version: 66.08
glider: 141
mission: 15
dive: 915
start: 6 12 111 6 48 13
data:
$ID,141
$MISSION,15
$DIVE,915
$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,-84833.93
$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,29
$R_STBD_OVSHOOT,59
$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,2.75
$_SM_ANGLEo,-73.1
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,122,0.00,0.00,-103.32,0.000,2,0.000,0.000,116,2510,2449,0,0,0,0,0,0
$GC,129,-0.62,-146.0,5.1,-6.9,21,175,12.68,2.42,-27.38,0.000,4,0.315,0.099,2654,1091,3628,0,0,0,0,0,0
$GC,272,-1.05,-146.0,25.1,-11.5,47,278,0.32,2.17,0.00,0.000,6,0.085,0.050,2522,2473,3628,0,0,0,0,0,0
$GC,618,-1.18,-146.0,64.8,-12.0,108,623,0.12,2.28,0.00,0.000,4,0.114,0.065,2474,3881,3628,0,0,0,0,0,0
$GC,660,-1.50,-146.0,69.6,-11.0,115,666,0.28,2.28,0.00,0.000,6,0.093,0.059,2377,2493,3628,0,0,0,0,0,0
$GC,1001,-1.39,-146.0,137.2,-20.2,160,1005,0.15,2.25,0.00,0.000,4,0.231,0.056,2410,3885,3627,0,0,0,0,0,0
$GC,1013,-1.32,-146.0,139.6,-19.3,161,1017,0.00,2.30,0.00,0.000,6,0.000,0.063,2411,2484,3627,0,0,0,0,0,0
$GC,1339,-1.25,-146.0,199.3,-18.9,191,1344,0.17,2.42,0.00,0.000,4,0.213,0.083,2455,1071,3626,0,0,0,0,0,0
$GC,1375,-1.03,-146.0,206.4,-21.3,193,1381,0.25,2.25,0.00,0.000,6,0.146,0.048,2530,2486,3626,0,0,0,0,0,0
$STATE,1548,end dive,NO_VERTICAL_VELOCITY
$STATE,1549,begin apogee
$GC,1557,-0.12,0.0,207.2,0.0,210,1684,0.90,0.00,119.10,1.042,6,0.129,0.000,2816,2262,3032,0,0,0,0,0,0
$STATE,1685,end apogee,CONTROL_FINISHED_OK
$STATE,1685,begin climb
$GC,1688,0.62,146.0,207.2,0.0,222,1822,0.73,2.50,123.43,0.991,4,0.100,0.053,3058,3685,2434,0,0,0,0,0,0
$GC,1830,1.09,355.7,207.1,0.3,236,2028,0.45,2.47,187.73,0.954,6,0.067,0.061,3221,2278,1580,0,0,0,0,0,0
$GC,2355,0.87,355.7,143.8,15.3,286,2360,0.28,2.30,0.00,0.000,4,0.216,0.050,3147,3696,1572,0,0,0,0,0,0
$GC,2366,0.66,355.7,141.7,15.4,286,2372,0.25,2.33,0.00,0.000,6,0.155,0.065,3081,2268,1570,0,0,0,0,0,0
$GC,2692,0.68,365.2,110.2,9.6,317,2706,0.00,2.33,8.10,0.779,4,0.000,0.053,3081,3690,1541,0,0,0,0,0,0
$GC,2719,0.71,365.2,107.5,10.4,319,2724,0.00,2.30,0.00,0.000,6,0.000,0.067,3084,2271,1540,0,0,0,0,0,0
$GC,3059,0.73,379.7,75.6,9.3,373,3079,0.00,0.00,14.65,0.853,6,0.000,0.000,3084,2271,1481,0,0,0,0,0,0
$GC,3422,0.79,395.9,43.2,9.3,437,3442,0.00,2.33,15.27,0.861,4,0.000,0.072,3095,866,1415,0,0,0,0,0,0
$GC,3495,0.93,413.5,35.9,9.2,450,3512,0.20,2.25,10.38,0.903,6,0.087,0.049,3178,2330,1344,0,0,0,0,0,0
$FREEZE,8.38,NaN,-0.006,0,278,0
$FREEZE,7.82,NaN,-0.006,0,278,0
$FREEZE,7.22,NaN,-0.005,0,278,0
$FREEZE,6.63,NaN,-0.005,0,278,0
$FREEZE,5.91,NaN,-0.004,0,278,0
$FREEZE,5.33,NaN,-0.004,0,278,0
$FREEZE,4.70,NaN,-0.004,0,278,0
$FREEZE,4.08,NaN,-0.003,0,278,0
$FREEZE,3.43,NaN,-0.003,0,278,0
$FREEZE,2.76,NaN,-0.002,0,278,0
$STATE,3766,end climb,SURFACE_DEPTH_REACHED
$STATE,3766,begin surface coast
$FREEZE,2.01,NaN,-0.002,0,278,0
$FREEZE,1.79,NaN,-0.001,0,278,0
$FREEZE,1.77,NaN,-0.001,0,278,0
$FREEZE,1.79,NaN,-0.001,0,278,0
$FREEZE,1.79,NaN,-0.001,0,278,0
$FINISH,1.8,NaN
$STATE,3793,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3923,65.40,0.066,0,0,750,559.04
$SM_GC,2.66,0.00,0.00,65.40,0.000,0.000,0.066,111,2535,750,-8.60,1.24,559.04
$RAFOS_CLK,264
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,78.78
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,21.3,119.202
$10V_AH,9.9,58.287
$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,25.650,37.800,478.650,65.400,0.000,94.018,34.947,0.000,7.500,0.000,183.290,575.455,1846.236,493.974,1474.041,598.727,0.000,1084.842,0.000,809.695,0.000,2.617,0.000
$DEVICE_MAMPS,315.180,99.450,1041.930,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.647,350.574,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16839,503
$CAP_FILE_SIZE,64140,0
$CFSIZE,260165632,199020544
$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