version: 66.08
glider: 141
mission: 15
dive: 837
start: 6 7 111 21 7 12
data:
$ID,141
$MISSION,15
$DIVE,837
$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,-68966.234
$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,24
$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
$GPS1,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-74.7
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-160.57,0.000,2,0.000,0.000,116,2498,3290,0,0,0,0,0,0
$GC,183,-0.62,-146.0,5.9,-9.2,28,214,13.85,2.45,-7.28,0.000,4,0.334,0.098,2655,3899,3629,0,0,0,0,0,0
$GC,222,0.08,-146.0,20.5,-35.2,34,230,0.88,2.30,0.00,0.000,6,0.214,0.068,2879,2495,3631,0,0,0,0,0,0
$GC,571,-0.34,-146.0,50.8,-9.2,95,578,0.35,2.35,0.00,0.000,4,0.124,0.070,2761,1068,3631,0,0,0,0,0,0
$GC,616,-0.62,-146.0,54.5,-7.2,102,624,0.28,2.35,0.00,0.000,6,0.100,0.066,2665,2497,3631,0,0,0,0,0,0
$GC,968,-0.53,-146.0,107.9,-16.6,160,972,0.00,2.40,0.00,0.000,4,0.000,0.086,2665,3905,3630,0,0,0,0,0,0
$GC,1075,-0.50,-146.0,123.3,-13.6,169,1080,0.15,2.30,0.00,0.000,6,0.206,0.057,2699,2488,3630,0,0,0,0,0,0
$GC,1401,-0.52,-146.0,159.7,-10.3,199,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2488,3629,0,0,0,0,0,0
$GC,1725,-0.55,-146.0,191.8,-9.9,229,1729,0.00,2.40,0.00,0.000,4,0.000,0.081,2699,3899,3629,0,0,0,0,0,0
$GC,1744,-0.58,-146.0,194.3,-10.4,230,1748,0.00,2.28,0.00,0.000,6,0.000,0.055,2699,2486,3629,0,0,0,0,0,0
$STATE,2054,end dive,NO_VERTICAL_VELOCITY
$STATE,2054,begin apogee
$GC,2063,-0.12,0.0,207.6,0.0,259,2194,0.35,0.00,121.25,1.043,6,0.137,0.000,2816,2257,3029,0,0,0,0,0,0
$STATE,2195,end apogee,CONTROL_FINISHED_OK
$STATE,2195,begin climb
$GC,2198,0.62,146.0,207.6,0.0,271,2334,0.75,2.58,123.50,0.995,4,0.131,0.072,3050,3685,2432,0,0,0,0,0,0
$GC,2374,0.57,157.5,201.0,9.5,287,2393,0.00,2.40,11.05,0.870,6,0.000,0.059,3061,2280,2386,0,0,0,0,0,0
$GC,2711,0.59,175.5,170.1,9.2,319,2734,0.00,2.38,16.45,0.903,4,0.000,0.074,3072,863,2313,0,0,0,0,0,0
$GC,2781,0.60,184.3,163.3,9.6,325,2796,0.00,2.33,8.95,0.833,6,0.000,0.060,3071,2287,2277,0,0,0,0,0,0
$GC,3123,0.60,184.3,128.2,10.5,357,3127,0.00,2.30,0.00,0.000,4,0.000,0.073,3072,3697,2275,0,0,0,0,0,0
$GC,3242,0.57,184.3,114.5,11.4,367,3247,0.12,2.30,0.00,0.000,6,0.181,0.057,3051,2271,2276,0,0,0,0,0,0
$GC,3578,0.69,226.4,88.8,8.1,410,3621,0.10,2.40,36.95,0.913,4,0.119,0.072,3110,870,2107,0,0,0,0,0,0
$GC,3692,0.69,228.3,77.1,9.9,429,3699,0.00,2.30,0.00,0.000,6,0.000,0.058,3110,2278,2102,0,0,0,0,0,0
$GC,4039,0.72,251.3,42.1,8.9,490,4064,0.00,2.40,19.12,0.919,4,0.000,0.073,3110,3687,2004,0,0,0,0,0,0
$GC,4100,0.72,251.3,36.0,10.6,500,4107,0.00,2.30,0.00,0.000,6,0.000,0.061,3120,2276,2003,0,0,0,0,0,0
$FREEZE,8.62,-1.230,-1.819,1,200,2
$FREEZE,8.07,-1.193,-1.818,1,200,2
$FREEZE,7.52,-1.191,-1.818,1,200,2
$FREEZE,6.92,-1.129,-1.815,1,200,2
$FREEZE,6.33,-1.103,-1.815,1,200,2
$FREEZE,5.82,-1.093,-1.815,1,200,2
$FREEZE,5.27,-1.068,-1.814,1,200,2
$FREEZE,4.79,-1.033,-1.813,1,200,2
$FREEZE,4.19,-1.007,-1.812,1,200,2
$FREEZE,3.59,-1.006,-1.812,1,200,2
$FREEZE,3.10,-1.010,-1.812,1,200,2
$FREEZE,2.47,-0.999,-1.811,1,200,2
$STATE,4426,end climb,SURFACE_DEPTH_REACHED
$STATE,4426,begin surface coast
$FREEZE,1.80,-0.996,-1.811,1,200,2
$FREEZE,1.76,-0.953,-0.921,1,200,2
$FREEZE,1.79,-0.965,-0.843,1,200,2
$FREEZE,1.79,-0.968,-0.894,1,200,2
$FREEZE,1.75,-0.933,-0.935,1,200,2
$FINISH,1.7,1.013796
$STATE,4454,end surface coast,CONTROL_FINISHED_OK
$STATE,4454,begin surface
$SM_CCo,4499,135.95,0.065,0,0,750,559.04
$SM_GC,2.68,0.00,0.00,135.95,0.000,0.000,0.065,113,2504,750,-8.60,0.42,559.04
$RAFOS_CLK,304
$RAFOS,5,1307479265,20.700001,20.684723,67,64,63,60,58,58,191,219,172,209,148,200
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,070611,141446
$TT8_MAMPS,0.026215
$HUMID,45.62
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.3,110.431
$10V_AH,9.8,54.915
$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,25.475,43.225,337.275,135.950,0.000,99.075,33.077,0.000,12.250,0.000,185.272,1288.184,1944.431,587.478,1218.269,579.518,0.000,1120.905,0.000,896.875,0.000,2.615,0.000
$DEVICE_MAMPS,333.540,97.920,1043.460,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.795,410.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20130,563
$CAP_FILE_SIZE,67471,0
$CFSIZE,260165632,201703424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6