version: 66.08
glider: 141
mission: 15
dive: 863
start: 6 9 111 7 44 36
data:
$ID,141
$MISSION,15
$DIVE,863
$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,-74874.438
$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,29
$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,2.69
$_SM_ANGLEo,-69.9
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,220,0.00,0.00,-196.43,0.000,6,0.000,0.000,109,2498,3625,0,0,0,0,0,0
$GC,224,-0.62,-146.0,3.3,0.5,35,244,11.93,2.38,0.00,0.000,4,0.289,0.076,2656,1081,3628,0,0,0,0,0,0
$GC,382,-0.54,-146.0,21.9,-16.5,62,389,0.12,2.33,0.00,0.000,6,0.230,0.080,2684,2479,3627,0,0,0,0,0,0
$GC,730,-0.48,-146.0,73.5,-12.9,123,737,0.00,2.42,0.00,0.000,4,0.000,0.086,2684,3903,3628,0,0,0,0,0,0
$GC,836,-0.48,-146.0,86.7,-12.0,141,843,0.00,2.28,0.00,0.000,6,0.000,0.057,2684,2488,3628,0,0,0,0,0,0
$GC,1169,-0.46,-146.0,129.7,-12.5,181,1174,0.10,2.33,0.00,0.000,4,0.231,0.072,2708,1080,3626,0,0,0,0,0,0
$GC,1202,-0.49,-146.0,134.0,-11.5,183,1209,0.00,2.33,0.00,0.000,6,0.000,0.069,2707,2488,3625,0,0,0,0,0,0
$GC,1529,-0.53,-146.0,166.1,-9.3,214,1533,0.00,2.42,0.00,0.000,4,0.000,0.083,2708,3909,3625,0,0,0,0,0,0
$GC,1559,-0.58,-146.0,168.7,-8.9,216,1563,0.00,2.30,0.00,0.000,6,0.000,0.054,2708,2486,3625,0,0,0,0,0,0
$GC,1885,-0.62,-146.0,199.0,-10.1,246,1890,0.15,2.35,0.00,0.000,4,0.115,0.069,2655,1070,3625,0,0,0,0,0,0
$GC,1919,-0.62,-146.0,202.6,-11.0,249,1923,0.00,2.35,0.00,0.000,6,0.000,0.067,2654,2496,3626,0,0,0,0,0,0
$STATE,2077,end dive,NO_VERTICAL_VELOCITY
$STATE,2077,begin apogee
$GC,2085,-0.12,0.0,202.8,0.0,264,2217,0.50,0.00,120.20,1.044,6,0.142,0.000,2814,2265,3029,0,0,0,0,0,0
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2218,begin climb
$GC,2221,0.62,146.0,202.8,0.0,276,2354,0.77,2.50,123.07,0.990,4,0.141,0.073,3059,870,2433,0,0,0,0,0,0
$GC,2360,0.74,245.6,200.4,5.4,288,2459,0.12,2.47,88.97,0.954,6,0.101,0.067,3111,2284,2028,0,0,0,0,0,0
$GC,2777,0.70,245.6,145.9,13.2,327,2781,0.00,2.33,0.00,0.000,4,0.000,0.073,3111,3688,2017,0,0,0,0,0,0
$GC,2803,0.64,245.6,142.3,14.3,329,2808,0.17,2.30,0.00,0.000,6,0.184,0.060,3077,2283,2016,0,0,0,0,0,0
$GC,3129,0.68,245.6,105.7,11.0,359,3133,0.00,2.33,0.00,0.000,4,0.000,0.073,3085,861,2016,0,0,0,0,0,0
$GC,3193,0.74,245.6,99.1,10.3,364,3200,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2287,2014,0,0,0,0,0,0
$GC,3542,0.81,256.5,65.0,9.5,425,3556,0.10,2.38,8.65,0.800,4,0.116,0.072,3133,3691,1984,0,0,0,0,0,0
$GC,3603,0.74,256.5,56.9,14.1,435,3610,0.15,2.33,0.00,0.000,6,0.194,0.067,3107,2262,1983,0,0,0,0,0,0
$GC,3952,0.79,256.5,21.2,10.3,496,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2262,1983,0,0,0,0,0,0
$FREEZE,8.97,-1.197,-1.817,0,226,0
$FREEZE,8.39,-1.193,-1.816,0,226,0
$FREEZE,7.83,-1.198,-1.816,0,226,0
$FREEZE,7.29,-1.201,-1.816,0,226,0
$FREEZE,6.78,-1.197,-1.815,0,226,0
$FREEZE,6.30,-1.197,-1.815,0,226,0
$FREEZE,5.88,-1.193,-1.815,0,226,0
$FREEZE,5.19,-1.192,-1.814,0,226,0
$FREEZE,4.61,-1.182,-1.813,0,226,0
$FREEZE,4.14,-1.177,-1.813,0,226,0
$FREEZE,3.81,-1.175,-1.813,0,226,0
$FREEZE,3.60,-1.172,-1.812,0,226,0
$FREEZE,3.21,-1.168,-1.812,0,226,0
$FREEZE,2.71,-1.163,-1.811,0,226,0
$STATE,4121,end climb,SURFACE_DEPTH_REACHED
$STATE,4121,begin surface coast
$FREEZE,2.34,-1.158,-1.811,0,226,0
$FREEZE,1.79,-1.157,-1.811,0,226,0
$FREEZE,1.70,-1.028,-1.746,0,226,0
$FREEZE,1.69,-1.053,-1.798,0,226,0
$FREEZE,1.72,-1.018,-1.799,0,226,0
$FREEZE,1.72,-0.933,-1.115,0,226,0
$FREEZE,1.73,-1.043,-1.710,0,226,0
$FREEZE,1.78,-0.997,-1.037,0,226,0
$FINISH,1.8,1.015304
$STATE,4164,end surface coast,CONTROL_FINISHED_OK
$STATE,4164,begin surface
$SM_CCo,4184,135.07,0.065,0,0,750,559.04
$SM_GC,2.54,0.00,0.00,135.07,0.000,0.000,0.065,116,2504,750,-8.59,0.40,559.04
$RAFOS_CLK,285
$RAFOS,5,1307608865,8.700000,8.684722,60,57,55,54,53,47,198,220,121,131,182,149
$RAFOS,4,1307608389,8.566667,8.552500,65,62,57,56,56,52,182,201,212,170,145,115
$RAFOS,3,1307607906,8.433333,8.418333,57,55,54,54,52,52,162,217,193,173,153,184
$RAFOS,2,1307607426,8.300000,8.285000,57,56,54,54,47,44,195,171,151,218,92,524
$RAFOS,1,1307606951,8.166667,8.153055,60,58,56,51,50,48,156,191,213,146,173,123
$RAFOS,0,1307606473,8.033334,8.020278,69,67,62,55,54,51,196,207,170,153,119,144
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5642.03,080611,141440
$TT8_MAMPS,0.028462
$HUMID,46.49
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.4,17.7
$24V_AH,22.0,113.099
$10V_AH,9.8,55.973
$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,22.775,43.200,340.900,135.075,0.000,93.296,29.723,0.000,12.500,0.000,183.287,1235.476,1712.422,608.684,1158.448,622.309,0.000,1123.441,0.000,844.786,2520.000,2.616,0.000
$DEVICE_MAMPS,289.170,85.680,1044.225,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.883,388.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20137,535
$CAP_FILE_SIZE,66661,0
$CFSIZE,260165632,200847360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
$GPS,080611,141440,6703.953,-5642.035,181,99.0,181,-37.6