version: 66.08
glider: 141
mission: 15
dive: 883
start: 6 10 111 13 24 52
data:
$ID,141
$MISSION,15
$DIVE,883
$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,-80039.469
$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,26
$R_STBD_OVSHOOT,29
$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,2.83
$_SM_ANGLEo,-47.4
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,168,0.00,0.00,-146.20,0.000,2,0.000,0.000,105,2495,3153,0,0,0,0,0,0
$GC,172,-0.62,-146.0,5.1,-5.2,26,203,13.62,2.33,-10.52,0.000,4,0.328,0.080,2657,1086,3628,0,0,0,0,0,0
$GC,222,-0.31,-146.0,21.4,-25.9,34,230,0.40,2.33,0.00,0.000,6,0.224,0.076,2755,2478,3629,0,0,0,0,0,0
$GC,570,-0.41,-146.0,54.0,-8.5,95,577,0.00,2.45,0.00,0.000,4,0.000,0.091,2754,3903,3630,0,0,0,0,0,0
$GC,637,-0.58,-146.0,59.0,-6.9,106,645,0.22,2.33,0.00,0.000,6,0.096,0.065,2674,2485,3630,0,0,0,0,0,0
$GC,988,-0.51,-146.0,106.3,-14.0,164,992,0.00,2.33,0.00,0.000,4,0.000,0.073,2674,1076,3629,0,0,0,0,0,0
$GC,1028,-0.49,-146.0,112.0,-13.3,167,1035,0.12,2.38,0.00,0.000,6,0.218,0.069,2700,2497,3629,0,0,0,0,0,0
$GC,1354,-0.51,-146.0,145.8,-10.6,198,1358,0.00,2.38,0.00,0.000,4,0.000,0.082,2700,3905,3628,0,0,0,0,0,0
$GC,1406,-0.57,-146.0,150.9,-9.6,202,1411,0.00,2.28,0.00,0.000,6,0.000,0.054,2700,2486,3628,0,0,0,0,0,0
$GC,1738,-0.60,-146.0,184.3,-10.2,233,1742,0.00,2.40,0.00,0.000,4,0.000,0.077,2700,3910,3628,0,0,0,0,0,0
$GC,1825,-0.67,-146.0,192.9,-10.3,240,1829,0.15,2.30,0.00,0.000,6,0.113,0.052,2649,2483,3628,0,0,0,0,0,0
$STATE,2084,end dive,NO_VERTICAL_VELOCITY
$STATE,2084,begin apogee
$GC,2091,-0.12,0.0,204.5,0.0,264,2223,0.52,0.00,120.43,1.034,6,0.145,0.000,2814,2257,3029,0,0,0,0,0,0
$STATE,2224,end apogee,CONTROL_FINISHED_OK
$STATE,2224,begin climb
$GC,2228,0.62,146.0,204.5,0.0,276,2365,0.80,2.65,122.72,0.985,4,0.154,0.070,3049,3698,2433,0,0,0,0,0,0
$GC,2425,0.61,162.8,196.1,9.2,294,2448,0.00,2.40,15.48,0.891,6,0.000,0.057,3059,2283,2366,0,0,0,0,0,0
$GC,2767,0.64,182.9,164.7,9.1,326,2791,0.00,2.40,18.08,0.897,4,0.000,0.073,3071,843,2283,0,0,0,0,0,0
$GC,2832,0.67,189.1,158.6,9.7,331,2844,0.00,2.35,6.60,0.757,6,0.000,0.057,3071,2291,2259,0,0,0,0,0,0
$GC,3164,0.68,198.1,127.1,9.6,362,3179,0.00,2.33,9.40,0.823,4,0.000,0.070,3071,3684,2222,0,0,0,0,0,0
$GC,3248,0.68,198.1,117.6,11.4,369,3255,0.00,2.28,0.00,0.000,6,0.000,0.055,3081,2268,2222,0,0,0,0,0,0
$GC,3584,0.69,209.5,84.3,9.5,414,3602,0.00,2.30,11.62,0.843,4,0.000,0.069,3092,860,2174,0,0,0,0,0,0
$GC,3673,0.74,219.4,75.8,9.5,429,3692,0.00,2.30,10.18,0.823,6,0.000,0.055,3091,2285,2134,0,0,0,0,0,0
$GC,4035,0.83,272.5,40.8,7.5,492,4072,0.12,0.00,33.38,0.955,6,0.103,0.000,3145,2285,1917,0,0,0,0,0,0
$FREEZE,9.00,-1.276,-1.802,0,246,0
$FREEZE,8.42,-1.283,-1.801,0,246,0
$FREEZE,7.91,-1.273,-1.801,0,246,0
$FREEZE,7.28,-1.281,-1.800,0,246,0
$FREEZE,6.59,-1.273,-1.800,0,246,0
$FREEZE,5.98,-1.294,-1.799,0,246,0
$FREEZE,5.32,-1.292,-1.798,0,246,0
$FREEZE,4.58,-1.302,-1.797,0,246,0
$FREEZE,3.77,-1.293,-1.797,0,246,0
$FREEZE,3.19,-1.304,-1.796,0,246,0
$FREEZE,2.72,-1.306,-1.795,0,246,0
$STATE,4355,end climb,SURFACE_DEPTH_REACHED
$STATE,4355,begin surface coast
$FREEZE,2.66,-1.315,-1.795,0,246,0
$FREEZE,2.68,-1.302,-1.794,0,246,0
$FREEZE,2.63,-1.295,-1.794,0,246,0
$FREEZE,2.39,-1.286,-1.793,0,246,0
$FINISH,2.4,1.026310
$STATE,4377,end surface coast,CONTROL_FINISHED_OK
$STATE,4377,begin surface
$SM_CCo,4519,126.82,0.067,0,0,750,559.04
$SM_GC,3.72,0.00,0.00,126.82,0.000,0.000,0.067,110,2497,750,-8.61,0.20,559.04
$RAFOS_CLK,303
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,77.64
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,22.4,115.141
$10V_AH,9.8,56.903
$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,25.950,43.125,347.875,126.825,0.000,98.741,17.443,0.000,9.250,0.000,183.285,1288.998,1966.463,580.948,1195.438,623.174,0.000,1120.451,0.000,889.701,0.000,2.615,0.000
$DEVICE_MAMPS,328.185,91.035,1034.280,66.555,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.364,404.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20147,553
$CAP_FILE_SIZE,68849,0
$CFSIZE,260165632,200130560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.4
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6