version: 66.08
glider: 141
mission: 15
dive: 849
start: 6 8 111 12 53 7
data:
$ID,141
$MISSION,15
$DIVE,849
$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,-71184.719
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-75.3
$GPS2,080611,032949,6703.953,-5649.833,181,99.0,181,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,-0.65,-102.9,0.0,0.0,0,170,0.00,0.00,-147.88,0.000,2,0.000,0.000,111,2487,3157,0,0,0,0,0,0
$GC,173,-0.71,-146.0,5.6,-7.0,26,205,13.65,2.40,-9.70,0.000,4,0.334,0.096,2626,3899,3630,0,0,0,0,0,0
$GC,219,-0.11,-146.0,22.9,-34.6,33,227,0.80,2.25,0.00,0.000,6,0.231,0.062,2823,2490,3631,0,0,0,0,0,0
$GC,568,-0.34,-146.0,54.6,-7.3,94,574,0.20,0.00,0.00,0.000,6,0.099,0.000,2750,2491,3632,0,0,0,0,0,0
$GC,915,-0.42,-146.0,96.1,-12.0,155,922,0.00,2.30,0.00,0.000,4,0.000,0.067,2750,1083,3632,0,0,0,0,0,0
$GC,942,-0.50,-146.0,99.5,-12.9,159,949,0.15,2.30,0.00,0.000,6,0.109,0.063,2695,2485,3632,0,0,0,0,0,0
$GC,1268,-0.47,-146.0,152.5,-17.1,190,1272,0.00,2.38,0.00,0.000,4,0.000,0.080,2695,3906,3631,0,0,0,0,0,0
$GC,1319,-0.49,-146.0,160.7,-14.9,194,1326,0.00,2.28,0.00,0.000,6,0.000,0.060,2695,2484,3631,0,0,0,0,0,0
$GC,1645,-0.79,-146.0,201.2,0.0,225,1647,0.25,0.00,0.00,0.000,6,0.095,0.000,2601,2483,3632,0,0,0,0,0,0
$STATE,1737,end dive,NO_VERTICAL_VELOCITY
$STATE,1737,begin apogee
$GC,1745,-0.12,0.0,201.3,0.0,234,1877,0.70,0.00,120.82,1.040,6,0.141,0.000,2817,2263,3030,0,0,0,0,0,0
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1882,0.71,146.0,201.3,0.0,246,2010,0.88,0.00,123.03,0.992,6,0.151,0.000,3078,2263,2434,0,0,0,0,0,0
$GC,2329,1.12,236.9,187.8,4.1,289,2417,0.38,2.50,77.47,0.959,4,0.092,0.071,3221,3694,2062,0,0,0,0,0,0
$GC,2620,1.05,236.9,145.5,17.3,314,2626,0.00,2.28,0.00,0.000,6,0.000,0.057,3230,2292,2056,0,0,0,0,0,0
$GC,2950,0.96,236.9,89.3,16.8,350,2958,0.22,2.38,0.00,0.000,4,0.218,0.072,3185,864,2053,0,0,0,0,0,0
$GC,3076,1.01,236.9,73.8,12.0,371,3083,0.00,2.28,0.00,0.000,6,0.000,0.057,3185,2280,2050,0,0,0,0,0,0
$GC,3425,1.04,236.9,31.3,11.2,432,3431,0.00,2.30,0.00,0.000,4,0.000,0.070,3185,3683,2050,0,0,0,0,0,0
$GC,3512,1.04,236.9,20.0,13.2,447,3520,0.00,2.28,0.00,0.000,6,0.000,0.064,3195,2266,2050,0,0,0,0,0,0
$FREEZE,8.89,-0.522,-1.808,0,212,0
$FREEZE,8.32,-0.566,-1.806,0,212,0
$FREEZE,7.89,-0.590,-1.804,0,212,0
$FREEZE,7.37,-0.613,-1.803,0,212,0
$FREEZE,6.88,-0.631,-1.801,0,212,0
$FREEZE,6.09,-0.633,-1.800,0,212,0
$FREEZE,5.67,-0.646,-1.799,0,212,0
$FREEZE,5.15,-0.641,-1.798,0,212,0
$FREEZE,4.64,-0.647,-1.799,0,212,0
$FREEZE,4.18,-0.656,-1.798,0,212,0
$FREEZE,3.78,-0.675,-1.796,0,212,0
$FREEZE,3.25,-0.675,-1.795,0,212,0
$FREEZE,2.71,-0.673,-1.794,0,212,0
$STATE,3673,end climb,SURFACE_DEPTH_REACHED
$STATE,3673,begin surface coast
$FREEZE,2.21,-0.668,-1.795,0,212,0
$FREEZE,2.23,-0.552,-0.883,0,212,0
$FREEZE,2.27,-0.591,-0.459,0,212,0
$FREEZE,2.18,-0.533,-1.676,0,212,0
$FREEZE,2.22,-0.407,-1.357,0,212,0
$FREEZE,2.14,-0.569,-0.124,0,212,0
$FINISH,2.1,1.001605
$STATE,3705,end surface coast,CONTROL_FINISHED_OK
$STATE,3706,begin surface
$SM_CCo,3846,142.35,0.064,0,0,750,559.04
$SM_GC,2.90,0.00,0.00,142.35,0.000,0.000,0.064,109,2498,750,-8.61,0.23,559.04
$RAFOS_CLK,263
$RAFOS,3,1307535902,12.433333,12.417222,60,57,56,55,54,54,213,167,130,72,179,150
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.40
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,22.6,111.534
$10V_AH,9.8,55.387
$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,26.125,28.600,321.325,142.350,0.000,101.172,17.381,0.000,13.000,0.000,183.290,1125.140,1615.533,585.688,1064.414,604.921,0.000,1051.454,0.000,760.564,0.000,2.810,0.000
$DEVICE_MAMPS,334.305,96.390,1040.400,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.650,350.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16809,482
$CAP_FILE_SIZE,58796,0
$CFSIZE,260165632,201310208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6