version: 66.08
glider: 141
mission: 15
dive: 827
start: 6 7 111 6 55 32
data:
$ID,141
$MISSION,15
$DIVE,827
$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,-66371.289
$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,26
$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,-5648.380,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-75.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,180,0.00,0.00,-158.77,0.000,2,0.000,0.000,108,2502,3194,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.1,-7.0,28,215,13.70,2.38,-9.73,0.000,4,0.330,0.084,2654,1076,3629,0,0,0,0,0,0
$GC,270,-0.51,-146.0,27.1,-18.7,42,278,0.15,2.35,0.00,0.000,6,0.217,0.072,2689,2481,3630,0,0,0,0,0,0
$GC,618,-0.47,-146.0,77.6,-12.4,103,625,0.00,2.40,0.00,0.000,4,0.000,0.083,2689,3900,3630,0,0,0,0,0,0
$GC,662,-0.47,-146.0,83.0,-11.5,110,669,0.00,2.30,0.00,0.000,6,0.000,0.066,2690,2484,3630,0,0,0,0,0,0
$GC,1002,-0.47,-146.0,126.3,-12.8,153,1006,0.00,2.30,0.00,0.000,4,0.000,0.074,2690,1081,3629,0,0,0,0,0,0
$GC,1043,-0.47,-146.0,131.4,-12.0,156,1047,0.00,2.35,0.00,0.000,6,0.000,0.070,2689,2493,3629,0,0,0,0,0,0
$GC,1369,-0.47,-146.0,168.9,-11.4,186,1373,0.00,2.38,0.00,0.000,4,0.000,0.084,2689,3903,3628,0,0,0,0,0,0
$GC,1416,-0.50,-146.0,173.8,-10.1,190,1420,0.00,2.30,0.00,0.000,6,0.000,0.057,2690,2482,3628,0,0,0,0,0,0
$GC,1743,-0.70,-146.0,193.5,0.0,220,1748,0.15,2.35,0.00,0.000,4,0.106,0.073,2630,1073,3629,0,0,0,0,0,0
$STATE,1751,end dive,NO_VERTICAL_VELOCITY
$STATE,1751,begin apogee
$GC,1761,-0.12,0.0,193.5,0.0,220,1889,0.60,0.00,120.80,1.047,6,0.145,0.000,2816,2288,3030,0,0,0,0,0,0
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1893,0.62,146.0,193.4,0.0,232,2032,0.77,2.62,123.70,0.993,4,0.145,0.071,3060,867,2432,0,0,0,0,0,0
$GC,2134,0.69,206.4,186.7,7.2,254,2192,0.00,2.38,52.03,0.952,6,0.000,0.059,3059,2283,2188,0,0,0,0,0,0
$GC,2520,0.73,212.3,151.7,9.7,290,2534,0.12,2.30,5.72,0.711,4,0.099,0.072,3118,3686,2163,0,0,0,0,0,0
$GC,2648,0.63,212.3,131.8,15.9,301,2653,0.22,2.30,0.00,0.000,6,0.192,0.060,3070,2268,2163,0,0,0,0,0,0
$GC,2976,0.68,219.1,98.0,9.7,332,2989,0.00,2.38,7.45,0.776,4,0.000,0.073,3079,864,2135,0,0,0,0,0,0
$GC,3053,0.74,222.8,90.6,9.8,345,3067,0.00,2.30,5.05,0.678,6,0.000,0.067,3079,2281,2120,0,0,0,0,0,0
$GC,3410,0.85,261.4,58.2,8.2,407,3454,0.15,2.33,34.55,0.897,4,0.091,0.073,3146,3683,1964,0,0,0,0,0,0
$GC,3530,0.77,261.4,42.5,14.0,427,3538,0.17,2.30,0.00,0.000,6,0.187,0.060,3112,2271,1962,0,0,0,0,0,0
$FREEZE,8.71,-1.125,-1.816,1,190,2
$FREEZE,8.21,-1.072,-1.815,1,190,2
$FREEZE,7.79,-1.061,-1.815,1,190,2
$FREEZE,6.74,-1.048,-1.815,1,190,2
$GC,3881,0.83,278.6,7.8,9.2,488,3895,0.00,2.30,8.32,0.765,4,0.000,0.073,3112,869,1892,0,0,0,0,0,0
$FREEZE,5.26,-0.957,-1.813,1,190,2
$FREEZE,4.90,-0.929,-1.812,1,190,2
$FREEZE,4.49,-0.930,-1.812,1,190,2
$FREEZE,4.03,-0.936,-1.812,1,190,2
$FREEZE,3.64,-0.924,-1.812,1,190,2
$FREEZE,3.21,-0.922,-1.812,1,190,2
$FREEZE,2.77,-0.924,-1.812,1,190,2
$STATE,3933,end climb,SURFACE_DEPTH_REACHED
$STATE,3933,begin surface coast
$FREEZE,2.16,-0.916,-1.811,1,190,2
$FREEZE,1.80,-0.925,-0.916,1,190,2
$FREEZE,1.78,-0.849,-0.488,1,190,2
$FREEZE,1.80,-0.890,-1.810,1,190,2
$FREEZE,1.68,-0.903,-1.809,1,190,2
$FREEZE,1.84,-0.903,-1.809,1,190,2
$FREEZE,1.78,-0.903,-1.809,1,190,2
$FINISH,1.8,1.026532
$STATE,3972,end surface coast,CONTROL_FINISHED_OK
$STATE,3972,begin surface
$SM_CCo,3995,123.70,0.065,0,0,750,559.04
$SM_GC,2.67,0.00,0.00,123.70,0.000,0.000,0.065,116,2495,750,-8.59,0.14,559.04
$RAFOS_CLK,265
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,070611,040422
$TT8_MAMPS,0.028462
$HUMID,44.95
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,22.4,109.403
$10V_AH,9.8,54.464
$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,24.575,47.000,357.625,123.700,0.000,101.456,17.430,0.000,13.500,0.000,185.279,1162.177,1629.271,593.350,1122.359,563.554,0.000,1094.325,0.000,817.698,360.000,2.619,0.000
$DEVICE_MAMPS,330.480,84.150,1046.520,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.410,366.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20075,504
$CAP_FILE_SIZE,63790,0
$CFSIZE,260165632,202063872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6