version: 66.08
glider: 141
mission: 15
dive: 866
start: 6 9 111 12 41 41
data:
$ID,141
$MISSION,15
$DIVE,866
$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,-75980.172
$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,23
$R_STBD_OVSHOOT,23
$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,2.86
$_SM_ANGLEo,-65.7
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,236,0.00,0.00,-212.05,0.000,6,0.000,0.000,115,2497,3624,0,0,0,0,0,0
$GC,239,-0.62,-146.0,3.0,-0.1,38,259,13.88,2.47,0.00,0.000,4,0.337,0.086,2654,3900,3626,0,0,0,0,0,0
$GC,268,0.40,-146.0,3.5,-1.3,42,276,1.30,2.30,0.00,0.000,6,0.222,0.056,2981,2480,3626,0,0,0,0,0,0
$GC,616,0.01,-146.0,28.7,-8.9,103,623,0.35,2.35,0.00,0.000,4,0.132,0.081,2869,1074,3626,0,0,0,0,0,0
$GC,644,-0.28,-146.0,31.1,-8.8,107,651,0.28,2.38,0.00,0.000,6,0.112,0.076,2777,2490,3626,0,0,0,0,0,0
$GC,993,-0.59,-146.0,60.2,-7.8,168,1000,0.28,2.42,0.00,0.000,4,0.103,0.092,2675,3899,3625,0,0,0,0,0,0
$GC,1025,-0.65,-146.0,63.7,-10.3,173,1032,0.00,2.30,0.00,0.000,6,0.000,0.058,2675,2493,3625,0,0,0,0,0,0
$GC,1366,-0.59,-146.0,116.3,-14.8,224,1370,0.00,2.35,0.00,0.000,4,0.000,0.075,2675,1070,3624,0,0,0,0,0,0
$GC,1414,-0.59,-146.0,123.3,-14.3,228,1418,0.00,2.38,0.00,0.000,6,0.000,0.072,2675,2493,3625,0,0,0,0,0,0
$GC,1740,-0.55,-146.0,166.1,-12.2,258,1744,0.00,2.42,0.00,0.000,4,0.000,0.086,2674,3906,3623,0,0,0,0,0,0
$GC,1807,-0.55,-146.0,174.4,-11.2,263,1814,0.00,2.33,0.00,0.000,6,0.000,0.057,2675,2481,3623,0,0,0,0,0,0
$GC,2134,-0.76,-146.0,210.1,-2.2,294,2139,0.17,2.33,0.00,0.000,4,0.116,0.067,2614,1070,3623,0,0,0,0,0,0
$STATE,2263,end dive,NO_VERTICAL_VELOCITY
$STATE,2264,begin apogee
$GC,2273,-0.12,0.0,210.2,0.0,305,2400,0.65,0.00,120.05,1.057,6,0.135,0.000,2819,2286,3030,0,0,0,0,0,0
$STATE,2401,end apogee,CONTROL_FINISHED_OK
$STATE,2401,begin climb
$GC,2405,0.62,146.0,210.2,0.0,317,2540,0.77,2.62,124.20,1.006,4,0.145,0.076,3052,3693,2433,0,0,0,0,0,0
$GC,2669,0.58,149.7,197.3,9.8,340,2681,0.00,2.35,3.88,0.575,6,0.000,0.059,3063,2274,2419,0,0,0,0,0,0
$GC,3000,0.61,171.1,167.0,9.0,371,3026,0.00,2.42,19.50,0.923,4,0.000,0.073,3062,3694,2332,0,0,0,0,0,0
$GC,3058,0.58,171.1,161.6,10.9,376,3062,0.00,2.33,0.00,0.000,6,0.000,0.058,3073,2268,2332,0,0,0,0,0,0
$GC,3385,0.62,204.6,132.8,8.5,406,3422,0.00,2.45,29.80,0.927,4,0.000,0.071,3073,3696,2195,0,0,0,0,0,0
$GC,3452,0.62,204.6,126.4,10.8,412,3456,0.00,2.33,0.00,0.000,6,0.000,0.057,3083,2270,2194,0,0,0,0,0,0
$GC,3780,0.69,259.1,95.9,7.5,446,3834,0.00,2.42,47.60,0.916,4,0.000,0.073,3092,862,1973,0,0,0,0,0,0
$GC,3862,0.80,295.8,89.7,8.3,459,3904,0.00,2.30,33.10,0.891,6,0.000,0.057,3093,2284,1824,0,0,0,0,0,0
