version: 66.08
glider: 141
mission: 15
dive: 813
start: 6 6 111 11 23 13
data:
$ID,141
$MISSION,15
$DIVE,813
$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,-61931.645
$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,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
$GPS1,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.7
$GPS2,060611,041820,6709.499,-5632.717,181,99.0,181,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,-153.27,0.000,2,0.000,0.000,115,2496,3149,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.1,-6.3,27,210,13.60,2.38,-11.00,0.000,4,0.330,0.084,2657,1077,3628,1,0,0,0,0,0
$GC,294,-0.52,-146.0,31.4,-18.3,46,301,0.15,2.35,0.00,0.000,6,0.224,0.080,2691,2481,3630,0,0,0,0,0,0
$GC,641,-0.48,-146.0,81.8,-14.1,107,648,0.00,2.42,0.00,0.000,4,0.000,0.086,2692,3907,3630,0,0,0,0,0,0
$GC,696,-0.48,-146.0,89.1,-12.9,116,703,0.00,2.33,0.00,0.000,6,0.000,0.060,2692,2485,3630,0,0,0,0,0,0
$GC,1028,-0.46,-146.0,130.7,-11.6,154,1032,0.00,2.30,0.00,0.000,4,0.000,0.076,2692,1080,3628,0,0,0,0,0,0
$GC,1062,-0.46,-146.0,134.9,-12.4,156,1069,0.00,2.33,0.00,0.000,6,0.000,0.070,2692,2488,3628,0,0,0,0,0,0
$GC,1389,-0.46,-146.0,172.9,-11.3,187,1393,0.00,2.40,0.00,0.000,4,0.000,0.086,2692,3909,3627,0,0,0,0,0,0
$GC,1487,-0.49,-146.0,183.8,-10.5,195,1491,0.00,2.28,0.00,0.000,6,0.000,0.057,2692,2491,3627,0,0,0,0,0,0
$STATE,1750,end dive,NO_VERTICAL_VELOCITY
$STATE,1750,begin apogee
$GC,1758,-0.12,0.0,194.0,0.0,219,1889,0.38,0.00,120.82,1.040,6,0.132,0.000,2817,2265,3030,0,0,0,0,0,0
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1893,0.62,146.0,194.1,0.0,231,2030,0.77,2.62,124.10,0.988,4,0.160,0.074,3055,3694,2433,0,0,0,0,0,0
$GC,2088,0.64,193.2,186.2,7.8,249,2136,0.00,2.42,41.85,0.943,6,0.000,0.060,3066,2281,2241,0,0,0,0,0,0
$GC,2463,0.72,220.3,154.4,8.7,284,2496,0.00,2.45,23.65,0.916,4,0.000,0.076,3075,858,2130,0,0,0,0,0,0
$GC,2514,0.83,253.9,149.9,8.4,288,2554,0.17,2.35,30.58,0.914,6,0.089,0.061,3147,2285,1993,0,0,0,0,0,0
$GC,2874,0.77,253.9,94.5,15.3,325,2881,0.12,2.33,0.00,0.000,4,0.184,0.083,3116,3687,1986,0,0,0,0,0,0
$GC,2934,0.77,253.9,85.6,14.4,335,2941,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2274,1986,0,0,0,0,0,0
$GC,3280,0.80,253.9,44.7,10.8,396,3287,0.00,2.33,0.00,0.000,4,0.000,0.081,3135,861,1986,0,0,0,0,0,0
$GC,3340,0.83,253.9,38.6,10.1,406,3346,0.00,2.33,0.00,0.000,6,0.000,0.065,3135,2284,1984,0,0,0,0,0,0
$FREEZE,8.57,-0.472,-1.812,0,176,0
$FREEZE,8.01,-0.465,-1.811,0,176,0
$FREEZE,7.52,-0.459,-1.811,0,176,0
$FREEZE,6.89,-0.460,-1.810,0,176,0
$FREEZE,6.42,-0.462,-1.810,0,176,0
$FREEZE,5.81,-0.463,-1.810,0,176,0
$FREEZE,5.36,-0.462,-1.810,0,176,0
$FREEZE,4.46,-0.469,-1.808,0,176,0
$FREEZE,3.86,-0.467,-1.808,0,176,0
$GC,3684,0.83,253.9,3.9,10.9,467,3691,0.00,2.35,0.00,0.000,4,0.000,0.075,3139,862,1984,0,0,0,0,0,0
$FREEZE,2.86,-0.534,-1.807,0,176,0
$STATE,3697,end climb,SURFACE_DEPTH_REACHED
$STATE,3697,begin surface coast
$FREEZE,2.88,-0.529,-1.806,0,176,0
$FREEZE,2.87,-0.517,-1.806,0,176,0
$FREEZE,2.84,-0.511,-1.806,0,176,0
$FREEZE,2.81,-0.529,-1.807,0,176,0
$FREEZE,2.79,-0.531,-1.807,0,176,0
$FREEZE,2.63,-0.528,-1.807,0,176,0
$FINISH,2.6,1.026467
$STATE,3729,end surface coast,CONTROL_FINISHED_OK
$STATE,3729,begin surface
$SM_CCo,3872,135.38,0.065,0,0,750,559.04
$SM_GC,2.74,0.00,0.00,135.38,0.000,0.000,0.065,112,2494,750,-8.60,0.11,559.04
$RAFOS_CLK,273
$RAFOS,2,1307362625,12.300000,12.284722,60,51,51,50,50,48,170,148,118,196,205,225
$RAFOS,1,1307362145,12.166667,12.151389,70,66,56,55,54,54,210,194,162,146,114,125
$RAFOS,0,1307361661,12.033333,12.016945,69,67,65,55,52,50,194,161,217,174,151,117
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.029211
$HUMID,46.10
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.3,107.755
$10V_AH,9.8,53.838
$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,23.900,43.300,341.000,135.375,0.000,94.498,29.770,0.000,11.500,0.000,185.244,1107.504,1636.323,598.230,1076.115,544.397,0.000,1078.491,0.000,763.154,1440.000,2.615,0.000
$DEVICE_MAMPS,329.715,86.445,1039.635,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.957,344.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16842,475
$CAP_FILE_SIZE,60981,0
$CFSIZE,260165632,202534912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1455.8
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6