version: 66.08
glider: 141
mission: 15
dive: 823
start: 6 7 111 1 14 38
data:
$ID,141
$MISSION,15
$DIVE,823
$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,-64892.043
$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,20
$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,2.85
$_SM_ANGLEo,-75.8
$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,16,-0.62,-146.0,0.0,0.0,0,177,0.00,0.00,-157.35,0.000,2,0.000,0.000,113,2490,3237,0,0,0,0,0,0
$GC,180,-0.62,-146.0,5.5,-7.1,27,212,13.80,2.40,-8.65,0.000,4,0.334,0.086,2655,1083,3630,0,0,0,0,0,0
$GC,305,-0.53,-146.0,35.3,-18.3,48,313,0.15,2.35,0.00,0.000,6,0.219,0.079,2690,2487,3632,0,0,0,0,0,0
$GC,652,-0.48,-146.0,87.4,-13.7,109,659,0.00,2.40,0.00,0.000,4,0.000,0.085,2690,3901,3631,0,0,0,0,0,0
$GC,746,-0.48,-146.0,99.6,-12.2,125,753,0.00,2.30,0.00,0.000,6,0.000,0.057,2690,2485,3631,0,0,0,0,0,0
$GC,1072,-0.48,-146.0,139.8,-11.8,156,1076,0.00,2.33,0.00,0.000,4,0.000,0.073,2690,1077,3630,0,0,0,0,0,0
$GC,1102,-0.48,-146.0,143.4,-12.0,158,1106,0.00,2.33,0.00,0.000,6,0.000,0.070,2690,2490,3630,0,0,0,0,0,0
$GC,1428,-0.48,-146.0,180.2,-11.4,188,1432,0.00,2.42,0.00,0.000,4,0.000,0.083,2690,3908,3630,0,0,0,0,0,0
$GC,1485,-0.53,-146.0,186.5,-10.7,192,1491,0.00,2.30,0.00,0.000,6,0.000,0.054,2690,2480,3629,0,0,0,0,0,0
$STATE,1757,end dive,NO_VERTICAL_VELOCITY
$STATE,1757,begin apogee
$GC,1764,-0.12,0.0,197.5,0.0,218,1897,0.38,0.00,120.82,1.047,6,0.133,0.000,2816,2260,3030,0,0,0,0,0,0
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,0.62,146.0,197.6,0.0,230,2036,0.75,2.53,123.20,0.994,4,0.132,0.073,3061,877,2433,0,0,0,0,0,0
$GC,2089,0.68,177.5,188.2,8.5,247,2124,0.00,2.38,28.35,0.936,6,0.000,0.059,3061,2277,2305,0,0,0,0,0,0
$GC,2444,0.73,194.8,156.3,9.2,280,2466,0.10,2.38,15.38,0.890,4,0.112,0.073,3107,3680,2235,0,0,0,0,0,0
$GC,2485,0.64,194.8,151.5,12.8,284,2490,0.17,2.30,0.00,0.000,6,0.191,0.058,3074,2271,2234,0,0,0,0,0,0
$GC,2811,0.65,200.9,120.2,9.7,314,2824,0.00,2.33,6.45,0.754,4,0.000,0.072,3083,864,2210,0,0,0,0,0,0
$GC,2848,0.68,223.5,116.8,9.0,317,2875,0.00,2.28,21.08,0.904,6,0.000,0.057,3083,2288,2118,0,0,0,0,0,0
$GC,3209,0.70,223.5,78.3,10.1,367,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2288,2114,0,0,0,0,0,0
$GC,3555,0.82,270.8,49.2,7.8,428,3604,0.12,2.40,41.53,0.898,4,0.103,0.071,3141,3690,1926,0,0,0,0,0,0
$GC,3649,0.77,270.8,37.9,14.2,443,3656,0.15,2.30,0.00,0.000,6,0.187,0.060,3114,2274,1923,0,0,0,0,0,0
$FREEZE,8.97,-0.949,-1.817,0,186,0
$FREEZE,8.50,-0.946,-1.817,0,186,0
$FREEZE,8.00,-0.944,-1.816,0,186,0
$FREEZE,7.52,-0.937,-1.816,0,186,0
$FREEZE,7.01,-0.950,-1.816,0,186,0
$FREEZE,6.50,-0.949,-1.816,0,186,0
$FREEZE,6.01,-0.946,-1.815,0,186,0
$FREEZE,5.53,-0.937,-1.815,0,186,0
$FREEZE,5.04,-0.928,-1.814,0,186,0
$FREEZE,4.40,-0.929,-1.814,0,186,0
$FREEZE,3.94,-0.918,-1.813,0,186,0
$FREEZE,3.36,-0.912,-1.813,0,186,0
$FREEZE,2.96,-0.913,-1.813,0,186,0
$STATE,3989,end climb,SURFACE_DEPTH_REACHED
$STATE,3989,begin surface coast
$FREEZE,2.44,-0.911,-1.812,0,186,0
$FREEZE,2.05,-0.914,-1.812,0,186,0
$FREEZE,1.83,-0.920,-1.782,0,186,0
$FREEZE,1.72,-0.888,-0.903,0,186,0
$FREEZE,1.71,-0.909,-0.217,0,186,0
$FREEZE,1.75,-0.898,-0.091,0,186,0
$FINISH,1.7,1.001099
$STATE,4021,end surface coast,CONTROL_FINISHED_OK
$STATE,4022,begin surface
$SM_CCo,4048,126.75,0.066,0,0,751,559.04
$SM_GC,2.68,0.00,0.00,126.75,0.000,0.000,0.066,110,2500,751,-8.61,0.28,559.04
$RAFOS_CLK,271
$RAFOS,6,1307407750,0.833333,0.819444,67,57,55,51,50,49,197,213,166,178,105,1678
$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,46.25
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.90
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,22.4,108.840
$10V_AH,9.8,54.289
$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,24.250,38.425,356.800,126.750,0.000,101.501,17.355,0.000,10.750,0.000,184.258,1176.841,1691.468,589.988,1111.339,547.087,0.000,1083.013,0.000,807.464,0.000,2.615,0.000
$DEVICE_MAMPS,333.540,86.445,1047.285,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.786,371.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20117,510
$CAP_FILE_SIZE,61741,0
$CFSIZE,260165632,202182656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.8
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6