$GC,4245,0.94,337.6,58.2,8.1,526,4288,0.20,2.40,36.25,0.880,4,0.083,0.071,3175,3690,1652,0,0,0,0,0,0
$GC,4302,0.87,337.6,50.9,14.4,535,4310,0.15,2.33,0.00,0.000,6,0.200,0.066,3150,2272,1650,0,0,0,0,0,0
$FREEZE,8.45,-1.255,-1.816,0,229,0
$GC,4653,0.87,337.6,8.4,11.7,596,4660,0.00,2.33,0.00,0.000,4,0.000,0.083,3155,859,1646,0,0,0,0,0,0
$FREEZE,6.38,-1.259,-1.815,0,229,0
$FREEZE,5.65,-1.261,-1.814,0,229,0
$FREEZE,5.05,-1.263,-1.813,0,229,0
$FREEZE,4.50,-1.266,-1.813,0,229,0
$FREEZE,3.97,-1.275,-1.812,0,229,0
$FREEZE,3.42,-1.270,-1.812,0,229,0
$FREEZE,3.29,-1.290,-1.812,0,229,0
$FREEZE,3.34,-1.290,-1.811,0,229,0
$FREEZE,3.27,-1.289,-1.811,0,229,0
$FREEZE,3.27,-1.288,-1.811,0,229,0
$FREEZE,3.35,-1.303,-1.812,0,229,0
$FREEZE,3.26,-1.285,-1.811,0,229,0
$FREEZE,3.20,-1.282,-1.810,0,229,0
$FREEZE,3.23,-1.287,-1.811,0,229,0
$FREEZE,3.31,-1.288,-1.811,0,229,0
$FREEZE,3.24,-1.296,-1.812,0,229,0
$FREEZE,3.18,-1.309,-1.813,0,229,0
$FREEZE,3.18,-1.301,-1.812,0,229,0
$FREEZE,3.18,-1.299,-1.812,0,229,0
$FREEZE,3.20,-1.297,-1.812,0,229,0
$FREEZE,3.18,-1.291,-1.811,0,229,0
$FREEZE,3.17,-1.301,-1.812,0,229,0
$FREEZE,3.24,-1.295,-1.812,0,229,0
$FREEZE,3.07,-1.299,-1.812,0,229,0
$FREEZE,3.19,-1.301,-1.812,0,229,0
$FREEZE,3.20,-1.303,-1.812,0,229,0
$FREEZE,3.26,-1.284,-1.810,0,229,0
$FREEZE,3.19,-1.285,-1.810,0,229,0
$FREEZE,3.21,-1.278,-1.810,0,229,0
$FREEZE,3.12,-1.284,-1.810,0,229,0
$FREEZE,3.23,-1.289,-1.811,0,229,0
$FREEZE,3.14,-1.292,-1.811,0,229,0
$FREEZE,3.18,-1.291,-1.811,0,229,0
$FREEZE,3.22,-1.289,-1.811,0,229,0
$FREEZE,3.22,-1.289,-1.811,0,229,0
$STATE,4840,end climb,NO_VERTICAL_VELOCITY
$STATE,4840,begin surface
$SM_CCo,4844,107.00,0.821,0,0,750,559.04
$SM_GC,4.01,8.57,0.00,0.00,0.075,0.000,0.000,105,2491,737,-8.58,0.03,562.47
$RAFOS_CLK,341
$RAFOS,6,1307623744,12.833333,12.817778,69,60,56,54,53,52,824,199,116,135,186,208
$RAFOS,2,1307621821,12.300000,12.283611,65,62,52,52,50,47,201,210,127,144,178,167
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5700.94,090611,121243
$TT8_MAMPS,0.026215
$HUMID,68.70
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,22.2,113.450
$10V_AH,9.8,56.142
$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,26.600,57.100,414.375,107.000,0.000,93.455,61.221,0.000,13.250,0.000,183.287,1447.151,2239.675,658.321,1355.979,675.998,0.000,1285.059,0.000,1013.800,360.000,2.615,0.000
$DEVICE_MAMPS,336.600,91.800,1057.230,820.845,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.753,456.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23492,631
$CAP_FILE_SIZE,78211,0
$CFSIZE,260165632,200716288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$GPS,090611,123143,6709.499,-5700.938,0,10000.0,0,-37.6