version: 66.08
glider: 141
mission: 15
dive: 887
start: 6 10 111 19 8 53
data:
$ID,141
$MISSION,15
$DIVE,887
$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,-80776.625
$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,27
$R_STBD_OVSHOOT,25
$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,9.35
$_SM_ANGLEo,-2.6
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2895,3686,3023,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.6,-0.0,1,52,0.65,4.30,-14.65,0.000,4,0.138,0.063,2673,1074,3630,0,0,0,0,0,0
$GC,213,-0.56,-146.0,38.5,-15.0,33,220,0.00,2.30,0.00,0.000,6,0.000,0.061,2673,2486,3631,0,0,0,0,0,0
$GC,561,-0.53,-146.0,86.3,-13.7,94,568,0.00,2.38,0.00,0.000,4,0.000,0.077,2673,3899,3630,0,0,0,0,0,0
$GC,622,-0.55,-146.0,94.4,-11.8,104,629,0.00,2.28,0.00,0.000,6,0.000,0.057,2674,2479,3630,0,0,0,0,0,0
$GC,958,-0.55,-146.0,137.7,-12.6,139,962,0.00,2.28,0.00,0.000,4,0.000,0.066,2673,1083,3629,0,0,0,0,0,0
$GC,968,-0.55,-146.0,139.6,-12.8,139,975,0.00,2.30,0.00,0.000,6,0.000,0.062,2673,2491,3629,0,0,0,0,0,0
$GC,1296,-0.55,-146.0,178.4,-11.3,170,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2491,3628,0,0,0,0,0,0
$GC,1616,-0.79,-146.0,207.2,0.2,200,1621,0.20,2.30,0.00,0.000,4,0.100,0.067,2600,3902,3628,0,0,0,0,0,0
$GC,1713,-0.79,-146.0,207.2,0.5,208,1718,0.00,2.30,0.00,0.000,6,0.000,0.062,2599,2485,3627,0,0,0,0,0,0
$STATE,1728,end dive,NO_VERTICAL_VELOCITY
$STATE,1728,begin apogee
$GC,1737,-0.12,0.0,207.3,0.0,209,1863,0.68,0.00,119.10,1.017,6,0.137,0.000,2814,2250,3030,0,0,0,0,0,0
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1867,0.62,146.0,207.1,0.0,220,2000,0.80,2.62,122.18,0.967,4,0.151,0.070,3051,3682,2432,0,0,0,0,0,0
$GC,2063,0.91,351.4,206.6,0.5,237,2254,0.28,2.33,178.10,0.929,6,0.073,0.050,3162,2280,1595,0,0,0,0,0,0
$GC,2573,0.82,351.4,107.6,20.9,285,2578,0.12,2.33,0.00,0.000,4,0.210,0.067,3133,3698,1585,0,0,0,0,0,0
$GC,2692,0.82,351.4,86.5,16.8,302,2699,0.00,2.30,0.00,0.000,6,0.000,0.062,3140,2277,1583,0,0,0,0,0,0
$GC,3039,0.82,351.4,31.5,14.4,363,3046,0.00,2.30,0.00,0.000,4,0.000,0.071,3151,860,1583,0,0,0,0,0,0
$GC,3140,0.85,351.4,18.8,12.4,380,3147,0.00,2.30,0.00,0.000,6,0.000,0.065,3151,2278,1582,0,0,0,0,0,0
$FREEZE,8.55,-1.400,-1.801,0,250,2
$FREEZE,7.79,-1.391,-1.800,0,250,2
$FREEZE,7.07,-1.402,-1.800,0,250,2
$FREEZE,6.45,-1.418,-1.799,0,250,2
$FREEZE,5.70,-1.400,-1.798,0,250,2
$FREEZE,5.04,-1.427,-1.797,0,250,2
$FREEZE,4.26,-1.423,-1.797,0,250,2
$FREEZE,3.70,-1.432,-1.796,0,250,2
$FREEZE,3.79,-1.446,-1.796,0,250,2
$FREEZE,3.42,-1.446,-1.795,0,250,2
$FREEZE,3.26,-1.440,-1.795,0,250,2
$FREEZE,3.09,-1.255,-1.784,0,250,2
$FREEZE,2.98,-1.302,-1.787,0,250,2
$STATE,3277,end climb,SURFACE_DEPTH_REACHED
$STATE,3277,begin surface coast
$FREEZE,2.66,-1.451,-1.796,0,250,2
$FREEZE,2.44,-1.474,-1.796,0,250,2
$FREEZE,2.24,-1.488,-1.795,0,250,2
$FREEZE,2.08,-1.488,-1.795,0,250,2
$FREEZE,2.07,-1.456,-1.793,0,250,2
$FREEZE,1.98,-1.453,-1.793,0,250,2
$FREEZE,1.94,-1.448,-1.793,0,250,2
$FREEZE,2.04,-1.422,-1.792,0,250,2
$FREEZE,2.01,-1.449,-1.793,0,250,2
$FREEZE,2.00,-1.441,-1.793,0,250,2
$FREEZE,2.11,-1.363,-1.787,0,250,2
$FREEZE,1.91,-1.450,-1.793,0,250,2
$FREEZE,1.91,-1.446,-1.793,0,250,2
$FREEZE,1.84,-1.460,-1.794,0,250,2
$FREEZE,1.99,-1.429,-1.792,0,250,2
$FREEZE,1.90,-1.457,-1.794,0,250,2
$FREEZE,2.04,-1.413,-1.791,0,250,2
$FINISH,2.0,1.026282
$STATE,3368,end surface coast,CONTROL_FINISHED_OK
$STATE,3368,begin surface
$SM_CCo,3509,92.00,0.063,0,0,750,559.04
$SM_GC,2.61,0.00,0.00,92.00,0.000,0.000,0.063,108,2509,750,-8.61,0.54,559.04
$RAFOS_CLK,197
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.028462
$HUMID,78.78
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,22.4,115.557
$10V_AH,9.8,57.068
$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,11.625,35.300,419.375,92.000,0.000,0.000,0.000,0.000,5.000,0.000,0.000,1012.434,1374.324,466.816,701.931,112.403,0.000,907.785,0.000,703.890,360.000,2.618,0.000
$DEVICE_MAMPS,209.610,77.265,1016.685,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.690,305.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,16754,422
$CAP_FILE_SIZE,49704,0
$CFSIZE,260165632,199999488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6