version: 66.08
glider: 141
mission: 15
dive: 874
start: 6 10 111 0 22 53
data:
$ID,141
$MISSION,15
$DIVE,874
$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,-77825.047
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,090611,173745,6709.499,-5819.472,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.8
$GPS2,090611,173745,6709.499,-5819.472,181,99.0,181,-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,137.9,67143,-17.5,-10.000
$D_GRID,1158
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-153.88,0.000,2,0.000,0.000,109,2498,3137,0,0,0,0,0,0
$GC,180,-0.62,-146.0,5.0,-6.4,27,211,13.68,2.42,-10.75,0.000,4,0.331,0.091,2654,3894,3628,0,0,0,0,0,0
$GC,361,-0.56,-146.0,44.1,-14.6,58,368,0.00,2.28,0.00,0.000,6,0.000,0.055,2654,2494,3630,0,0,0,0,0,0
$GC,712,-0.46,-146.0,104.3,-17.1,118,717,0.22,2.35,0.00,0.000,4,0.212,0.070,2713,1083,3629,0,0,0,0,0,0
$GC,726,-0.36,-146.0,106.7,-16.7,118,733,0.12,2.33,0.00,0.000,6,0.221,0.067,2739,2485,3629,0,0,0,0,0,0
$GC,1052,-0.46,-146.0,133.4,-6.9,149,1056,0.00,2.40,0.00,0.000,4,0.000,0.083,2738,3903,3628,0,0,0,0,0,0
$GC,1081,-0.59,-146.0,135.6,-7.3,151,1088,0.20,2.30,0.00,0.000,6,0.095,0.055,2667,2480,3628,0,0,0,0,0,0
$GC,1407,-0.54,-146.0,177.9,-13.6,182,1411,0.00,2.30,0.00,0.000,4,0.000,0.070,2667,1073,3627,0,0,0,0,0,0
$GC,1420,-0.50,-146.0,179.6,-13.3,183,1425,0.12,2.33,0.00,0.000,6,0.213,0.066,2694,2491,3628,0,0,0,0,0,0
$GC,1747,-0.92,-146.0,208.5,0.2,213,1749,0.38,0.00,0.00,0.000,6,0.107,0.000,2572,2491,3629,0,0,0,0,0,0
$STATE,1860,end dive,NO_VERTICAL_VELOCITY
$STATE,1860,begin apogee
$GC,1867,-0.12,0.0,208.5,0.0,224,2001,0.70,0.00,120.40,1.043,6,0.094,0.000,2820,2261,3030,0,0,0,0,0,0
$STATE,2001,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2005,0.62,146.0,208.6,0.0,236,2142,0.73,2.53,123.25,0.994,4,0.106,0.073,3068,876,2432,0,0,0,0,0,0
$GC,2183,0.72,196.6,202.0,7.7,252,2234,0.00,2.38,44.67,0.952,6,0.000,0.056,3068,2280,2228,0,0,0,0,0,0
$GC,2553,0.80,225.2,170.2,8.7,287,2588,0.15,2.38,24.75,0.916,4,0.093,0.071,3134,3690,2111,0,0,0,0,0,0
$GC,2664,0.70,225.2,154.1,16.3,296,2671,0.20,2.30,0.00,0.000,6,0.193,0.057,3094,2270,2109,0,0,0,0,0,0
$GC,2991,0.70,225.2,117.9,10.8,327,2995,0.00,2.28,0.00,0.000,4,0.000,0.071,3103,868,2107,0,0,0,0,0,0
$GC,3077,0.72,225.2,108.4,11.0,334,3081,0.00,2.28,0.00,0.000,6,0.000,0.054,3103,2286,2105,0,0,0,0,0,0
$GC,3419,0.72,225.2,69.5,10.8,388,3426,0.00,2.28,0.00,0.000,4,0.000,0.077,3103,3686,2105,0,0,0,0,0,0
$GC,3474,0.69,225.2,62.8,13.0,397,3481,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2266,2105,0,0,0,0,0,0
$GC,3820,0.73,257.3,23.9,8.5,458,3845,0.00,2.35,16.38,0.881,4,0.000,0.069,3124,861,1979,0,0,0,0,0,0
$GC,3871,0.83,306.2,20.2,7.7,466,3905,0.00,2.30,25.50,0.868,6,0.000,0.065,3124,2279,1779,0,0,0,0,0,0
$FREEZE,8.96,-1.332,-1.813,2,237,0
$FREEZE,8.47,-1.325,-1.812,2,237,0
$FREEZE,8.09,-1.324,-1.812,2,237,0
$FREEZE,7.81,-1.325,-1.811,2,237,0
$FREEZE,7.42,-1.328,-1.811,2,237,0
$FREEZE,7.02,-1.331,-1.811,2,237,0
$FREEZE,6.39,-1.335,-1.811,2,237,0
$FREEZE,5.80,-1.334,-1.811,2,237,0
$FREEZE,5.28,-1.334,-1.810,2,237,0
$FREEZE,4.51,-1.334,-1.810,2,237,0
$FREEZE,3.91,-1.332,-1.809,2,237,0
$FREEZE,3.63,-1.329,-1.809,2,237,0
$FREEZE,3.49,-1.328,-1.808,2,237,0
$FREEZE,2.79,-1.332,-1.808,2,237,0
$STATE,4045,end climb,SURFACE_DEPTH_REACHED
$STATE,4045,begin surface coast
$FREEZE,2.38,-1.326,-1.808,2,237,0
$FREEZE,2.10,-1.319,-1.807,2,237,0
$FREEZE,2.08,-1.034,-0.134,2,237,0
$FINISH,2.1,1.001720
$STATE,4067,end surface coast,FINISH_DEPTH_REACHED
$STATE,4068,begin surface
$RAFOS_CLK,281
$RAFOS,6,1307666946,0.833333,0.818333,70,64,58,57,55,52,115,171,208,183,138,148
$RAFOS,5,1307666469,0.700000,0.685833,62,59,57,55,54,51,199,188,215,165,1218,122
$RAFOS,4,1307665982,0.566667,0.550556,65,61,59,55,53,53,209,174,164,141,189,233
$RAFOS,3,1307665503,0.433333,0.417500,60,55,55,54,52,52,118,190,207,166,147,216
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,090611,222237
$TT8_MAMPS,0.026215
$HUMID,78.31
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.70
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,22.5,114.255
$10V_AH,9.7,56.495
$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,16.500,42.425,354.950,0.000,0.000,98.456,26.515,0.000,9.500,0.000,183.286,1176.532,1839.153,459.245,1110.732,627.493,0.000,965.927,0.000,800.824,1440.000,2.802,0.000
$DEVICE_MAMPS,331.245,91.035,1042.695,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.143,367.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20104,500
$CAP_FILE_SIZE,64586,0
$CFSIZE,260165632,200445952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,090611,224737,6709.499,-5648.380,0,10000.0,0,-37.6