version: 66.08
glider: 141
mission: 15
dive: 881
start: 6 10 111 10 19 59
data:
$ID,141
$MISSION,15
$DIVE,881
$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,-79300.32
$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,30
$R_STBD_OVSHOOT,37
$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,2.69
$_SM_ANGLEo,-71.8
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,174,0.00,0.00,-152.18,0.000,2,0.000,0.000,105,2509,3133,0,0,0,0,0,0
$GC,178,-0.62,-146.0,5.4,-7.4,27,209,13.50,2.35,-10.90,0.000,4,0.329,0.080,2655,1084,3629,0,0,0,0,0,0
$GC,252,-0.50,-146.0,25.7,-20.0,39,260,0.17,2.30,0.00,0.000,6,0.216,0.074,2697,2475,3630,0,0,0,0,0,0
$GC,599,-0.50,-146.0,79.9,-13.3,100,606,0.00,2.40,0.00,0.000,4,0.000,0.080,2696,3898,3629,0,0,0,0,0,0
$GC,655,-0.53,-146.0,86.8,-11.7,109,662,0.00,2.28,0.00,0.000,6,0.000,0.054,2697,2488,3629,0,0,0,0,0,0
$GC,993,-0.53,-146.0,124.3,-11.0,150,998,0.00,2.33,0.00,0.000,4,0.000,0.071,2697,1081,3629,0,0,0,0,0,0
$GC,1017,-0.53,-146.0,127.1,-11.8,151,1023,0.00,2.33,0.00,0.000,6,0.000,0.065,2697,2487,3628,0,0,0,0,0,0
$GC,1342,-0.53,-146.0,162.9,-10.4,182,1346,0.00,2.38,0.00,0.000,4,0.000,0.080,2697,3899,3628,0,0,0,0,0,0
$GC,1371,-0.56,-146.0,166.0,-11.2,184,1378,0.00,2.28,0.00,0.000,6,0.000,0.052,2697,2485,3628,0,0,0,0,0,0
$GC,1698,-0.58,-146.0,198.1,-10.0,215,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2485,3628,0,0,0,0,0,0
$STATE,1928,end dive,NO_VERTICAL_VELOCITY
$STATE,1928,begin apogee
$GC,1936,-0.12,0.0,204.1,0.0,237,2063,0.35,0.03,120.32,1.038,6,0.132,0.201,2815,2292,3030,0,0,0,0,0,0
$STATE,2064,end apogee,CONTROL_FINISHED_OK
$STATE,2064,begin climb
$GC,2068,0.62,146.0,204.1,0.0,248,2203,0.77,2.50,123.18,0.988,4,0.129,0.070,3056,3670,2433,0,0,0,0,0,0
$GC,2234,0.59,183.0,199.3,8.3,263,2274,0.00,2.38,33.22,0.936,6,0.000,0.055,3066,2283,2284,0,0,0,0,0,0
$GC,2592,0.59,183.0,164.3,10.1,297,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2283,2278,0,0,0,0,0,0
$GC,2915,0.65,213.0,134.7,8.6,327,2943,0.00,0.00,26.05,0.910,6,0.000,0.000,3066,2283,2161,0,0,0,0,0,0
$GC,3262,0.71,226.9,101.6,9.4,360,3284,0.00,2.40,13.00,0.855,4,0.000,0.070,3077,868,2104,0,0,0,0,0,0
$GC,3350,0.79,237.6,93.4,9.5,373,3370,0.12,2.25,10.80,0.835,6,0.107,0.054,3131,2270,2061,0,0,0,0,0,0
$GC,3710,0.77,237.6,48.6,12.8,436,3717,0.00,2.33,0.00,0.000,4,0.000,0.069,3131,3689,2058,0,0,0,0,0,0
$GC,3759,0.71,237.6,41.3,15.5,444,3767,0.17,2.28,0.00,0.000,6,0.183,0.053,3096,2268,2058,0,0,0,0,0,0
$FREEZE,8.51,-1.168,-1.811,0,244,0
$FREEZE,7.67,-1.171,-1.810,0,244,0
$FREEZE,6.74,-1.168,-1.809,0,244,0
$FREEZE,6.07,-1.169,-1.809,0,244,0
$GC,4111,0.89,326.6,10.4,5.9,505,4159,0.15,0.00,44.33,0.835,6,0.098,0.000,3158,2267,1697,0,0,0,0,0,0
$FREEZE,3.89,-1.155,-1.807,0,244,0
$FREEZE,3.08,-1.161,-1.806,0,244,0
$FREEZE,2.29,-1.160,-1.806,0,244,0
$STATE,4175,end climb,SURFACE_DEPTH_REACHED
$STATE,4175,begin surface coast
$FREEZE,1.93,-1.108,-1.803,0,244,0
$FREEZE,2.05,-1.150,-1.805,0,244,0
$FREEZE,2.08,-1.161,-1.805,0,244,0
$FREEZE,1.92,-1.137,-1.805,0,244,0
$FINISH,1.9,1.026472
$STATE,4200,end surface coast,CONTROL_FINISHED_OK
$STATE,4200,begin surface
$SM_CCo,4238,101.35,0.066,0,0,750,559.04
$SM_GC,2.67,0.00,0.00,101.35,0.000,0.000,0.066,107,2501,750,-8.62,0.31,559.04
$RAFOS_CLK,282
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,75.95
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,22.4,114.938
$10V_AH,9.8,56.799
$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,23.800,33.500,370.900,101.350,0.000,98.437,17.409,0.000,10.750,0.000,183.286,1172.240,1876.640,586.364,1094.917,620.615,0.000,1066.676,0.000,792.935,0.000,2.614,0.000
$DEVICE_MAMPS,328.950,201.195,1038.105,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.062,379.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20130,519
$CAP_FILE_SIZE,61682,0
$CFSIZE,260165632,200208384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6