version: 66.08
glider: 141
mission: 15
dive: 817
start: 6 6 111 16 39 55
data:
$ID,141
$MISSION,15
$DIVE,817
$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,-63040.32
$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,21
$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
$GPS1,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-76.4
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,218,0.00,0.00,-198.07,0.000,6,0.000,0.000,113,2493,3627,0,0,0,0,0,0
$GC,222,-0.62,-146.0,3.2,0.1,35,241,13.12,2.38,0.00,0.000,4,0.316,0.068,2651,1070,3629,0,0,0,0,0,0
$GC,295,-0.46,-146.0,11.1,-16.4,47,303,0.22,2.38,0.00,0.000,6,0.222,0.075,2705,2486,3629,0,0,0,0,0,0
$GC,644,-0.44,-146.0,62.2,-13.6,108,650,0.00,2.40,0.00,0.000,4,0.000,0.093,2705,3903,3630,0,0,0,0,0,0
$GC,698,-0.47,-146.0,69.4,-12.3,117,705,0.00,2.33,0.00,0.000,6,0.000,0.060,2706,2477,3630,0,0,0,0,0,0
$GC,1045,-0.47,-146.0,109.8,-11.3,171,1049,0.00,2.30,0.00,0.000,4,0.000,0.074,2705,1080,3629,0,0,0,0,0,0
$GC,1135,-0.52,-146.0,120.0,-11.0,178,1141,0.00,2.35,0.00,0.000,6,0.000,0.070,2705,2491,3628,0,0,0,0,0,0
$GC,1460,-0.52,-146.0,154.6,-10.3,209,1464,0.00,2.40,0.00,0.000,4,0.000,0.085,2705,3905,3627,0,0,0,0,0,0
$GC,1490,-0.55,-146.0,157.6,-11.1,211,1494,0.00,2.28,0.00,0.000,6,0.000,0.055,2705,2480,3627,0,0,0,0,0,0
$GC,1816,-0.55,-146.0,191.2,-10.8,241,1820,0.00,2.28,0.00,0.000,4,0.000,0.069,2705,1082,3627,0,0,0,0,0,0
$GC,1845,-0.58,-146.0,194.0,-9.8,243,1850,0.00,2.33,0.00,0.000,6,0.000,0.068,2705,2497,3627,0,0,0,0,0,0
$STATE,2052,end dive,NO_VERTICAL_VELOCITY
$STATE,2052,begin apogee
$GC,2060,-0.12,0.0,197.5,0.0,262,2191,0.35,0.00,120.53,1.041,6,0.133,0.000,2820,2267,3030,0,0,0,0,0,0
$STATE,2192,end apogee,CONTROL_FINISHED_OK
$STATE,2192,begin climb
$GC,2195,0.62,146.0,197.4,0.0,274,2329,0.77,2.55,123.62,0.990,4,0.141,0.072,3065,873,2433,0,0,0,0,0,0
$GC,2459,0.67,187.6,186.9,8.1,297,2501,0.00,2.33,36.03,0.937,6,0.000,0.060,3066,2278,2264,0,0,0,0,0,0
$GC,2828,0.74,222.4,153.9,8.4,332,2865,0.10,2.40,29.90,0.926,4,0.114,0.074,3112,3690,2123,0,0,0,0,0,0
$GC,2955,0.67,222.4,137.6,15.1,343,2960,0.15,2.30,0.00,0.000,6,0.191,0.058,3086,2274,2121,0,0,0,0,0,0
$GC,3282,0.69,222.4,102.0,10.6,373,3286,0.00,2.30,0.00,0.000,4,0.000,0.072,3095,857,2118,0,0,0,0,0,0
$GC,3312,0.72,222.4,98.6,10.6,376,3318,0.00,2.28,0.00,0.000,6,0.000,0.058,3095,2278,2117,0,0,0,0,0,0
$GC,3659,0.80,267.8,66.2,7.9,437,3706,0.00,2.38,39.78,0.899,4,0.000,0.070,3103,861,1937,0,0,0,0,0,0
$GC,3725,0.91,306.2,60.8,8.2,448,3768,0.15,2.30,34.92,0.877,6,0.096,0.057,3167,2275,1781,0,0,0,0,0,0
$FREEZE,8.91,-0.705,-1.813,0,180,2
$GC,4110,0.87,306.2,8.9,13.8,515,4116,0.00,2.33,0.00,0.000,4,0.000,0.081,3167,3683,1773,0,0,0,0,0,0
$FREEZE,6.86,-0.585,-1.810,0,180,2
$FREEZE,5.97,-0.534,-1.809,0,180,2
$FREEZE,5.27,-0.522,-1.808,0,180,2
$FREEZE,4.46,-0.474,-1.807,0,180,2
$FREEZE,3.56,-0.467,-1.807,0,180,2
$FREEZE,2.80,-0.425,-1.805,0,180,2
$STATE,4147,end climb,SURFACE_DEPTH_REACHED
$STATE,4147,begin surface coast
$FREEZE,1.92,-0.426,-1.805,0,180,2
$FREEZE,1.78,-0.418,-0.904,0,180,2
$FREEZE,1.86,-0.420,-0.906,0,180,2
$FINISH,1.9,1.013370
$STATE,4163,end surface coast,CONTROL_FINISHED_OK
$STATE,4164,begin surface
$SM_CCo,4185,111.03,0.066,0,0,751,559.04
$SM_GC,2.73,0.00,0.00,111.03,0.000,0.000,0.066,110,2479,751,-8.61,-0.34,559.04
$RAFOS_CLK,277
$RAFOS,6,1307378945,16.833334,16.818056,59,53,50,50,49,49,201,192,117,215,103,243
$RAFOS,5,1307378467,16.700001,16.685278,69,65,61,55,54,53,206,150,193,234,111,121
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026964
$HUMID,46.14
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,52
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,22.4,108.214
$10V_AH,9.8,54.013
$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,23.650,46.900,384.775,111.025,0.000,99.162,17.155,0.000,13.250,0.000,183.289,1173.453,1737.312,613.237,1167.567,572.637,0.000,1143.625,0.000,861.828,720.000,2.615,0.000
$DEVICE_MAMPS,315.945,93.330,1041.165,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.750,382.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20110,525
$CAP_FILE_SIZE,65769,0
$CFSIZE,260165632,202391552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6