version: 66.08
glider: 141
mission: 15
dive: 856
start: 6 8 111 21 44 58
data:
$ID,141
$MISSION,15
$DIVE,856
$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,-73028.594
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-74.6
$GPS2,080611,141440,6703.953,-5642.035,181,99.0,181,-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,285.3,4655,-17.5,-10.000
$D_GRID,432
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,179,0.00,0.00,-156.95,0.000,2,0.000,0.000,109,2489,3255,0,0,0,0,0,0
$GC,182,-0.62,-146.0,6.1,-10.6,28,213,13.73,2.38,-7.47,0.000,4,0.332,0.081,2654,1084,3630,0,0,0,0,0,0
$GC,357,-0.50,-146.0,46.5,-17.6,58,364,0.17,2.35,0.00,0.000,6,0.220,0.077,2696,2488,3631,0,0,0,0,0,0
$GC,705,-0.46,-146.0,94.8,-13.2,119,712,0.00,2.38,0.00,0.000,4,0.000,0.083,2696,3899,3631,0,0,0,0,0,0
$GC,802,-0.46,-146.0,106.8,-11.5,131,809,0.00,2.28,0.00,0.000,6,0.000,0.056,2696,2486,3631,0,0,0,0,0,0
$GC,1129,-0.44,-146.0,146.4,-12.7,162,1133,0.00,2.30,0.00,0.000,4,0.000,0.071,2696,1075,3630,0,0,0,0,0,0
$GC,1169,-0.44,-146.0,151.4,-11.7,165,1173,0.00,2.33,0.00,0.000,6,0.000,0.067,2696,2493,3630,0,0,0,0,0,0
$GC,1494,-0.44,-146.0,190.5,-11.7,195,1498,0.00,2.38,0.00,0.000,4,0.000,0.082,2696,3906,3630,0,0,0,0,0,0
$GC,1541,-0.44,-146.0,196.0,-11.6,199,1545,0.00,2.28,0.00,0.000,6,0.000,0.050,2696,2483,3630,0,0,0,0,0,0
$STATE,1736,end dive,NO_VERTICAL_VELOCITY
$STATE,1736,begin apogee
$GC,1745,-0.12,0.0,198.9,0.0,217,1876,0.38,0.00,120.43,1.040,6,0.151,0.000,2816,2266,3030,0,0,0,0,0,0
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1880,0.62,146.0,199.0,0.0,229,2015,0.80,2.62,123.05,0.990,4,0.158,0.071,3050,3692,2433,0,0,0,0,0,0
$GC,2072,0.80,221.9,194.2,6.5,246,2144,0.20,2.38,66.32,0.952,6,0.083,0.056,3134,2284,2125,0,0,0,0,0,0
$GC,2462,0.76,221.9,146.8,12.6,283,2466,0.00,2.33,0.00,0.000,4,0.000,0.074,3145,868,2115,0,0,0,0,0,0
$GC,2526,0.73,221.9,139.0,12.4,288,2531,0.17,2.30,0.00,0.000,6,0.184,0.059,3101,2286,2113,0,0,0,0,0,0
$GC,2853,0.78,231.2,107.0,9.6,318,2865,0.00,2.38,7.53,0.783,4,0.000,0.073,3101,3686,2087,0,0,0,0,0,0
$GC,2906,0.81,231.2,101.1,11.3,322,2913,0.00,2.30,0.00,0.000,6,0.000,0.057,3109,2265,2086,0,0,0,0,0,0
$GC,3251,0.87,252.6,67.2,9.0,382,3282,0.10,2.38,20.10,0.890,4,0.116,0.073,3166,869,1999,0,0,0,0,0,0
$GC,3301,0.84,252.6,61.7,12.0,390,3308,0.12,2.30,0.00,0.000,6,0.194,0.067,3137,2280,1997,0,0,0,0,0,0
$GC,3651,0.87,255.2,25.5,9.9,451,3658,0.00,2.33,0.00,0.000,4,0.000,0.072,3136,3689,1996,0,0,0,0,0,0
$GC,3687,0.87,255.2,21.4,11.2,457,3694,0.00,2.28,0.00,0.000,6,0.000,0.056,3144,2275,1995,0,0,0,0,0,0
$FREEZE,8.60,-0.607,-1.808,0,219,0
$FREEZE,8.11,-0.605,-1.806,0,219,0
$FREEZE,7.42,-0.602,-1.805,0,219,0
$FREEZE,7.08,-0.599,-1.804,0,219,0
$FREEZE,6.60,-0.595,-1.803,0,219,0
$FREEZE,6.22,-0.594,-1.802,0,219,0
$FREEZE,5.83,-0.593,-1.802,0,219,0
$FREEZE,5.33,-0.593,-1.801,0,219,0
$FREEZE,4.82,-0.586,-1.801,0,219,0
$FREEZE,4.61,-0.577,-1.800,0,219,0
$FREEZE,4.16,-0.576,-1.799,0,219,0
$FREEZE,3.82,-0.566,-1.798,0,219,0
$FREEZE,3.43,-0.561,-1.798,0,219,0
$FREEZE,3.02,-0.565,-1.798,0,219,0
$FREEZE,2.59,-0.562,-1.797,0,219,0
$STATE,3892,end climb,SURFACE_DEPTH_REACHED
$STATE,3892,begin surface coast
$FREEZE,2.17,-0.559,-1.797,0,219,0
$FREEZE,2.14,-0.388,-1.776,0,219,0
$FREEZE,2.13,-0.437,-0.316,0,219,0
$FREEZE,2.03,-0.363,-0.470,0,219,0
$FREEZE,2.11,-0.423,-0.116,0,219,0
$FREEZE,2.07,-0.419,-1.002,0,219,0
$FREEZE,2.05,-0.454,-0.889,0,219,0
$FINISH,2.1,1.013107
$STATE,3931,end surface coast,CONTROL_FINISHED_OK
$STATE,3932,begin surface
$SM_CCo,4073,135.90,0.065,0,0,750,559.04
$SM_GC,2.94,0.00,0.00,135.90,0.000,0.000,0.065,115,2505,750,-8.59,0.42,559.04
$RAFOS_CLK,279
$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,46.49
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.70
$XPDR_PINGS,48
$ALTIM_TOP_PING,20.0,18.2
$24V_AH,22.5,112.376
$10V_AH,9.8,55.659
$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,24.450,42.925,337.425,135.900,0.000,99.419,27.698,0.000,12.250,0.000,183.282,1163.259,1740.887,584.066,1126.905,625.987,0.000,1095.942,0.000,814.718,0.000,2.620,0.000
$DEVICE_MAMPS,332.010,83.385,1039.635,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.553,366.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,501
$CAP_FILE_SIZE,64494,0
$CFSIZE,260165632,201097216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6