version: 66.08
glider: 141
mission: 15
dive: 743
start: 6 3 111 6 17 25
data:
$ID,141
$MISSION,15
$DIVE,743
$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,-54900.625
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,2.3
$GPS2,030611,004656,6639.497,-5814.677,0,2087.0,0,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,17,-0.62,-146.0,0.0,0.0,0,151,0.00,0.35,-126.25,0.000,6,0.000,0.168,3146,2501,3626,0,0,0,0,0,0
$GC,154,-0.62,-146.0,2.4,-1.5,23,162,1.50,2.30,0.00,0.000,4,0.142,0.065,2674,1083,3626,0,0,0,0,0,0
$GC,193,-0.71,-146.0,6.5,-8.6,29,201,0.12,2.30,0.00,0.000,6,0.125,0.064,2634,2490,3625,0,0,0,0,0,0
$GC,541,-0.56,-146.0,71.5,-18.9,90,549,0.20,2.38,0.00,0.000,4,0.217,0.089,2682,3905,3625,0,0,0,0,0,0
$GC,720,-0.56,-146.0,94.4,-11.6,121,726,0.00,2.22,0.00,0.000,6,0.000,0.053,2682,2491,3625,0,0,0,0,0,0
$GC,1054,-0.56,-146.0,132.3,-10.3,156,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2492,3623,0,0,0,0,0,0
$GC,1376,-0.56,-146.0,163.1,-9.7,186,1380,0.00,2.28,0.00,0.000,4,0.000,0.068,2682,1082,3622,0,0,0,0,0,0
$GC,1422,-0.59,-146.0,168.0,-10.5,190,1426,0.00,2.30,0.00,0.000,6,0.000,0.065,2681,2489,3621,0,0,0,0,0,0
$GC,1748,-0.59,-146.0,199.4,-9.5,220,1752,0.00,2.33,0.00,0.000,4,0.000,0.079,2682,3900,3621,0,0,0,0,0,0
$GC,1778,-0.62,-146.0,202.3,-9.2,222,1783,0.00,2.25,0.00,0.000,6,0.000,0.051,2682,2483,3621,0,0,0,0,0,0
$GC,2105,-0.91,-146.0,225.3,-0.1,252,2110,0.30,2.28,0.00,0.000,4,0.097,0.065,2570,1084,3622,0,0,0,0,0,0
$STATE,2180,end dive,NO_VERTICAL_VELOCITY
$STATE,2180,begin apogee
$GC,2190,-0.12,0.0,225.3,0.0,258,2318,0.77,0.00,118.72,1.037,6,0.128,0.000,2819,2282,3030,0,0,0,0,0,0
$STATE,2319,end apogee,CONTROL_FINISHED_OK
$STATE,2319,begin climb
$GC,2321,0.62,146.0,225.3,0.0,270,2455,0.73,2.53,121.62,0.986,4,0.124,0.070,3061,862,2433,0,0,0,0,0,0
$GC,2705,0.62,148.2,193.6,9.9,304,2709,0.00,2.28,0.00,0.000,6,0.000,0.057,3062,2284,2428,0,0,0,0,0,0
$GC,3033,0.59,148.2,159.1,10.5,334,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2284,2428,0,0,0,0,0,0
$GC,3361,0.56,148.2,125.6,10.1,365,3365,0.00,2.28,0.00,0.000,4,0.000,0.070,3062,3685,2429,0,0,0,0,0,0
$GC,3436,0.48,148.2,117.1,11.5,371,3441,0.20,2.22,0.00,0.000,6,0.173,0.054,3019,2274,2429,0,0,0,0,0,0
$GC,3768,0.63,216.7,94.6,6.8,408,3834,0.15,0.00,60.05,0.918,6,0.093,0.000,3088,2274,2145,0,0,0,0,0,0
$GC,4174,0.63,216.7,48.0,10.1,479,4181,0.00,2.30,0.00,0.000,4,0.000,0.068,3088,3690,2139,0,0,0,0,0,0
$GC,4258,0.59,216.7,38.5,12.3,493,4266,0.15,2.28,0.00,0.000,6,0.179,0.056,3060,2276,2138,0,0,0,0,0,0
$GC,4608,0.82,332.3,14.9,4.7,554,4673,0.20,0.00,57.80,0.848,6,0.078,0.000,3143,2275,1674,0,0,0,0,0,0
$FREEZE,7.50,-1.090,-1.813,3,106,0
$FREEZE,6.84,-1.096,-1.813,3,106,0
$FREEZE,6.06,-1.088,-1.812,3,106,0
$FREEZE,5.50,-1.106,-1.812,3,106,0
$FREEZE,4.75,-1.090,-1.811,3,106,0
$FREEZE,4.02,-1.087,-1.811,3,106,0
