version: 66.08
glider: 141
mission: 15
dive: 816
start: 6 6 111 15 20 55
data:
$ID,141
$MISSION,15
$DIVE,816
$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,-62671.746
$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,8.88
$_SM_ANGLEo,-4.5
$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,-5.97,0.000,2,0.000,0.000,2882,3687,3051,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.8,-0.0,1,53,0.60,4.35,-15.07,0.000,4,0.129,0.074,2671,1074,3629,0,0,0,0,0,0
$GC,311,-0.56,-146.0,51.9,-15.5,50,318,0.00,2.35,0.00,0.000,6,0.000,0.067,2671,2488,3631,0,0,0,0,0,0
$GC,662,-0.48,-146.0,107.3,-15.5,108,666,0.12,2.42,0.00,0.000,4,0.233,0.083,2700,3909,3629,0,0,0,0,0,0
$GC,741,-0.52,-146.0,117.5,-11.0,114,748,0.00,2.28,0.00,0.000,6,0.000,0.055,2700,2479,3629,0,0,0,0,0,0
$GC,1066,-0.52,-146.0,156.5,-11.4,145,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2479,3628,0,0,0,0,0,0
$GC,1387,-0.52,-146.0,189.8,-10.5,175,1391,0.00,2.28,0.00,0.000,4,0.000,0.069,2699,1081,3627,0,0,0,0,0,0
$GC,1421,-0.55,-146.0,193.7,-10.7,177,1428,0.00,2.33,0.00,0.000,6,0.000,0.067,2699,2492,3627,0,0,0,0,0,0
$STATE,1659,end dive,NO_VERTICAL_VELOCITY
$STATE,1659,begin apogee
$GC,1668,-0.12,0.0,199.6,0.0,200,1795,0.35,0.00,119.75,1.030,6,0.134,0.000,2814,2266,3031,0,0,0,0,0,0
$STATE,1796,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1799,0.62,146.0,199.1,0.0,211,1932,0.82,2.55,123.00,0.983,4,0.158,0.070,3066,871,2433,0,0,0,0,0,0
$GC,1940,0.83,359.1,198.5,0.2,223,2141,0.20,2.45,190.32,0.946,6,0.079,0.067,3141,2282,1565,0,0,0,0,0,0
$GC,2458,0.83,359.1,121.7,15.5,272,2462,0.00,2.35,0.00,0.000,4,0.000,0.072,3152,861,1554,0,0,0,0,0,0
$GC,2571,0.87,359.1,105.8,13.7,281,2578,0.00,2.33,0.00,0.000,6,0.000,0.060,3151,2283,1553,0,0,0,0,0,0
$GC,2913,0.87,359.1,54.8,14.3,339,2920,0.00,2.30,0.00,0.000,4,0.000,0.073,3151,3687,1553,0,0,0,0,0,0
$GC,2950,0.87,359.1,49.6,14.6,345,2957,0.00,2.30,0.00,0.000,6,0.000,0.060,3161,2274,1551,0,0,0,0,0,0
$FREEZE,8.67,-0.609,-1.812,0,179,0
$FREEZE,7.96,-0.582,-1.811,0,179,0
$FREEZE,7.29,-0.568,-1.810,0,179,0
$FREEZE,6.75,-0.540,-1.810,0,179,0
$FREEZE,6.04,-0.516,-1.809,0,179,0
$FREEZE,5.57,-0.504,-1.809,0,179,0
$GC,3297,0.89,359.1,5.6,12.1,406,3304,0.00,2.35,0.00,0.000,4,0.000,0.080,3169,855,1551,0,0,0,0,0,0
$FREEZE,3.28,-0.447,-1.807,0,179,0
$FREEZE,2.57,-0.435,-1.806,0,179,0
$STATE,3315,end climb,SURFACE_DEPTH_REACHED
$STATE,3316,begin surface coast
$FREEZE,1.94,-0.436,-1.805,0,179,0
$FREEZE,1.87,-0.387,-0.890,0,179,0
$FREEZE,1.86,-0.492,-1.581,0,179,0
$FREEZE,1.84,-0.406,-1.568,0,179,0
$FREEZE,1.81,-0.435,-1.747,0,179,0
$FINISH,1.8,1.025620
$STATE,3343,end surface coast,CONTROL_FINISHED_OK
$STATE,3343,begin surface
$SM_CCo,3450,88.35,0.064,0,0,750,559.04
$SM_GC,2.76,0.00,0.00,88.35,0.000,0.000,0.064,114,2493,750,-8.60,0.08,559.04
$RAFOS_CLK,201
$RAFOS,1,1307376543,16.166666,16.150833,65,64,61,55,55,54,216,201,231,132,112,161
$RAFOS,0,1307376068,16.033333,16.018888,65,57,55,53,50,50,211,192,162,115,145,132
$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,46.33
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,21.5,108.100
$10V_AH,9.8,53.962
$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,10.875,35.700,433.075,88.350,0.000,0.000,0.000,0.000,8.250,0.000,0.000,969.922,1359.332,475.736,694.966,102.225,0.000,907.101,0.000,697.192,720.000,2.616,0.000
$DEVICE_MAMPS,233.325,83.385,1030.455,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.530,302.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16830,414
$CAP_FILE_SIZE,47299,0
$CFSIZE,260165632,202444800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.8
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6