version: 66.08
glider: 141
mission: 15
dive: 862
start: 6 9 111 6 19 26
data:
$ID,141
$MISSION,15
$DIVE,862
$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,-74505.867
$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,10.44
$_SM_ANGLEo,-7.3
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2888,854,3074,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.5,-0.0,1,47,0.62,0.38,-12.32,0.000,4,0.124,0.143,2668,1086,3629,0,0,0,0,0,0
$GC,241,-0.55,-146.0,46.4,-16.8,38,248,0.00,2.28,0.00,0.000,6,0.000,0.066,2668,2487,3631,0,0,0,0,0,0
$GC,588,-0.45,-146.0,101.7,-15.3,98,593,0.17,2.40,0.00,0.000,4,0.220,0.078,2709,3909,3630,0,0,0,0,0,0
$GC,669,-0.51,-146.0,111.8,-11.2,105,673,0.00,2.28,0.00,0.000,6,0.000,0.050,2709,2479,3630,0,0,0,0,0,0
$GC,1001,-0.51,-146.0,152.9,-12.2,136,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2479,3629,0,0,0,0,0,0
$GC,1321,-0.51,-146.0,189.4,-11.3,166,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2478,3629,0,0,0,0,0,0
$STATE,1626,end dive,NO_VERTICAL_VELOCITY
$STATE,1627,begin apogee
$GC,1634,-0.12,0.0,204.7,0.0,195,1760,0.32,0.00,120.07,1.019,6,0.151,0.000,2814,2262,3030,0,0,0,0,0,0
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1764,0.62,146.0,204.6,0.0,206,1897,0.77,2.50,122.35,0.974,4,0.142,0.070,3058,880,2433,0,0,0,0,0,0
$GC,1911,0.78,234.8,200.1,5.9,219,1999,0.17,2.38,78.70,0.939,6,0.083,0.057,3130,2275,2072,0,0,0,0,0,0
$GC,2318,0.73,234.8,144.2,14.3,257,2323,0.12,2.35,0.00,0.000,4,0.184,0.073,3100,3698,2062,0,0,0,0,0,0
$GC,2365,0.73,234.8,138.1,12.9,261,2369,0.00,2.30,0.00,0.000,6,0.000,0.057,3108,2278,2061,0,0,0,0,0,0
$GC,2691,0.73,234.8,99.6,11.6,291,2698,0.00,2.30,0.00,0.000,4,0.000,0.071,3118,865,2060,0,0,0,0,0,0
$GC,2757,0.75,234.8,92.7,10.4,302,2764,0.00,2.28,0.00,0.000,6,0.000,0.057,3118,2288,2059,0,0,0,0,0,0
$GC,3103,0.75,236.9,53.5,9.9,363,3110,0.00,2.30,0.00,0.000,4,0.000,0.071,3119,3691,2059,0,0,0,0,0,0
$GC,3163,0.71,236.9,46.9,10.7,373,3170,0.12,2.28,0.00,0.000,6,0.186,0.054,3099,2272,2059,0,0,0,0,0,0
$GC,3513,0.85,289.8,21.6,7.6,434,3551,0.12,2.38,27.98,0.887,4,0.103,0.071,3163,873,1846,0,0,0,0,0,0
$FREEZE,8.80,-1.077,-1.814,0,225,1
$FREEZE,8.37,-1.075,-1.813,0,225,1
$GC,3627,0.85,289.8,8.4,11.7,453,3634,0.00,2.30,0.00,0.000,6,0.000,0.060,3164,2283,1841,0,0,0,0,0,0
$FREEZE,6.52,-1.073,-1.812,0,225,1
$FREEZE,6.05,-1.071,-1.811,0,225,1
$FREEZE,5.59,-1.073,-1.811,0,225,1
$FREEZE,4.91,-1.073,-1.810,0,225,1
$FREEZE,4.62,-1.075,-1.809,0,225,1
$FREEZE,4.10,-1.079,-1.809,0,225,1
$FREEZE,3.73,-1.081,-1.808,0,225,1
$FREEZE,3.34,-1.079,-1.808,0,225,1
$FREEZE,2.77,-1.080,-1.808,0,225,1
$STATE,3680,end climb,SURFACE_DEPTH_REACHED
$STATE,3680,begin surface coast
$FREEZE,2.21,-1.080,-1.808,0,225,1
$FREEZE,1.77,-1.074,-1.807,0,225,1
$FREEZE,1.75,-0.910,-0.945,0,225,1
$FREEZE,1.71,-0.937,-0.859,0,225,1
$FREEZE,1.74,-0.960,-1.080,0,225,1
$FREEZE,1.70,-0.977,-1.075,0,225,1
$FREEZE,1.74,-0.973,-1.590,0,225,1
$FINISH,1.7,1.023393
$STATE,3719,end surface coast,CONTROL_FINISHED_OK
$STATE,3719,begin surface
$SM_CCo,3740,117.32,0.063,0,0,750,559.04
$SM_GC,2.73,0.00,0.00,117.32,0.000,0.000,0.063,109,2498,750,-8.61,0.20,559.04
$RAFOS_CLK,216
$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,46.57
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.5,17.9
$24V_AH,22.5,112.995
$10V_AH,10.0,55.920
$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,11.275,31.325,349.100,117.325,0.000,0.000,0.000,0.000,8.500,0.000,0.000,1112.623,1504.564,446.181,745.584,113.546,0.000,878.124,0.000,746.783,0.000,2.617,0.000
$DEVICE_MAMPS,219.555,143.055,1018.980,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.503,344.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16787,470
$CAP_FILE_SIZE,50309,0
$CFSIZE,260165632,200900608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6