version: 66.08
glider: 141
mission: 15
dive: 848
start: 6 8 111 11 24 56
data:
$ID,141
$MISSION,15
$DIVE,848
$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,-70816.141
$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,29
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.2
$GPS2,080611,032949,6703.953,-5649.833,181,99.0,181,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,-0.65,-102.9,0.0,0.0,0,170,0.00,0.00,-147.77,0.000,2,0.000,0.000,115,2480,3170,0,0,0,0,0,0
$GC,173,-0.71,-146.0,5.4,-6.1,26,205,13.40,2.42,-9.70,0.000,4,0.329,0.090,2624,3903,3630,0,0,0,0,0,0
$GC,236,-0.48,-146.0,25.9,-27.6,36,243,0.30,2.25,0.00,0.000,6,0.219,0.060,2699,2490,3631,0,0,0,0,0,0
$GC,583,-0.48,-146.0,80.2,-14.0,97,590,0.00,2.28,0.00,0.000,4,0.000,0.066,2700,1077,3630,0,0,0,0,0,0
$GC,644,-0.54,-146.0,89.1,-14.3,107,650,0.00,2.33,0.00,0.000,6,0.000,0.063,2700,2491,3631,0,0,0,0,0,0
$GC,982,-0.57,-146.0,135.8,-13.7,145,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2491,3630,0,0,0,0,0,0
$GC,1303,-0.60,-146.0,176.1,-12.0,175,1307,0.00,2.38,0.00,0.000,4,0.000,0.080,2700,3905,3629,0,0,0,0,0,0
$GC,1355,-0.70,-146.0,183.0,-12.0,179,1360,0.17,2.22,0.00,0.000,6,0.109,0.048,2639,2487,3629,0,0,0,0,0,0
$STATE,1646,end dive,NO_VERTICAL_VELOCITY
$STATE,1646,begin apogee
$GC,1653,-0.12,0.0,203.0,0.0,206,1786,0.55,0.00,120.53,1.050,6,0.129,0.000,2818,2256,3029,0,0,0,0,0,0
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1790,0.71,146.0,203.0,0.0,218,1923,0.85,2.58,122.40,0.997,4,0.142,0.068,3078,3696,2434,0,0,0,0,0,0
$GC,2075,0.97,206.2,192.7,6.1,243,2133,0.25,2.28,51.65,0.950,6,0.081,0.054,3178,2282,2189,0,0,0,0,0,0
$GC,2450,0.97,206.2,149.5,12.6,278,2455,0.00,2.33,0.00,0.000,4,0.000,0.071,3190,864,2182,0,0,0,0,0,0
$GC,2495,1.00,206.2,143.7,12.7,281,2502,0.00,2.30,0.00,0.000,6,0.000,0.056,3190,2291,2180,0,0,0,0,0,0
$GC,2821,1.00,206.2,101.9,13.0,312,2825,0.00,2.25,0.00,0.000,4,0.000,0.070,3190,3682,2180,0,0,0,0,0,0
$GC,2862,0.97,206.2,96.1,14.3,317,2868,0.00,2.28,0.00,0.000,6,0.000,0.064,3199,2264,2180,0,0,0,0,0,0
$GC,3209,0.94,206.2,52.2,13.2,378,3217,0.12,2.30,0.00,0.000,4,0.223,0.070,3179,861,2179,0,0,0,0,0,0
$GC,3321,1.00,206.2,39.9,10.7,397,3328,0.00,2.28,0.00,0.000,6,0.000,0.063,3179,2280,2178,0,0,0,0,0,0
$FREEZE,8.95,-0.381,-1.813,0,211,0
$FREEZE,8.01,-0.438,-1.813,0,211,0
$GC,3670,1.09,228.8,8.9,8.5,458,3685,0.10,2.38,10.07,0.805,4,0.122,0.070,3219,3690,2096,0,0,0,0,0,0
$FREEZE,6.46,-0.582,-1.807,0,211,0
$FREEZE,5.80,-0.597,-1.805,0,211,0
$FREEZE,5.20,-0.601,-1.804,0,211,0
$FREEZE,4.76,-0.605,-1.803,0,211,0
$FREEZE,4.14,-0.612,-1.802,0,211,0
$FREEZE,3.62,-0.625,-1.800,0,211,0
$FREEZE,3.01,-0.626,-1.799,0,211,0
$FREEZE,2.42,-0.624,-1.798,0,211,0
$STATE,3728,end climb,SURFACE_DEPTH_REACHED
$STATE,3729,begin surface coast
$FREEZE,2.09,-0.599,-0.830,0,211,0
$FREEZE,1.96,-0.597,-0.085,0,211,0
$FREEZE,2.02,-0.477,-0.839,0,211,0
$FREEZE,2.09,-0.598,-0.104,0,211,0
$FREEZE,2.02,-0.528,-0.216,0,211,0
$FINISH,2.0,1.003000
$STATE,3756,end surface coast,CONTROL_FINISHED_OK
$STATE,3756,begin surface
$SM_CCo,3899,145.70,0.065,0,0,750,559.04
$SM_GC,2.91,0.00,0.00,145.70,0.000,0.000,0.065,111,2486,750,-8.60,-0.11,559.04
$RAFOS_CLK,261
$RAFOS,2,1307535424,12.300000,12.284445,65,64,55,52,52,48,205,186,214,165,233,127
$RAFOS,1,1307534944,12.166667,12.151111,63,62,58,52,50,48,182,215,152,192,227,243
$RAFOS,0,1307534467,12.033333,12.018611,57,56,52,50,49,49,215,185,199,147,174,121
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.80
$XPDR_PINGS,58
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.6,111.435
$10V_AH,9.8,55.338
$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,24.800,37.125,304.650,145.700,0.000,100.712,17.332,0.000,14.750,0.000,183.286,1119.955,1699.007,558.319,1068.297,598.484,0.000,1027.610,0.000,765.084,1440.000,2.816,0.000
$DEVICE_MAMPS,328.950,89.505,1050.345,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.823,343.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,16803,473
$CAP_FILE_SIZE,60601,0
$CFSIZE,260165632,201342976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6