version: 66.08
glider: 141
mission: 15
dive: 820
start: 6 6 111 20 53 26
data:
$ID,141
$MISSION,15
$DIVE,820
$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,-63781.41
$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,23
$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,8.96
$_SM_ANGLEo,-4.8
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.93,0.000,2,0.000,0.000,2889,3682,3057,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.3,-0.0,1,53,0.65,4.28,-14.25,0.000,4,0.105,0.065,2666,1074,3629,0,0,0,0,0,0
$GC,236,-0.55,-146.0,42.1,-16.4,37,243,0.00,2.28,0.00,0.000,6,0.000,0.063,2666,2486,3630,0,0,0,0,0,0
$GC,583,-0.45,-146.0,98.1,-15.4,98,590,0.20,2.40,0.00,0.000,4,0.218,0.087,2714,3900,3629,0,0,0,0,0,0
$GC,621,-0.49,-146.0,103.1,-11.3,102,625,0.00,2.25,0.00,0.000,6,0.000,0.052,2714,2488,3629,0,0,0,0,0,0
$GC,948,-0.52,-146.0,136.5,-10.0,132,952,0.00,2.30,0.00,0.000,4,0.000,0.068,2714,1077,3627,0,0,0,0,0,0
$GC,1011,-0.59,-146.0,143.0,-9.7,137,1016,0.12,2.30,0.00,0.000,6,0.122,0.064,2673,2490,3628,0,0,0,0,0,0
$GC,1337,-0.55,-146.0,185.7,-13.4,167,1341,0.00,2.40,0.00,0.000,4,0.000,0.080,2673,3907,3627,0,0,0,0,0,0
$GC,1406,-0.55,-146.0,194.3,-12.1,172,1412,0.00,2.28,0.00,0.000,6,0.000,0.050,2672,2481,3627,0,0,0,0,0,0
$STATE,1591,end dive,NO_VERTICAL_VELOCITY
$STATE,1591,begin apogee
$GC,1599,-0.12,0.0,196.2,0.0,190,1729,0.43,0.00,119.53,1.028,6,0.113,0.000,2818,2263,3030,0,0,0,0,0,0
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1733,0.62,146.0,196.2,0.0,202,1867,0.75,2.53,122.15,0.977,4,0.128,0.071,3065,875,2433,0,0,0,0,0,0
$GC,1903,0.71,187.6,188.1,8.1,217,1947,0.00,2.38,36.95,0.929,6,0.000,0.057,3065,2282,2264,0,0,0,0,0,0
$GC,2268,0.81,232.0,158.2,8.0,251,2313,0.17,2.42,38.17,0.922,4,0.086,0.072,3142,3697,2083,0,0,0,0,0,0
$GC,2375,0.70,232.0,142.1,16.9,260,2382,0.22,2.30,0.00,0.000,6,0.195,0.057,3095,2288,2080,0,0,0,0,0,0
$GC,2701,0.71,239.0,105.9,9.7,291,2713,0.00,2.40,6.55,0.741,4,0.000,0.072,3104,866,2055,0,0,0,0,0,0
$GC,2773,0.76,248.9,99.1,9.5,297,2792,0.00,2.25,10.48,0.826,6,0.000,0.056,3104,2284,2014,0,0,0,0,0,0
$GC,3134,0.80,248.9,65.2,10.1,360,3141,0.00,2.30,0.00,0.000,4,0.000,0.080,3104,3694,2012,0,0,0,0,0,0
$GC,3233,0.82,248.9,53.9,11.2,377,3240,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2273,2011,0,0,0,0,0,0
$GC,3580,0.90,265.0,22.4,9.3,438,3594,0.12,2.38,8.35,0.814,4,0.104,0.070,3178,861,1948,0,0,0,0,0,0
$GC,3619,0.86,265.0,18.1,12.2,444,3626,0.15,2.28,0.00,0.000,6,0.190,0.057,3140,2276,1945,0,0,0,0,0,0
$FREEZE,8.99,-1.174,-1.817,0,183,0
$FREEZE,8.38,-1.108,-1.816,0,183,0
$FREEZE,7.83,-1.005,-1.814,0,183,0
$FREEZE,7.32,-0.914,-1.813,0,183,0
$FREEZE,6.80,-0.842,-1.811,0,183,0
$FREEZE,6.27,-0.793,-1.811,0,183,0
$FREEZE,5.75,-0.763,-1.811,0,183,0
$FREEZE,5.06,-0.574,-1.808,0,183,0
$FREEZE,4.55,-0.598,-1.809,0,183,0
$FREEZE,4.03,-0.565,-1.808,0,183,0
$FREEZE,3.47,-0.570,-1.809,0,183,0
$FREEZE,2.96,-0.561,-1.808,0,183,0
$STATE,3757,end climb,SURFACE_DEPTH_REACHED
$STATE,3757,begin surface coast
$FREEZE,2.43,-0.535,-1.808,0,183,0
$FREEZE,1.92,-0.532,-1.808,0,183,0
$FREEZE,1.86,-0.451,-1.337,0,183,0
$FREEZE,1.83,-0.468,-0.975,0,183,0
$FREEZE,1.74,-0.474,-0.902,0,183,0
$FINISH,1.7,1.013314
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3785,begin surface
$SM_CCo,3872,129.10,0.065,0,0,750,559.04
$SM_GC,2.72,0.00,0.00,129.10,0.000,0.000,0.065,109,2499,750,-8.61,0.25,559.04
$RAFOS_CLK,226
$RAFOS,6,1307393341,20.833334,20.816944,62,60,57,54,50,49,178,216,146,118,193,159
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,22.5,108.515
$10V_AH,9.8,54.143
$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,11.525,44.650,342.175,129.100,0.000,0.000,0.000,0.000,10.000,0.000,0.000,1131.265,1574.007,466.084,778.458,115.469,0.000,927.928,0.000,778.536,0.000,2.617,0.000
$DEVICE_MAMPS,218.025,87.210,1028.160,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.681,347.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16853,474
$CAP_FILE_SIZE,56351,0
$CFSIZE,260165632,202293248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6