version: 66.08
glider: 141
mission: 15
dive: 865
start: 6 9 111 11 5 41
data:
$ID,141
$MISSION,15
$DIVE,865
$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,-75611.594
$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,21
$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
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-60.2
$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,17,-0.62,-146.0,0.0,0.0,0,144,0.00,0.00,-124.47,0.000,2,0.000,0.000,110,2496,2711,0,0,0,0,0,0
$GC,150,-0.62,-146.0,5.1,-9.5,22,199,13.77,2.42,-28.50,0.000,4,0.336,0.083,2654,1077,3628,0,0,0,0,0,0
$GC,360,-0.52,-146.0,38.8,-18.7,58,368,0.15,2.35,0.00,0.000,6,0.219,0.080,2689,2481,3630,0,0,0,0,0,0
$GC,708,-0.48,-146.0,89.6,-12.9,119,715,0.00,2.45,0.00,0.000,4,0.000,0.096,2689,3905,3629,0,0,0,0,0,0
$GC,812,-0.48,-146.0,102.5,-11.8,136,817,0.00,2.33,0.00,0.000,6,0.000,0.059,2690,2481,3629,0,0,0,0,0,0
$GC,1138,-0.48,-146.0,142.9,-12.5,166,1142,0.00,2.33,0.00,0.000,4,0.000,0.075,2690,1073,3627,0,0,0,0,0,0
$GC,1168,-0.48,-146.0,146.7,-12.9,168,1172,0.00,2.38,0.00,0.000,6,0.000,0.071,2690,2498,3628,0,0,0,0,0,0
$GC,1494,-0.48,-146.0,184.5,-11.4,198,1498,0.00,2.40,0.00,0.000,4,0.000,0.085,2689,3901,3627,0,0,0,0,0,0
$GC,1535,-0.51,-146.0,188.8,-10.2,201,1539,0.00,2.30,0.00,0.000,6,0.000,0.058,2689,2479,3627,0,0,0,0,0,0
$GC,1864,-0.81,-146.0,206.7,0.0,231,1870,0.25,0.00,0.00,0.000,6,0.104,0.000,2599,2479,3628,0,0,0,0,0,0
$STATE,1879,end dive,NO_VERTICAL_VELOCITY
$STATE,1879,begin apogee
$GC,1886,-0.12,0.0,206.7,0.0,233,2019,0.68,0.00,120.53,1.047,6,0.125,0.000,2819,2260,3030,0,0,0,0,0,0
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2023,0.62,146.0,206.7,0.0,245,2156,0.77,2.65,123.28,0.998,4,0.139,0.072,3054,3689,2433,0,0,0,0,0,0
$GC,2242,0.58,152.1,197.9,9.7,264,2253,0.00,2.38,6.07,0.748,6,0.000,0.059,3065,2286,2410,0,0,0,0,0,0
$GC,2574,0.59,156.6,166.3,9.8,295,2587,0.00,2.38,5.55,0.720,4,0.000,0.073,3076,859,2390,0,0,0,0,0,0
$GC,2594,0.59,160.9,164.3,9.8,296,2604,0.00,2.30,5.25,0.702,6,0.000,0.060,3076,2279,2374,0,0,0,0,0,0
$GC,2931,0.59,163.7,132.9,9.9,328,2943,0.00,2.35,4.28,0.636,4,0.000,0.073,3076,3699,2362,0,0,0,0,0,0
$GC,3006,0.54,163.7,124.4,11.6,334,3014,0.17,2.33,0.00,0.000,6,0.180,0.059,3041,2272,2362,0,0,0,0,0,0
$GC,3336,0.71,249.1,101.6,6.1,365,3415,0.15,0.00,74.05,0.925,6,0.093,0.000,3111,2272,2013,0,0,0,0,0,0
$GC,3756,0.71,249.1,56.1,10.9,437,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2271,2006,0,0,0,0,0,0
$GC,4102,0.74,249.1,20.0,10.1,498,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2272,2004,0,0,0,0,0,0
$FREEZE,8.67,-1.297,-1.817,0,228,0
$FREEZE,8.01,-1.297,-1.817,0,228,0
$FREEZE,7.51,-1.297,-1.816,0,228,0
$FREEZE,6.97,-1.295,-1.816,0,228,0
$FREEZE,6.39,-1.297,-1.815,0,228,0
$FREEZE,5.50,-1.295,-1.814,0,228,0
$FREEZE,4.86,-1.293,-1.814,0,228,0
$FREEZE,4.24,-1.295,-1.813,0,228,0
$FREEZE,3.57,-1.297,-1.812,0,228,0
$FREEZE,2.91,-1.300,-1.812,0,228,0
$STATE,4266,end climb,SURFACE_DEPTH_REACHED
$STATE,4266,begin surface coast
$FREEZE,2.36,-1.301,-1.811,0,228,0
$FREEZE,1.83,-1.299,-1.811,0,228,0
$FREEZE,1.70,-1.135,-1.791,0,228,0
$FREEZE,1.72,-1.163,-1.702,0,228,0
$FINISH,1.7,1.025009
$STATE,4290,end surface coast,CONTROL_FINISHED_OK
$STATE,4290,begin surface
$SM_CCo,4312,136.98,0.065,0,0,750,559.04
$SM_GC,2.64,0.00,0.00,136.98,0.000,0.000,0.065,116,2497,750,-8.59,0.20,559.04
$RAFOS_CLK,295
$RAFOS,1,1307621347,12.166667,12.151944,55,52,50,50,49,49,321,152,124,966,334,445
$RAFOS,0,1307620870,12.033333,12.019444,68,65,62,59,53,50,206,194,153,178,137,120
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.029211
$HUMID,61.57
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,22.3,113.303
$10V_AH,9.8,56.083
$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,24.625,34.025,339.000,136.975,0.000,99.614,55.540,0.000,14.000,0.000,183.288,1222.228,1887.796,574.765,1188.422,635.741,0.000,1080.741,0.000,845.872,1080.000,2.804,0.000
$DEVICE_MAMPS,335.835,95.625,1046.520,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.212,385.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20156,531
$CAP_FILE_SIZE,63675,0
$CFSIZE,260165632,200777728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6