version: 66.08
glider: 141
mission: 15
dive: 875
start: 6 10 111 1 34 44
data:
$ID,141
$MISSION,15
$DIVE,875
$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,25
$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
$GPS1,090611,224737,6709.499,-5648.380,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,1.7
$GPS2,090611,224737,6709.499,-5648.380,0,10000.0,0,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,-146.0,0.0,0.0,0,152,0.00,0.35,-128.68,0.000,6,0.000,0.157,3124,2496,3627,0,0,0,0,0,0
$GC,156,-0.62,-146.0,4.7,-8.1,23,163,1.70,2.38,0.00,0.000,4,0.233,0.070,2667,3898,3628,0,0,0,0,0,0
$GC,228,-0.50,-146.0,15.8,-21.1,35,236,0.12,2.25,0.00,0.000,6,0.211,0.055,2695,2481,3628,0,0,0,0,0,0
$GC,576,-0.48,-146.0,60.3,-13.9,96,583,0.00,2.38,0.00,0.000,4,0.000,0.081,2695,3895,3628,0,0,0,0,0,0
$GC,609,-0.48,-146.0,64.9,-14.0,101,616,0.00,2.25,0.00,0.000,6,0.000,0.060,2695,2495,3627,0,0,0,0,0,0
$GC,958,-0.48,-146.0,107.5,-11.6,157,962,0.00,2.30,0.00,0.000,4,0.000,0.068,2695,1082,3626,0,0,0,0,0,0
$GC,969,-0.48,-146.0,108.9,-11.6,157,976,0.00,2.30,0.00,0.000,6,0.000,0.062,2695,2491,3625,0,0,0,0,0,0
$GC,1294,-0.48,-146.0,144.2,-10.6,188,1299,0.00,2.38,0.00,0.000,4,0.000,0.078,2696,3909,3625,0,0,0,0,0,0
$GC,1328,-0.51,-146.0,147.8,-10.4,190,1335,0.00,2.28,0.00,0.000,6,0.000,0.051,2695,2486,3625,0,0,0,0,0,0
$GC,1655,-0.53,-146.0,181.1,-9.9,221,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2486,3624,0,0,0,0,0,0
$GC,1975,-0.84,-146.0,206.3,-0.0,251,1980,0.28,2.28,0.00,0.000,4,0.102,0.064,2596,1081,3625,0,0,0,0,0,0
$STATE,2058,end dive,NO_VERTICAL_VELOCITY
$STATE,2058,begin apogee
$GC,2068,-0.12,0.0,206.4,0.0,258,2194,0.70,0.00,119.40,1.027,6,0.148,0.000,2812,2280,3030,0,0,0,0,0,0
$STATE,2195,end apogee,CONTROL_FINISHED_OK
$STATE,2195,begin climb
$GC,2199,0.62,146.0,206.3,0.0,269,2331,0.80,2.47,122.88,0.980,4,0.141,0.068,3055,3682,2433,0,0,0,0,0,0
$GC,2371,0.62,178.4,199.2,8.5,284,2410,0.00,2.40,29.17,0.924,6,0.000,0.055,3066,2272,2302,0,0,0,0,0,0
$GC,2729,0.66,192.2,167.2,9.4,318,2751,0.00,2.38,12.25,0.862,4,0.000,0.070,3077,863,2245,0,0,0,0,0,0
$GC,2811,0.74,214.8,160.1,9.0,325,2839,0.00,2.25,20.83,0.903,6,0.000,0.054,3077,2278,2153,0,0,0,0,0,0
$GC,3166,0.81,233.8,128.0,9.1,358,3191,0.12,2.38,17.17,0.885,4,0.103,0.068,3134,3695,2076,0,0,0,0,0,0
$GC,3278,0.74,233.8,112.2,16.0,367,3286,0.15,2.28,0.00,0.000,6,0.194,0.054,3108,2274,2075,0,0,0,0,0,0
$GC,3618,0.76,233.8,71.1,10.7,419,3625,0.00,2.30,0.00,0.000,4,0.000,0.077,3115,867,2074,0,0,0,0,0,0
$GC,3678,0.76,233.8,64.9,10.6,429,3685,0.00,2.25,0.00,0.000,6,0.000,0.052,3116,2278,2072,0,0,0,0,0,0
$GC,4025,0.79,259.6,29.0,8.8,490,4050,0.00,2.35,15.70,0.883,4,0.000,0.067,3115,3684,1970,0,0,0,0,0,0
$GC,4166,0.79,259.6,14.1,14.1,514,4173,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2275,1969,0,0,0,0,0,0
$FREEZE,8.86,-1.310,-1.812,0,238,0
$FREEZE,8.40,-1.307,-1.812,0,238,0
$FREEZE,7.85,-1.311,-1.812,0,238,0
$FREEZE,7.21,-1.308,-1.811,0,238,0
$FREEZE,6.61,-1.309,-1.811,0,238,0
$FREEZE,6.13,-1.312,-1.810,0,238,0
$FREEZE,5.48,-1.305,-1.810,0,238,0
$FREEZE,5.27,-1.303,-1.810,0,238,0
$FREEZE,5.00,-1.301,-1.809,0,238,0
$FREEZE,4.55,-1.307,-1.809,0,238,0
$FREEZE,3.92,-1.306,-1.809,0,238,0
$FREEZE,3.33,-1.306,-1.808,0,238,0
$FREEZE,2.73,-1.309,-1.808,0,238,0
$STATE,4275,end climb,SURFACE_DEPTH_REACHED
$STATE,4275,begin surface coast
$FREEZE,2.04,-1.305,-1.807,0,238,0
$FREEZE,1.86,-1.290,-1.807,0,238,0
$FREEZE,1.77,-1.301,-1.807,0,238,0
$FREEZE,1.96,-1.256,-1.805,0,238,0
$FREEZE,1.98,-1.280,-1.806,0,238,0
$FINISH,2.0,1.026492
$STATE,4302,end surface coast,CONTROL_FINISHED_OK
$STATE,4302,begin surface
$SM_CCo,4324,132.12,0.064,0,0,750,559.04
$SM_GC,2.60,0.00,0.00,132.12,0.000,0.000,0.064,110,2501,750,-8.61,0.31,559.04
$RAFOS_CLK,247
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,090611,222237
$TT8_MAMPS,0.026964
$HUMID,73.03
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.6,114.351
$10V_AH,9.8,56.530
$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,12.625,46.775,337.400,132.125,0.000,0.000,0.000,0.000,11.250,0.000,0.000,1250.461,1710.676,565.846,860.589,134.334,0.000,1067.721,0.000,863.235,0.000,2.618,0.000
$DEVICE_MAMPS,232.560,156.825,1027.395,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.287,396.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20116,539
$CAP_FILE_SIZE,59722,0
$CFSIZE,260165632,200413184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,090611,224737,6709.499,-5648.380,181,99.0,181,-37.6