0.85,297.8,39.0,6.9,302,2198,0.15,0.00,40.72,0.968,6,0.095,0.000,3149,2278,1814,0,0,0,0,0,0
$FREEZE,8.53,-0.435,-1.814,0,165,1
$FREEZE,8.06,-0.351,-1.813,0,165,1
$FREEZE,7.35,-0.344,-1.813,0,165,1
$FREEZE,6.77,-0.312,-1.813,0,165,1
$FREEZE,6.16,-0.297,-1.812,0,165,1
$FREEZE,5.59,-0.271,-1.812,0,165,1
$FREEZE,5.04,-0.292,-1.812,0,165,1
$FREEZE,4.38,-0.280,-1.812,0,165,1
$FREEZE,3.78,-0.265,-1.812,0,165,1
$FREEZE,2.97,-0.279,-1.812,0,165,1
$STATE,2454,end climb,SURFACE_DEPTH_REACHED
$STATE,2454,begin surface coast
$FREEZE,2.29,-0.264,-1.811,0,165,1
$FREEZE,1.98,-0.307,-1.778,0,165,1
$FREEZE,2.03,-0.235,-1.805,0,165,1
$FREEZE,1.97,-0.258,-1.134,0,165,1
$FINISH,2.0,1.016738
$STATE,2476,end surface coast,CONTROL_FINISHED_OK
$STATE,2476,begin surface
$SM_CCo,2616,114.88,0.069,0,0,750,559.04
$SM_GC,2.93,0.00,0.00,114.88,0.000,0.000,0.069,109,2503,750,-8.61,0.37,559.04
$RAFOS_CLK,205
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5621.74,050611,191910
$TT8_MAMPS,0.026215
$HUMID,47.79
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,22.3,106.528
$10V_AH,9.8,53.372
$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,24.150,19.775,359.800,114.875,0.000,98.514,17.173,0.000,7.500,0.000,183.287,801.422,926.022,556.578,874.957,533.846,0.000,950.207,0.000,574.752,0.000,2.615,0.000
$DEVICE_MAMPS,328.185,91.035,1028.925,68.850,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.218,256.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13434,360
$CAP_FILE_SIZE,46226,0
$CFSIZE,260165632,202899456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,050611,192910,6715.065,-5621.740,181,99.0,181,-37.6