version: 66.08
glider: 141
mission: 15
dive: 835
start: 6 7 111 17 50 12
data:
$ID,141
$MISSION,15
$DIVE,835
$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,-68224.133
$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,25
$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
$GPS1,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-75.4
$GPS2,070611,142946,6709.499,-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,-146.0,0.0,0.0,0,179,0.00,0.00,-157.40,0.000,2,0.000,0.000,116,2507,3246,0,0,0,0,0,0
$GC,183,-0.62,-146.0,5.5,-8.2,28,214,13.68,2.42,-8.18,0.000,4,0.332,0.093,2656,1084,3632,0,0,0,0,0,0
$GC,222,0.05,-146.0,20.1,-33.3,34,229,0.85,2.33,0.00,0.000,6,0.226,0.070,2869,2481,3633,0,0,0,0,0,0
$GC,570,-0.35,-146.0,49.5,-8.5,95,577,0.32,2.42,0.00,0.000,4,0.127,0.082,2757,3909,3633,0,0,0,0,0,0
$GC,598,-0.68,-146.0,52.0,-8.7,99,606,0.35,2.33,0.00,0.000,6,0.107,0.066,2641,2483,3633,0,0,0,0,0,0
$GC,948,-0.53,-146.0,111.9,-17.8,155,953,0.20,2.35,0.00,0.000,4,0.227,0.074,2687,1079,3632,0,0,0,0,0,0
$GC,966,-0.41,-146.0,115.1,-17.2,156,971,0.17,2.35,0.00,0.000,6,0.225,0.070,2727,2490,3632,0,0,0,0,0,0
$GC,1293,-0.48,-146.0,144.3,-8.9,186,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2490,3631,0,0,0,0,0,0
$GC,1615,-0.57,-146.0,169.5,-7.8,216,1621,0.15,0.00,0.00,0.000,6,0.112,0.000,2673,2490,3631,0,0,0,0,0,0
$GC,1941,-0.52,-146.0,209.3,-12.5,247,1945,0.00,2.40,0.00,0.000,4,0.000,0.083,2672,3906,3631,0,0,0,0,0,0
$STATE,2093,end dive,NO_VERTICAL_VELOCITY
$STATE,2093,begin apogee
$GC,2103,-0.12,0.0,210.2,0.0,260,2235,0.43,0.00,121.25,1.045,6,0.119,0.000,2817,2272,3029,0,0,0,0,0,0
$STATE,2235,end apogee,CONTROL_FINISHED_OK
$STATE,2235,begin climb
$GC,2238,0.62,146.0,210.1,0.0,272,2372,0.77,2.58,122.82,0.995,4,0.138,0.073,3065,870,2432,0,0,0,0,0,0
$GC,2493,0.65,175.8,195.1,8.6,294,2524,0.00,2.35,26.15,0.929,6,0.000,0.061,3065,2278,2313,0,0,0,0,0,0
$GC,2851,0.67,190.0,161.1,9.3,328,2874,0.00,2.40,12.75,0.880,4,0.000,0.074,3065,3694,2254,0,0,0,0,0,0
$GC,2943,0.67,190.0,151.4,11.6,336,2947,0.00,2.30,0.00,0.000,6,0.000,0.058,3076,2274,2254,0,0,0,0,0,0
$GC,3269,0.67,190.0,117.7,10.3,366,3273,0.00,2.30,0.00,0.000,4,0.000,0.073,3085,864,2253,0,0,0,0,0,0
$GC,3376,0.67,190.0,106.8,10.0,375,3383,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2285,2251,0,0,0,0,0,0
$GC,3716,0.69,203.5,72.3,9.4,430,3735,0.00,2.33,12.65,0.861,4,0.000,0.070,3085,3699,2201,0,0,0,0,0,0
$GC,3783,0.66,203.5,65.7,10.1,441,3790,0.00,2.30,0.00,0.000,6,0.000,0.057,3095,2274,2201,0,0,0,0,0,0
$GC,4131,0.73,239.8,34.7,8.3,502,4161,0.00,2.35,22.60,0.933,4,0.000,0.073,3105,862,2050,0,0,0,0,0,0
$GC,4214,0.83,260.2,27.5,9.1,516,4233,0.00,2.33,10.57,0.857,6,0.000,0.067,3105,2289,1969,0,0,0,0,0,0
$FREEZE,8.83,-0.875,-1.813,1,198,0
$FREEZE,8.51,-0.868,-1.814,1,198,0
$FREEZE,7.95,-0.841,-1.813,1,198,0
$FREEZE,7.49,-0.829,-1.813,1,198,0
$FREEZE,7.05,-0.826,-1.813,1,198,0
$FREEZE,6.62,-0.828,-1.813,1,198,0
$FREEZE,6.06,-0.822,-1.812,1,198,0
$FREEZE,5.64,-0.822,-1.812,1,198,0
$FREEZE,5.28,-0.815,-1.811,1,198,0
$FREEZE,4.85,-0.802,-1.811,1,198,0
$FREEZE,4.35,-0.804,-1.811,1,198,0
$FREEZE,3.87,-0.798,-1.810,1,198,0
$FREEZE,3.18,-0.807,-1.810,1,198,0
$FREEZE,2.82,-0.800,-1.810,1,198,0
$STATE,4487,end climb,SURFACE_DEPTH_REACHED
$STATE,4487,begin surface coast
$FREEZE,2.36,-0.784,-1.809,1,198,0
$FREEZE,1.77,-0.783,-1.809,1,198,0
$FREEZE,1.78,-0.744,-1.774,1,198,0
$FREEZE,1.76,-0.745,-0.920,1,198,0
$FREEZE,1.82,-0.707,-1.705,1,198,0
$FREEZE,1.74,-0.731,-1.788,1,198,0
$FINISH,1.7,1.026226
$STATE,4520,end surface coast,CONTROL_FINISHED_OK
$STATE,4520,begin surface
$SM_CCo,4541,131.10,0.064,0,0,750,559.04
$SM_GC,2.65,0.00,0.00,131.10,0.000,0.000,0.064,116,2497,750,-8.59,0.20,559.04
$RAFOS_CLK,298
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,070611,141446
$TT8_MAMPS,0.025466
$HUMID,46.18
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,62
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,22.4,110.223
$10V_AH,9.8,54.807
$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,25.500,43.125,328.800,131.100,0.000,98.450,17.380,0.000,15.750,0.000,185.283,1313.353,1925.517,578.575,1237.974,575.322,0.000,1127.086,0.000,930.409,0.000,2.615,0.000
$DEVICE_MAMPS,332.010,92.565,1044.990,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.461,415.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20078,571
$CAP_FILE_SIZE,68423,0
$CFSIZE,260165632,201773056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6