version: 66.08
glider: 141
mission: 15
dive: 916
start: 6 12 111 8 15 12
data:
$ID,141
$MISSION,15
$DIVE,916
$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,-85202.5
$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,27
$R_STBD_OVSHOOT,58
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-76.7
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-108.80,0.000,2,0.000,0.000,111,2535,2538,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.5,-8.9,22,176,12.70,0.00,-23.70,0.000,6,0.314,0.000,2655,2535,3628,0,0,0,0,0,0
$GC,515,-1.03,-146.0,62.0,-14.2,90,520,0.35,2.15,0.00,0.000,4,0.091,0.052,2526,3873,3628,0,0,0,0,0,0
$GC,654,-1.43,-146.0,79.1,-13.9,114,660,0.40,2.28,0.00,0.000,6,0.152,0.063,2411,2496,3628,0,0,0,0,0,0
$GC,993,-1.35,-146.0,144.0,-19.1,155,997,0.00,2.40,0.00,0.000,4,0.000,0.083,2411,1080,3627,0,0,0,0,0,0
$GC,1011,-1.18,-146.0,147.8,-20.0,156,1016,0.30,2.15,0.00,0.000,6,0.243,0.040,2479,2473,3626,0,0,0,0,0,0
$GC,1341,-1.18,-146.0,200.8,-15.8,187,1345,0.00,2.28,0.00,0.000,4,0.000,0.054,2479,3898,3626,0,0,0,0,0,0
$GC,1395,-1.50,-146.0,206.7,-9.8,191,1400,0.30,2.30,0.00,0.000,6,0.113,0.059,2384,2483,3626,0,0,0,0,0,0
$STATE,1547,end dive,NO_VERTICAL_VELOCITY
$STATE,1547,begin apogee
$GC,1555,-0.12,0.0,206.7,0.0,205,1683,1.30,0.00,119.43,1.040,6,0.100,0.000,2821,2269,3031,0,0,0,0,0,0
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1687,0.62,146.0,206.7,0.0,217,1820,0.68,2.40,123.70,0.990,4,0.070,0.051,3068,3669,2433,0,0,0,0,0,0
$GC,1840,1.07,354.1,206.7,0.4,232,2036,0.40,2.45,186.60,0.959,6,0.068,0.058,3214,2268,1585,0,0,0,0,0,0
$GC,2366,0.75,354.1,139.4,18.1,282,2371,0.40,2.35,0.00,0.000,4,0.223,0.073,3121,861,1577,0,0,0,0,0,0
$GC,2396,0.44,354.1,134.4,17.2,284,2401,0.38,2.22,0.00,0.000,6,0.223,0.046,3011,2273,1576,0,0,0,0,0,0
$GC,2722,0.45,382.9,103.5,8.7,314,2753,0.00,2.30,24.55,0.881,4,0.000,0.054,3011,3680,1469,0,0,0,0,0,0
$GC,2801,0.56,419.3,96.9,8.3,324,2842,0.00,2.28,33.42,0.880,6,0.000,0.064,3017,2268,1319,0,0,0,0,0,0
$GC,3182,0.64,452.0,62.9,8.5,392,3219,0.15,2.33,28.85,0.870,4,0.099,0.052,3083,3680,1186,0,0,0,0,0,0
$GC,3238,0.64,452.0,56.9,11.2,402,3243,0.00,2.28,0.00,0.000,6,0.000,0.065,3093,2275,1184,0,0,0,0,0,0
$GC,3582,0.58,452.0,18.6,10.5,463,3588,0.15,2.28,0.00,0.000,4,0.190,0.054,3054,3694,1183,0,0,0,0,0,0
$GC,3635,0.70,487.3,13.6,8.4,472,3660,0.00,2.30,17.48,0.842,6,0.000,0.065,3061,2266,1042,0,0,0,0,0,0
$FREEZE,8.61,NaN,-0.006,0,279,0
$FREEZE,8.02,NaN,-0.006,0,279,0
$FREEZE,7.43,NaN,-0.006,0,279,0
$FREEZE,6.99,NaN,-0.005,0,279,0
$FREEZE,6.45,NaN,-0.005,0,279,0
$FREEZE,5.81,NaN,-0.004,0,279,0
$FREEZE,5.32,NaN,-0.004,0,279,0
$FREEZE,4.68,NaN,-0.004,0,279,0
$FREEZE,4.26,NaN,-0.003,0,279,0
$FREEZE,3.64,NaN,-0.003,0,279,0
$FREEZE,3.19,NaN,-0.002,0,279,0
$FREEZE,2.69,NaN,-0.002,0,279,0
$STATE,3749,end climb,SURFACE_DEPTH_REACHED
$STATE,3749,begin surface coast
$FREEZE,2.16,NaN,-0.002,0,279,0
$FREEZE,1.94,NaN,-0.001,0,279,0
$FREEZE,1.75,NaN,-0.001,0,279,0
$FREEZE,1.75,NaN,-0.001,0,279,0
$FREEZE,1.85,NaN,-0.001,0,279,0
$FREEZE,1.83,NaN,-0.001,0,279,0
$FINISH,1.8,NaN
$STATE,3783,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3829,31.90,0.066,0,0,750,559.04
$SM_GC,2.66,0.00,0.00,31.90,0.000,0.000,0.066,109,2517,750,-8.61,0.76,559.04
$RAFOS_CLK,253
$RAFOS,6,1307868543,8.833333,8.817500,59,58,54,54,54,54,195,170,182,150,206,224
$RAFOS,5,1307868071,8.700000,8.686389,67,59,57,52,52,47,193,156,216,170,181,122
$RAFOS,4,1307867586,8.566667,8.551666,65,56,56,55,54,52,190,177,220,201,211,165
$RAFOS,3,1307867105,8.433333,8.418056,65,60,59,56,51,50,209,189,162,145,175,111
$RAFOS,2,1307866624,8.300000,8.284445,66,62,57,54,51,49,199,215,147,187,138,163
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,79.06
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,21.3,119.353
$10V_AH,9.9,58.342
$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,26.000,37.425,534.025,31.900,0.000,101.072,17.104,0.000,8.750,0.000,183.290,549.470,1740.469,492.322,1467.644,603.338,0.000,1096.654,0.000,814.646,1800.000,2.618,0.000
$DEVICE_MAMPS,314.415,86.445,1040.400,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.069,346.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16757,499
$CAP_FILE_SIZE,64665,0
$CFSIZE,260165632,198979584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6