version: 66.08
glider: 141
mission: 15
dive: 833
start: 6 7 111 14 39 42
data:
$ID,141
$MISSION,15
$DIVE,833
$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,-67483
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-76.0
$GPS2,070611,040122,6709.499,-5648.380,181,99.0,181,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-158.35,0.000,2,0.000,0.000,114,2495,3282,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.9,-9.6,28,210,13.65,2.40,-7.12,0.000,4,0.330,0.081,2655,1076,3628,0,0,0,0,0,0
$GC,235,-0.30,-146.0,24.3,-29.0,36,242,0.43,2.35,0.00,0.000,6,0.220,0.079,2760,2482,3631,0,0,0,0,0,0
$GC,583,-0.40,-146.0,57.7,-9.3,97,590,0.00,2.40,0.00,0.000,4,0.000,0.082,2760,3905,3631,0,0,0,0,0,0
$GC,617,-0.53,-146.0,60.6,-8.8,102,624,0.20,2.30,0.00,0.000,6,0.093,0.063,2687,2487,3631,0,0,0,0,0,0
$GC,961,-0.48,-146.0,109.2,-14.4,157,965,0.00,2.30,0.00,0.000,4,0.000,0.072,2686,1078,3630,0,0,0,0,0,0
$GC,1035,-0.48,-146.0,119.7,-13.3,163,1039,0.00,2.35,0.00,0.000,6,0.000,0.070,2686,2491,3630,0,0,0,0,0,0
$GC,1361,-0.45,-146.0,163.3,-12.9,193,1366,0.12,2.40,0.00,0.000,4,0.222,0.085,2714,3904,3629,0,0,0,0,0,0
$GC,1379,-0.45,-146.0,165.6,-12.0,194,1383,0.00,2.28,0.00,0.000,6,0.000,0.055,2714,2487,3628,0,0,0,0,0,0
$GC,1712,-0.50,-146.0,196.6,-9.2,225,1716,0.00,2.30,0.00,0.000,4,0.000,0.070,2714,1071,3629,0,0,0,0,0,0
$GC,1742,-0.55,-146.0,199.9,-10.4,227,1746,0.00,2.35,0.00,0.000,6,0.000,0.067,2714,2491,3629,0,0,0,0,0,0
$STATE,2016,end dive,NO_VERTICAL_VELOCITY
$STATE,2016,begin apogee
$GC,2024,-0.12,0.0,209.9,0.0,252,2156,0.30,0.00,120.88,1.045,6,0.125,0.000,2816,2262,3029,0,0,0,0,0,0
$STATE,2156,end apogee,CONTROL_FINISHED_OK
$STATE,2157,begin climb
$GC,2159,0.62,146.0,209.9,0.0,264,2292,0.75,0.00,123.00,0.996,6,0.117,0.000,3057,2263,2433,0,0,0,0,0,0
$GC,2609,0.65,175.7,178.2,8.6,306,2643,0.00,2.35,25.45,0.933,4,0.000,0.076,3068,867,2312,0,0,0,0,0,0
$GC,2684,0.71,184.6,171.4,9.6,312,2702,0.00,2.30,9.05,0.835,6,0.000,0.059,3068,2278,2276,0,0,0,0,0,0
$GC,3022,0.71,188.6,137.7,9.8,344,3034,0.00,2.30,4.53,0.638,4,0.000,0.073,3068,3688,2261,0,0,0,0,0,0
$GC,3062,0.71,188.6,133.1,11.0,347,3069,0.00,2.30,0.00,0.000,6,0.000,0.057,3078,2267,2260,0,0,0,0,0,0
$GC,3389,0.72,198.6,100.9,9.5,378,3408,0.00,2.33,10.52,0.845,4,0.000,0.073,3088,864,2219,0,0,0,0,0,0
$GC,3478,0.79,218.8,92.8,9.1,392,3503,0.00,2.30,18.67,0.890,6,0.000,0.067,3088,2284,2137,0,0,0,0,0,0
$GC,3846,0.88,263.9,60.5,7.9,456,3893,0.17,0.00,40.40,0.897,6,0.087,0.000,3161,2284,1952,0,0,0,0,0,0
$GC,4233,0.83,263.9,11.8,12.7,524,4240,0.12,2.33,0.00,0.000,4,0.191,0.071,3130,3694,1947,0,0,0,0,0,0
$FREEZE,8.16,-1.075,-1.816,1,196,0
$GC,4261,0.80,263.9,8.2,13.5,528,4268,0.00,2.30,0.00,0.000,6,0.000,0.065,3138,2273,1947,0,0,0,0,0,0
$FREEZE,6.41,-0.809,-1.811,1,196,0
$FREEZE,5.75,-0.798,-1.811,1,196,0
$FREEZE,5.19,-0.795,-1.811,1,196,0
$FREEZE,4.57,-0.793,-1.811,1,196,0
$FREEZE,3.99,-0.790,-1.810,1,196,0
$FREEZE,3.47,-0.788,-1.810,1,196,0
$FREEZE,2.94,-0.791,-1.810,1,196,0
$STATE,4304,end climb,SURFACE_DEPTH_REACHED
$STATE,4304,begin surface coast
$FREEZE,2.27,-0.788,-1.809,1,196,0
$FREEZE,1.76,-0.777,-1.809,1,196,0
$FREEZE,1.75,-0.563,-1.712,1,196,0
$FREEZE,1.72,-0.632,-0.943,1,196,0
$FREEZE,1.75,-0.756,-1.086,1,196,0
$FINISH,1.8,1.016038
$STATE,4333,end surface coast,CONTROL_FINISHED_OK
$STATE,4334,begin surface
$SM_CCo,4354,129.52,0.064,0,0,750,559.04
$SM_GC,2.65,0.00,0.00,129.52,0.000,0.000,0.064,115,2502,750,-8.59,0.34,559.04
$RAFOS_CLK,291
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,070611,141446
$TT8_MAMPS,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,53
$ALTIM_TOP_PING,20.0,18.4
$24V_AH,22.6,110.025
$10V_AH,9.8,54.702
$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,24.400,42.675,352.500,129.525,0.000,82.132,75.945,0.000,13.500,0.000,185.267,1232.737,1880.262,597.865,1201.075,570.869,0.000,1114.132,0.000,853.480,0.000,2.615,0.000
$DEVICE_MAMPS,329.715,84.915,1044.990,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.604,395.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20097,541
$CAP_FILE_SIZE,66452,0
$CFSIZE,260165632,201850880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,070611,142946,6709.499,-5646.748,0,10000.0,0,-37.6