version: 66.08
glider: 141
mission: 15
dive: 899
start: 6 11 111 11 0 43
data:
$ID,141
$MISSION,15
$DIVE,899
$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,-82989.07
$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,57
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-71.5
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-108.80,0.000,2,0.000,0.000,116,2513,2514,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.3,-7.3,22,181,12.85,2.53,-24.33,0.000,4,0.317,0.098,2660,1085,3629,0,0,0,0,0,0
$GC,224,-1.08,-146.0,22.6,-16.2,38,230,0.43,2.22,0.00,0.000,6,0.086,0.047,2512,2476,3629,0,0,0,0,0,0
$GC,569,-1.15,-146.0,67.1,-14.0,99,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2477,3629,0,0,0,0,0,0
$GC,908,-1.23,-146.0,113.7,-13.9,151,913,0.12,2.33,0.00,0.000,4,0.121,0.059,2466,3894,3628,0,0,0,0,0,0
$GC,960,-1.53,-146.0,120.0,-11.7,155,965,0.28,2.30,0.00,0.000,6,0.098,0.063,2370,2495,3628,0,0,0,0,0,0
$GC,1286,-1.42,-146.0,183.7,-20.2,185,1291,0.15,2.30,0.00,0.000,4,0.232,0.058,2403,3893,3627,0,0,0,0,0,0
$GC,1332,-1.52,-146.0,191.1,-14.5,188,1337,0.00,2.35,0.00,0.000,6,0.000,0.074,2403,2486,3627,0,0,0,0,0,0
$STATE,1603,end dive,NO_VERTICAL_VELOCITY
$STATE,1603,begin apogee
$GC,1611,-0.12,0.0,209.6,0.0,214,1739,1.33,0.00,120.05,1.040,6,0.137,0.000,2815,2258,3030,0,0,0,0,0,0
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1740,begin climb
$GC,1743,0.62,146.0,209.5,0.0,226,1873,0.73,0.00,123.07,0.989,6,0.102,0.000,3055,2258,2434,0,0,0,0,0,0
$GC,2190,1.08,364.0,209.3,-0.1,269,2384,0.40,2.50,184.65,0.955,4,0.083,0.084,3223,874,1545,0,0,0,0,0,0
$GC,2400,0.82,364.0,192.7,15.9,289,2405,0.43,2.33,0.00,0.000,6,0.247,0.044,3130,2278,1541,0,0,0,0,0,0
$GC,2725,0.73,364.0,150.7,12.6,319,2730,0.10,2.35,0.00,0.000,4,0.213,0.068,3113,853,1534,0,0,0,0,0,0
$GC,2737,0.66,364.0,149.1,12.4,320,2742,0.15,2.22,0.00,0.000,6,0.197,0.049,3078,2269,1533,0,0,0,0,0,0
$GC,3063,0.66,364.0,114.9,10.2,350,3067,0.00,2.22,0.00,0.000,4,0.000,0.056,3077,3690,1533,0,0,0,0,0,0
$GC,3097,0.74,369.8,111.4,9.7,352,3106,0.00,2.30,4.18,0.584,6,0.000,0.066,3084,2262,1521,0,0,0,0,0,0
$GC,3440,0.74,369.8,78.3,10.3,403,3445,0.00,2.28,0.00,0.000,4,0.000,0.076,3095,860,1522,0,0,0,0,0,0
$GC,3503,0.71,369.8,71.8,10.2,414,3508,0.00,2.25,0.00,0.000,6,0.000,0.044,3094,2304,1521,0,0,0,0,0,0
$GC,3846,0.71,369.8,32.4,10.4,475,3851,0.00,2.38,0.00,0.000,4,0.000,0.076,3105,864,1521,0,0,0,0,0,0
$GC,3887,0.72,374.7,28.6,9.8,482,3898,0.00,2.22,2.72,0.426,6,0.000,0.050,3105,2276,1501,0,0,0,0,0,0
$FREEZE,8.95,NaN,-0.007,0,262,0
$FREEZE,8.39,NaN,-0.006,0,262,0
$FREEZE,7.87,NaN,-0.006,0,262,0
$FREEZE,7.46,NaN,-0.006,0,262,0
$FREEZE,7.09,NaN,-0.005,0,262,0
$FREEZE,6.66,NaN,-0.005,0,262,0
$FREEZE,6.30,NaN,-0.005,0,262,0
$FREEZE,5.93,NaN,-0.004,0,262,0
$FREEZE,5.49,NaN,-0.004,0,262,0
$FREEZE,5.11,NaN,-0.004,0,262,0
$FREEZE,4.54,NaN,-0.003,0,262,0
$FREEZE,4.09,NaN,-0.003,0,262,0
$FREEZE,3.50,NaN,-0.003,0,262,0
$FREEZE,2.94,NaN,-0.002,0,262,0
$STATE,4179,end climb,SURFACE_DEPTH_REACHED
$STATE,4179,begin surface coast
$FREEZE,2.31,NaN,-0.002,0,262,0
$FREEZE,1.84,NaN,-0.001,0,262,0
$FREEZE,1.79,NaN,-0.001,0,262,0
$FREEZE,1.84,NaN,-0.001,0,262,0
$FREEZE,1.75,NaN,-0.001,0,262,0
$FREEZE,2.06,NaN,-0.002,0,262,0
$FINISH,2.1,NaN
$STATE,4215,end surface coast,CONTROL_FINISHED_OK
$STATE,4215,begin surface
$SM_CCo,4271,83.95,0.065,0,0,751,559.04
$SM_GC,2.85,0.00,0.00,83.95,0.000,0.000,0.065,114,2516,751,-8.60,0.74,559.04
$RAFOS_CLK,273
$RAFOS,0,1307793662,12.033333,12.017222,61,60,56,54,54,51,201,190,221,161,138,176
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.029211
$HUMID,78.35
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,22.4,117.006
$10V_AH,9.9,57.607
$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,25.325,37.750,434.675,83.950,0.000,99.174,17.189,0.000,9.000,0.000,183.287,608.244,2085.849,488.896,1554.160,571.369,0.000,1090.876,0.000,872.326,720.000,4.792,0.000
$DEVICE_MAMPS,316.710,97.920,1039.635,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1138.258,377.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,20114,540
$CAP_FILE_SIZE,65421,0
$CFSIZE,260165632,199573504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6