version: 66.08
glider: 141
mission: 15
dive: 855
start: 6 8 111 20 18 2
data:
$ID,141
$MISSION,15
$DIVE,855
$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,-72660.023
$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,22
$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
$GPS1,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-32.3
$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,15,-0.62,-146.0,0.0,0.0,0,120,0.00,0.00,-101.45,0.000,2,0.000,0.000,107,2499,2648,0,0,0,0,0,0
$GC,124,-0.62,-146.0,5.1,-5.2,18,178,13.68,2.35,-32.55,0.000,4,0.327,0.078,2655,1078,3628,0,0,0,0,0,0
$GC,333,-0.48,-146.0,43.2,-21.6,54,340,0.20,2.35,0.00,0.000,6,0.223,0.067,2702,2484,3629,0,0,0,0,0,0
$GC,680,-0.40,-146.0,99.4,-15.2,115,687,0.12,2.42,0.00,0.000,4,0.237,0.090,2731,3902,3628,0,0,0,0,0,0
$GC,744,-0.45,-146.0,108.1,-11.5,121,751,0.00,2.25,0.00,0.000,6,0.000,0.054,2731,2483,3628,0,0,0,0,0,0
$GC,1070,-0.45,-146.0,147.3,-12.1,152,1074,0.00,2.30,0.00,0.000,4,0.000,0.070,2731,1080,3627,0,0,0,0,0,0
$GC,1133,-0.48,-146.0,154.6,-11.3,157,1137,0.00,2.35,0.00,0.000,6,0.000,0.066,2731,2498,3627,0,0,0,0,0,0
$GC,1459,-0.48,-146.0,191.9,-11.0,187,1463,0.00,2.38,0.00,0.000,4,0.000,0.080,2731,3908,3627,0,0,0,0,0,0
$GC,1492,-0.51,-146.0,195.6,-11.0,189,1499,0.00,2.28,0.00,0.000,6,0.000,0.050,2731,2485,3627,0,0,0,0,0,0
$STATE,1677,end dive,NO_VERTICAL_VELOCITY
$STATE,1677,begin apogee
$GC,1685,-0.12,0.0,197.3,0.0,207,1817,0.28,0.00,120.38,1.039,6,0.158,0.000,2817,2254,3029,0,0,0,0,0,0
$STATE,1817,end apogee,CONTROL_FINISHED_OK
$STATE,1817,begin climb
$GC,1820,0.62,146.0,197.3,0.0,219,1956,0.80,2.45,123.00,0.991,4,0.156,0.071,3055,874,2433,0,0,0,0,0,0
$GC,1962,0.85,249.6,193.1,5.2,232,2069,0.25,2.45,92.15,0.953,6,0.075,0.057,3151,2282,2010,0,0,0,0,0,0
$GC,2389,0.81,249.6,138.8,12.7,272,2393,0.00,2.33,0.00,0.000,4,0.000,0.072,3152,3696,2000,0,0,0,0,0,0
$GC,2453,0.75,249.6,129.2,14.7,277,2458,0.20,2.28,0.00,0.000,6,0.180,0.057,3110,2284,1998,0,0,0,0,0,0
$GC,2782,0.80,249.6,94.7,11.3,311,2788,0.00,2.33,0.00,0.000,4,0.000,0.073,3116,869,1998,0,0,0,0,0,0
$GC,2874,0.87,249.6,84.8,10.2,327,2881,0.00,2.28,0.00,0.000,6,0.000,0.057,3117,2280,1997,0,0,0,0,0,0
$GC,3222,0.97,281.4,49.3,8.5,388,3258,0.17,2.38,26.70,0.890,4,0.087,0.070,3190,3690,1880,0,0,0,0,0,0
$GC,3289,0.88,281.4,40.3,15.6,399,3296,0.20,2.30,0.00,0.000,6,0.190,0.056,3149,2271,1878,0,0,0,0,0,0
$FREEZE,8.70,-0.511,-1.804,0,218,0
$FREEZE,8.23,-0.519,-1.802,0,218,0
$FREEZE,7.90,-0.520,-1.802,0,218,0
$FREEZE,7.55,-0.519,-1.802,0,218,0
$FREEZE,7.05,-0.528,-1.801,0,218,0
$FREEZE,6.70,-0.531,-1.800,0,218,0
$FREEZE,6.32,-0.535,-1.799,0,218,0
$FREEZE,5.89,-0.536,-1.799,0,218,0
$FREEZE,5.29,-0.544,-1.798,0,218,0
$FREEZE,4.93,-0.550,-1.797,0,218,0
$FREEZE,4.19,-0.553,-1.796,0,218,0
$FREEZE,3.60,-0.571,-1.795,0,218,0
$FREEZE,2.97,-0.580,-1.795,0,218,0
$GC,3634,0.97,320.9,4.9,8.2,460,3658,0.00,2.40,19.02,0.814,6,0.000,0.073,3153,861,1720,0,0,0,0,0,0
$STATE,3659,end climb,SURFACE_DEPTH_REACHED
$STATE,3659,begin surface coast
$FREEZE,1.98,-0.578,-1.793,0,218,0
$FREEZE,2.11,-0.544,-1.792,0,218,0
$FREEZE,1.99,-0.452,-0.860,0,218,0
$FREEZE,1.95,-0.468,-1.035,0,218,0
$FREEZE,1.89,-0.518,-0.293,0,218,0
$FREEZE,1.89,-0.426,-1.785,0,218,0
$FINISH,1.9,1.026172
$STATE,3695,end surface coast,CONTROL_FINISHED_OK
$STATE,3695,begin surface
$SM_CCo,3837,104.25,0.066,0,0,750,559.04
$SM_GC,2.72,0.00,0.00,104.25,0.000,0.000,0.066,109,2488,750,-8.61,-0.06,559.04
$RAFOS_CLK,262
$RAFOS,6,1307566148,20.833334,20.818890,60,59,57,54,52,51,201,183,217,162,149,114
$RAFOS,5,1307565663,20.700001,20.684166,62,56,56,55,52,51,184,197,218,167,591,144
$RAFOS,4,1307565190,20.566668,20.552778,60,56,53,53,51,50,208,621,226,187,513,127
$RAFOS,3,1307564705,20.433332,20.418056,61,61,59,58,58,55,187,209,224,167,137,198
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.30
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.0,112.273
$10V_AH,9.8,55.609
$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,24.525,42.875,381.250,104.250,0.000,98.366,17.314,0.000,11.500,0.000,183.281,1088.961,1625.645,572.298,1056.693,600.521,0.000,1047.352,0.000,753.614,1440.000,2.818,0.000
$DEVICE_MAMPS,327.420,89.505,1038.870,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.641,342.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,16780,469
$CAP_FILE_SIZE,62001,0
$CFSIZE,260165632,201129984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6