version: 66.08
glider: 141
mission: 15
dive: 888
start: 6 10 111 20 28 37
data:
$ID,141
$MISSION,15
$DIVE,888
$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,-81145.203
$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,23
$R_STBD_OVSHOOT,32
$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,2.77
$_SM_ANGLEo,-73.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,175,0.00,0.00,-155.35,0.000,2,0.000,0.000,107,2511,3167,0,0,0,0,0,0
$GC,179,-0.62,-146.0,5.4,-7.1,27,210,13.60,2.38,-10.32,0.000,4,0.330,0.080,2657,1081,3629,0,0,0,0,0,0
$GC,392,-0.57,-146.0,48.9,-15.5,64,399,0.00,2.35,0.00,0.000,6,0.000,0.076,2657,2486,3631,0,0,0,0,0,0
$GC,739,-0.50,-146.0,102.2,-14.9,124,744,0.15,2.40,0.00,0.000,4,0.218,0.081,2694,3899,3629,0,0,0,0,0,0
$GC,818,-0.55,-146.0,111.9,-10.5,130,825,0.00,2.28,0.00,0.000,6,0.000,0.052,2694,2477,3629,0,0,0,0,0,0
$GC,1146,-0.58,-146.0,146.1,-10.1,161,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2477,3629,0,0,0,0,0,0
$GC,1465,-0.61,-146.0,177.6,-9.8,191,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2477,3628,0,0,0,0,0,0
$GC,1797,-0.88,-146.0,203.8,-0.1,222,1803,0.30,0.00,0.00,0.000,6,0.096,0.000,2582,2477,3629,0,0,0,0,0,0
$STATE,1907,end dive,NO_VERTICAL_VELOCITY
$STATE,1907,begin apogee
$GC,1915,-0.12,0.0,203.7,0.0,233,2047,0.73,0.00,120.55,1.025,6,0.127,0.000,2814,2265,3030,0,0,0,0,0,0
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2051,0.62,146.0,203.7,0.0,245,2185,0.77,2.53,122.72,0.977,4,0.129,0.067,3056,3689,2432,0,0,0,0,0,0
$GC,2416,0.57,146.0,175.8,11.1,277,2423,0.00,2.28,0.00,0.000,6,0.000,0.054,3067,2279,2428,0,0,0,0,0,0
$GC,2743,0.57,164.9,145.8,9.1,308,2766,0.00,2.33,16.23,0.887,4,0.000,0.069,3078,869,2357,0,0,0,0,0,0
$GC,2839,0.60,186.2,136.8,9.0,316,2868,0.00,2.30,19.50,0.894,6,0.000,0.063,3078,2288,2269,0,0,0,0,0,0
$GC,3187,0.61,198.5,103.0,9.4,349,3203,0.00,2.28,11.73,0.843,4,0.000,0.068,3078,3685,2220,0,0,0,0,0,0
$GC,3280,0.59,198.5,92.7,11.6,362,3287,0.12,2.28,0.00,0.000,6,0.185,0.062,3057,2269,2219,0,0,0,0,0,0
$GC,3630,0.72,260.0,64.4,7.2,423,3689,0.12,2.38,53.53,0.892,4,0.099,0.067,3126,868,1970,0,0,0,0,0,0
$GC,3731,0.72,260.0,52.8,12.2,440,3738,0.00,2.28,0.00,0.000,6,0.000,0.054,3126,2278,1966,0,0,0,0,0,0
$GC,4080,0.70,260.0,11.7,11.5,501,4088,0.12,2.33,0.00,0.000,4,0.187,0.073,3103,859,1962,0,0,0,0,0,0
$FREEZE,8.46,-1.354,-1.802,0,251,0
$FREEZE,8.12,-1.359,-1.802,0,251,0
$FREEZE,7.59,-1.356,-1.801,0,251,0
$FREEZE,7.23,-1.358,-1.801,0,251,0
$FREEZE,6.90,-1.363,-1.801,0,251,0
$FREEZE,6.45,-1.363,-1.800,0,251,0
$FREEZE,6.15,-1.367,-1.799,0,251,0
$FREEZE,5.78,-1.364,-1.799,0,251,0
$FREEZE,5.40,-1.364,-1.799,0,251,0
$FREEZE,5.04,-1.361,-1.798,0,251,0
$FREEZE,4.58,-1.361,-1.798,0,251,0
$FREEZE,4.16,-1.358,-1.797,0,251,0
$FREEZE,3.56,-1.358,-1.797,0,251,0
$FREEZE,3.26,-1.357,-1.797,0,251,0
$FREEZE,2.75,-1.358,-1.796,0,251,0
$STATE,4179,end climb,SURFACE_DEPTH_REACHED
$STATE,4179,begin surface coast
$FREEZE,2.25,-1.357,-1.796,0,251,0
$FREEZE,1.81,-1.357,-1.796,0,251,0
$FREEZE,1.94,-1.346,-0.955,0,251,0
$FINISH,1.9,1.014081
$STATE,4196,end surface coast,CONTROL_FINISHED_OK
$STATE,4196,begin surface
$SM_CCo,4340,132.70,0.065,0,0,750,559.04
$SM_GC,2.80,0.00,0.00,132.70,0.000,0.000,0.065,110,2495,750,-8.61,0.14,559.04
$RAFOS_CLK,286
$RAFOS,6,1307738943,20.833334,20.817499,63,60,59,56,55,50,193,216,151,207,116,127
$RAFOS,5,1307738466,20.700001,20.684999,69,64,61,53,53,51,184,215,147,115,171,132
$RAFOS,4,1307737982,20.566668,20.550556,65,56,56,54,52,52,206,181,124,190,164,226
$RAFOS,0,1307736064,20.033333,20.017778,63,60,60,60,53,52,212,157,201,148,186,173
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.034454
$HUMID,77.56
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.30
$XPDR_PINGS,35
$ALTIM_TOP_PING,20.0,19.4
$24V_AH,22.6,115.659
$10V_AH,9.8,57.119
$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,24.550,33.350,344.250,132.700,0.000,98.328,17.453,0.000,9.000,0.000,183.288,1205.591,1918.131,582.419,1157.994,550.036,0.000,1105.689,0.000,851.054,1080.000,2.620,0.000
$DEVICE_MAMPS,329.715,81.090,1025.100,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.577,378.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,522
$CAP_FILE_SIZE,63152,0
$CFSIZE,260165632,199954432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6