$FREEZE,3.53,-1.102,-1.810,3,106,0
$FREEZE,3.36,-1.119,-1.809,3,106,0
$FREEZE,3.08,-1.130,-1.810,3,106,0
$FREEZE,3.22,-1.127,-1.810,3,106,0
$FREEZE,3.27,-1.145,-1.810,3,106,0
$FREEZE,3.33,-1.130,-1.809,3,106,0
$FREEZE,3.35,-1.130,-1.810,3,106,0
$FREEZE,2.76,-1.140,-1.809,3,106,0
$STATE,4746,end climb,SURFACE_DEPTH_REACHED
$STATE,4746,begin surface coast
$FREEZE,2.22,-1.133,-1.809,3,106,0
$FREEZE,2.15,-1.156,-1.809,3,106,0
$FREEZE,2.15,-1.166,-1.808,3,106,0
$FREEZE,2.12,-1.141,-1.806,3,106,0
$FREEZE,2.06,-1.147,-1.807,3,106,0
$FREEZE,2.07,-1.160,-1.808,3,106,0
$FREEZE,2.14,-1.167,-1.808,3,106,0
$FREEZE,2.03,-1.133,-1.805,3,106,0
$FREEZE,2.21,-1.168,-1.807,3,106,0
$FREEZE,2.09,-1.169,-1.807,3,106,0
$FREEZE,2.08,-1.148,-1.806,3,106,0
$FREEZE,2.09,-1.147,-1.806,3,106,0
$FREEZE,2.12,-1.190,-1.809,3,106,0
$FREEZE,2.07,-1.148,-1.806,3,106,0
$FREEZE,2.11,-1.169,-1.807,3,106,0
$FREEZE,2.09,-1.173,-1.807,3,106,0
$FREEZE,2.11,-1.172,-1.807,3,106,0
$FREEZE,2.04,-1.189,-1.807,3,106,0
$FREEZE,2.03,-1.176,-1.806,3,106,0
$FREEZE,2.04,-1.169,-1.806,3,106,0
$FREEZE,1.97,-1.153,-1.805,3,106,0
$FREEZE,1.93,-1.173,-1.806,3,106,0
$FREEZE,2.10,-1.166,-1.806,3,106,0
$FREEZE,2.05,-1.169,-1.806,3,106,0
$FREEZE,2.06,-1.155,-1.806,3,106,0
$FREEZE,2.12,-1.142,-1.806,3,106,0
$FREEZE,2.26,-1.150,-1.807,3,106,0
$FREEZE,2.34,-1.160,-1.807,3,106,0
$FREEZE,2.44,-1.149,-1.807,3,106,0
$FREEZE,2.58,-1.170,-1.808,3,106,0
$FREEZE,2.69,-1.185,-1.809,3,106,0
$FREEZE,2.73,-1.128,-1.806,3,106,0
$FREEZE,2.71,-1.146,-1.807,3,106,0
$FREEZE,2.80,-1.137,-1.806,3,106,0
$FREEZE,2.79,-1.143,-1.807,3,106,0
$FREEZE,2.82,-1.141,-1.808,3,106,0
$FREEZE,2.83,-1.140,-1.807,3,106,0
$FREEZE,2.85,-1.159,-1.807,3,106,0
$FREEZE,2.81,-1.148,-1.808,3,106,0
$FREEZE,2.94,-1.132,-1.808,3,106,0
$FREEZE,3.09,-1.155,-1.808,3,106,0
$FREEZE,3.30,-1.164,-1.809,3,106,0
$FREEZE,3.27,-1.168,-1.809,3,106,0
$FREEZE,3.41,-1.160,-1.808,3,106,0
$FREEZE,3.41,-1.142,-1.808,3,106,0
$FREEZE,3.35,-1.139,-1.808,3,106,0
$FREEZE,3.15,-1.142,-1.808,3,106,0
$FREEZE,2.94,-1.146,-1.808,3,106,0
$FREEZE,2.36,-1.154,-1.808,3,106,0
$FREEZE,2.00,-1.187,-1.809,3,106,0
$FINISH,2.0,1.026531
$STATE,5010,end surface coast,CONTROL_FINISHED_OK
$STATE,5010,begin surface
$RAFOS_CLK,280
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,17.00
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.7,99.879
$10V_AH,9.8,51.607
$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,4.325,36.825,358.200,0.000,0.000,0.000,0.000,0.000,16.250,0.000,0.000,1495.947,2146.885,412.093,1010.835,127.135,0.000,992.104,0.000,1007.176,0.000,2.619,0.000
$DEVICE_MAMPS,217.260,168.300,1037.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.460,455.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,23493,629
$CAP_FILE_SIZE,65629,0
$CFSIZE,260165632,204664832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6