version: 66.08
glider: 141
mission: 15
dive: 858
start: 6 9 111 0 49 28
data:
$ID,141
$MISSION,15
$DIVE,858
$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,-73767.734
$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,22
$R_STBD_OVSHOOT,28
$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,2.76
$_SM_ANGLEo,-74.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,219,0.00,0.00,-199.12,0.000,6,0.000,0.000,114,2498,3626,0,0,0,0,0,0
$GC,223,-0.62,-146.0,3.1,0.0,35,242,13.02,2.35,0.00,0.000,4,0.317,0.063,2651,1078,3628,0,0,0,0,0,0
$GC,380,-0.51,-146.0,27.6,-18.5,62,388,0.17,2.35,0.00,0.000,6,0.223,0.078,2692,2485,3629,0,0,0,0,0,0
$GC,728,-0.47,-146.0,78.4,-13.6,123,735,0.00,2.40,0.00,0.000,4,0.000,0.085,2692,3905,3628,0,0,0,0,0,0
$GC,771,-0.47,-146.0,84.2,-12.7,130,778,0.00,2.30,0.00,0.000,6,0.000,0.057,2692,2486,3628,0,0,0,0,0,0
$GC,1105,-0.44,-146.0,128.5,-12.7,171,1110,0.00,2.40,0.00,0.000,4,0.000,0.082,2692,3900,3628,0,0,0,0,0,0
$GC,1141,-0.44,-146.0,132.8,-11.7,174,1145,0.00,2.30,0.00,0.000,6,0.000,0.056,2692,2481,3628,0,0,0,0,0,0
$GC,1472,-0.44,-146.0,171.9,-11.7,205,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2481,3627,0,0,0,0,0,0
$GC,1794,-0.57,-146.0,206.6,-5.8,235,1798,0.00,2.40,0.00,0.000,4,0.000,0.080,2692,3905,3627,0,0,0,0,0,0
$STATE,1927,end dive,NO_VERTICAL_VELOCITY
$STATE,1927,begin apogee
$GC,1936,-0.12,0.0,206.6,0.0,246,2064,0.38,0.00,120.28,1.047,6,0.129,0.000,2815,2273,3030,0,0,0,0,0,0
$STATE,2065,end apogee,CONTROL_FINISHED_OK
$STATE,2065,begin climb
$GC,2069,0.62,146.0,206.6,0.0,258,2199,0.77,0.00,123.50,0.998,6,0.138,0.000,3053,2273,2434,0,0,0,0,0,0
$GC,2518,0.74,210.0,181.2,7.0,300,2584,0.12,2.42,54.75,0.952,4,0.103,0.073,3109,3690,2170,0,0,0,0,0,0
$GC,2665,0.68,210.0,162.7,14.1,313,2670,0.15,2.33,0.00,0.000,6,0.190,0.059,3084,2267,2168,0,0,0,0,0,0
$GC,2991,0.71,210.0,126.5,10.6,343,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2266,2165,0,0,0,0,0,0
$GC,3315,0.77,230.0,96.4,9.1,376,3340,0.00,2.33,16.95,0.886,4,0.000,0.074,3091,864,2091,0,0,0,0,0,0
$GC,3354,0.85,246.5,92.4,9.2,382,3380,0.12,2.28,16.00,0.872,6,0.106,0.058,3148,2280,2024,0,0,0,0,0,0
$GC,3720,0.79,246.5,43.2,13.1,446,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2280,2020,0,0,0,0,0,0
$FREEZE,8.48,-0.858,-1.811,0,221,0
$FREEZE,7.75,-0.870,-1.811,0,221,0
$FREEZE,7.15,-0.842,-1.808,0,221,0
$FREEZE,6.39,-0.830,-1.807,0,221,0
$FREEZE,5.72,-0.828,-1.806,0,221,0
$FREEZE,4.96,-0.825,-1.805,0,221,0
$FREEZE,4.26,-0.826,-1.805,0,221,0
$FREEZE,3.75,-0.829,-1.804,0,221,0
$FREEZE,3.16,-0.829,-1.803,0,221,0
$FREEZE,2.56,-0.827,-1.803,0,221,0
$STATE,4040,end climb,SURFACE_DEPTH_REACHED
$STATE,4040,begin surface coast
$FREEZE,2.46,-0.815,-1.802,0,221,0
$FREEZE,2.43,-0.853,-1.804,0,221,0
$FREEZE,2.48,-0.736,-1.797,0,221,0
$FREEZE,2.49,-0.704,-1.795,0,221,0
$FREEZE,2.48,-0.757,-1.798,0,221,0
$FINISH,2.5,1.026358
$STATE,4069,end surface coast,CONTROL_FINISHED_OK
$STATE,4069,begin surface
$SM_CCo,4210,138.93,0.065,0,0,751,559.04
$SM_GC,2.76,0.00,0.00,138.93,0.000,0.000,0.065,114,2501,751,-8.60,0.31,559.04
$RAFOS_CLK,285
$RAFOS,6,1307580590,0.833333,0.830556,59,58,54,52,49,47,210,184,142,195,172,126
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026964
$HUMID,46.18
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.30
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,22.4,112.574
$10V_AH,9.8,55.760
$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,23.475,28.875,331.475,138.925,0.000,102.055,17.369,0.000,14.000,0.000,183.282,1176.349,1861.376,598.146,1109.085,619.388,0.000,1091.813,0.000,804.441,360.000,5.737,0.000
$DEVICE_MAMPS,317.475,84.915,1047.285,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.214,372.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20070,508
$CAP_FILE_SIZE,60233,0
$CFSIZE,260165632,201027584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6