version: 66.08
glider: 141
mission: 15
dive: 853
start: 6 8 111 17 32 9
data:
$ID,141
$MISSION,15
$DIVE,853
$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,-71921.875
$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,32
$R_STBD_OVSHOOT,24
$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,2.90
$_SM_ANGLEo,-77.2
$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,-102.9,0.0,0.0,0,169,0.00,0.00,-147.35,0.000,2,0.000,0.000,117,2477,3188,0,0,0,0,0,0
$GC,173,-0.68,-121.2,6.1,-8.8,26,198,13.73,0.00,-6.62,0.000,6,0.331,0.000,2637,2476,3528,0,0,0,0,0,0
$GC,537,-0.47,-121.2,105.1,-23.9,88,542,0.25,2.38,0.00,0.000,4,0.237,0.073,2701,3897,3530,0,0,0,0,0,0
$GC,571,-0.37,-121.2,112.3,-19.2,90,578,0.15,2.20,0.00,0.000,6,0.218,0.050,2735,2496,3529,0,0,0,0,0,0
$GC,897,-0.37,-121.2,157.0,-13.6,121,901,0.00,2.33,0.00,0.000,4,0.000,0.068,2735,1074,3530,0,0,0,0,0,0
$GC,938,-0.41,-121.2,162.4,-13.1,124,942,0.00,2.33,0.00,0.000,6,0.000,0.065,2735,2493,3530,0,0,0,0,0,0
$GC,1264,-0.80,-146.0,191.2,-0.1,154,1269,0.35,2.38,0.00,0.000,4,0.090,0.078,2603,3909,3530,0,0,0,0,0,0
$STATE,1330,end dive,NO_VERTICAL_VELOCITY
$STATE,1330,begin apogee
$GC,1341,-0.12,0.0,191.1,0.0,159,1448,0.68,0.00,100.82,1.031,6,0.141,0.000,2814,2276,3030,0,0,0,0,0,0
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1452,0.71,146.0,191.2,0.0,169,1586,0.88,2.55,122.25,0.985,4,0.136,0.072,3095,865,2433,0,0,0,0,0,0
$GC,1739,0.93,206.2,177.0,6.1,194,1800,0.20,2.33,51.17,0.941,6,0.086,0.068,3178,2278,2188,0,0,0,0,0,0
$GC,2118,0.93,206.2,128.5,12.8,230,2122,0.00,2.30,0.00,0.000,4,0.000,0.073,3178,3691,2180,0,0,0,0,0,0
$GC,2197,0.88,206.2,116.8,15.4,236,2204,0.15,2.28,0.00,0.000,6,0.205,0.057,3152,2269,2179,0,0,0,0,0,0
$GC,2533,0.93,206.2,80.1,11.2,283,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2269,2179,0,0,0,0,0,0
$GC,2880,1.00,214.7,45.2,9.4,344,2894,0.10,2.38,7.22,0.770,4,0.121,0.071,3200,865,2153,0,0,0,0,0,0
$GC,2947,1.00,214.7,37.6,12.1,355,2954,0.00,2.28,0.00,0.000,6,0.000,0.060,3201,2278,2153,0,0,0,0,0,0
$FREEZE,8.82,-0.788,-1.799,0,216,0
$FREEZE,8.14,-0.779,-1.797,0,216,0
$FREEZE,7.71,-0.779,-1.797,0,216,0
$FREEZE,7.23,-0.778,-1.796,0,216,0
$FREEZE,6.71,-0.779,-1.796,0,216,0
$FREEZE,6.13,-0.772,-1.795,0,216,0
$FREEZE,5.59,-0.773,-1.794,0,216,0
$FREEZE,5.13,-0.783,-1.794,0,216,0
$FREEZE,4.58,-0.789,-1.793,0,216,0
$FREEZE,4.01,-0.798,-1.792,0,216,0
$FREEZE,3.82,-0.469,-1.772,0,216,0
$FREEZE,3.83,-0.526,-1.775,0,216,0
$FREEZE,3.77,-0.791,-1.791,0,216,0
$FREEZE,3.86,-0.784,-1.791,0,216,0
$FREEZE,3.88,-0.817,-1.793,0,216,0
$FREEZE,3.83,-0.839,-1.795,0,216,0
$FREEZE,3.91,-0.736,-1.789,0,216,0
$FREEZE,3.86,-0.745,-1.790,0,216,0
$FREEZE,3.93,-0.771,-1.791,0,216,0
$FREEZE,3.87,-0.765,-1.791,0,216,0
$FREEZE,3.91,-0.776,-1.791,0,216,0
$FREEZE,3.92,-0.792,-1.792,0,216,0
$FREEZE,3.90,-0.795,-1.793,0,216,0
$FREEZE,3.94,-0.809,-1.793,0,216,0
$FREEZE,3.91,-0.789,-1.792,0,216,0
$FREEZE,3.96,-0.793,-1.792,0,216,0
$FREEZE,3.97,-0.801,-1.790,0,216,0
$FREEZE,4.00,-0.801,-1.789,0,216,0
$FREEZE,4.03,-0.787,-1.788,0,216,0
$GC,3291,1.49,372.1,3.9,-0.3,416,3382,0.38,2.45,76.82,0.831,4,0.144,0.070,3344,870,1511,0,0,0,0,0,0
$FREEZE,4.13,-0.794,-1.788,0,216,0
$FREEZE,3.95,-0.917,-1.795,0,216,0
$FREEZE,3.95,-0.917,-1.795,0,216,0
$STATE,3394,end climb,NO_VERTICAL_VELOCITY
$STATE,3394,begin surface
$SM_CCo,3398,89.30,0.799,0,0,750,559.04
$SM_GC,4.05,9.75,0.00,0.00,0.111,0.000,0.000,109,2495,736,-8.57,0.14,562.72
$RAFOS_CLK,257
$RAFOS,5,1307551265,16.700001,16.684723,56,56,55,54,47,47,215,235,161,202,113,137
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026215
$HUMID,48.66
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.40
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.8,111.989
$10V_AH,9.8,55.522
$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,26.600,33.500,358.300,89.300,0.000,92.606,42.562,0.000,10.500,0.000,183.288,1012.354,1694.977,541.044,1039.134,597.148,0.000,1002.100,0.000,717.424,0.000,2.815,0.000
$DEVICE_MAMPS,331.245,78.030,1031.220,799.425,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.377,311.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,16772,430
$CAP_FILE_SIZE,58380,0
$CFSIZE,260165632,201195520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,080611,141440,6703.953,-5642.035,0,10000.0,0,-37.6