version: 66.08
glider: 141
mission: 15
dive: 919
start: 6 12 111 12 53 9
data:
$ID,141
$MISSION,15
$DIVE,919
$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,-86308.234
$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,25
$R_STBD_OVSHOOT,53
$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,2.86
$_SM_ANGLEo,-77.2
$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,17,-0.62,-146.0,0.0,0.0,0,128,0.00,0.00,-108.57,0.000,2,0.000,0.000,110,2505,2548,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.6,-9.3,22,177,12.85,2.20,-23.20,0.000,4,0.318,0.065,2656,3883,3628,0,0,0,0,0,0
$GC,245,-1.02,-146.0,24.8,-13.3,42,251,0.38,2.30,0.00,0.000,6,0.107,0.069,2533,2483,3629,0,0,0,0,0,0
$GC,591,-1.25,-146.0,62.8,-11.5,103,597,0.20,2.28,0.00,0.000,4,0.105,0.063,2460,3883,3629,0,0,0,0,0,0
$GC,696,-1.55,-146.0,75.8,-12.4,121,702,0.28,2.30,0.00,0.000,6,0.101,0.060,2365,2489,3629,0,0,0,0,0,0
$GC,1035,-1.42,-146.0,144.6,-20.7,163,1037,0.15,0.00,0.00,0.000,6,0.229,0.000,2399,2489,3628,0,0,0,0,0,0
$GC,1353,-1.34,-146.0,205.3,-18.7,193,1357,0.12,2.40,0.00,0.000,4,0.231,0.079,2428,1075,3626,0,0,0,0,0,0
$GC,1365,-1.21,-146.0,207.6,-18.5,193,1371,0.17,2.22,0.00,0.000,6,0.237,0.044,2465,2475,3626,0,0,0,0,0,0
$STATE,1560,end dive,NO_VERTICAL_VELOCITY
$STATE,1560,begin apogee
$GC,1569,-0.12,0.0,212.0,0.0,212,1698,1.08,0.00,120.00,1.047,6,0.123,0.000,2815,2268,3030,0,0,0,0,0,0
$STATE,1698,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1702,0.62,146.0,211.9,0.0,224,1835,0.73,2.40,124.10,0.995,4,0.099,0.052,3056,3666,2433,0,0,0,0,0,0
$GC,2091,0.95,362.5,211.6,0.0,260,2285,0.28,2.30,183.40,0.958,6,0.079,0.063,3171,2276,1551,0,0,0,0,0,0
$GC,2606,0.79,362.5,152.0,14.1,309,2610,0.20,2.33,0.00,0.000,4,0.206,0.071,3130,867,1542,0,0,0,0,0,0
$GC,2641,0.64,362.5,146.9,15.3,311,2647,0.22,2.25,0.00,0.000,6,0.223,0.057,3079,2284,1540,0,0,0,0,0,0
$GC,2967,0.65,384.1,115.0,9.0,342,2987,0.00,0.00,18.12,0.871,6,0.000,0.000,3079,2286,1464,0,0,0,0,0,0
$GC,3318,0.66,390.7,82.5,9.7,390,3333,0.00,2.40,7.25,0.760,4,0.000,0.067,3085,864,1437,0,0,0,0,0,0
$GC,3391,0.70,390.7,75.4,10.5,403,3397,0.00,2.25,0.00,0.000,6,0.000,0.042,3085,2314,1436,0,0,0,0,0,0
$GC,3736,0.90,433.9,43.6,8.0,464,3782,0.20,2.30,37.05,0.906,4,0.080,0.058,3173,3687,1259,0,0,0,0,0,0
$GC,3798,0.94,433.9,36.8,12.9,475,3803,0.00,2.33,0.00,0.000,6,0.000,0.067,3184,2267,1258,0,0,0,0,0,0
$FREEZE,8.42,NaN,-0.006,0,282,0
$FREEZE,7.70,NaN,-0.006,0,282,0
$FREEZE,7.03,NaN,-0.005,0,282,0
$FREEZE,6.35,NaN,-0.005,0,282,0
$FREEZE,5.68,NaN,-0.004,0,282,0
$FREEZE,4.99,NaN,-0.004,0,282,0
$FREEZE,4.39,NaN,-0.003,0,282,0
$FREEZE,3.67,NaN,-0.003,0,282,0
$FREEZE,3.20,NaN,-0.002,0,282,0
$FREEZE,3.12,NaN,-0.002,0,282,0
$FREEZE,3.08,NaN,-0.002,0,282,0
$FREEZE,3.06,NaN,-0.002,0,282,0
$FREEZE,3.06,NaN,-0.002,0,282,0
$FREEZE,3.07,NaN,-0.002,0,282,0
$FREEZE,2.98,NaN,-0.002,0,282,0
$STATE,4106,end climb,SURFACE_DEPTH_REACHED
$STATE,4106,begin surface coast
$FREEZE,2.85,NaN,-0.002,0,282,0
$FREEZE,2.74,NaN,-0.002,0,282,0
$FREEZE,2.74,NaN,-0.002,0,282,0
$FREEZE,2.54,NaN,-0.002,0,282,0
$FREEZE,2.08,NaN,-0.002,0,282,0
$FREEZE,1.93,NaN,-0.001,0,282,0
$FREEZE,1.83,NaN,-0.001,0,282,0
$FREEZE,1.81,NaN,-0.001,0,282,0
$FREEZE,1.84,NaN,-0.001,0,282,0
$FREEZE,1.78,NaN,-0.001,0,282,0
$FREEZE,1.85,NaN,-0.001,0,282,0
$FREEZE,1.82,NaN,-0.001,0,282,0
$FREEZE,1.78,NaN,-0.001,0,282,0
$FREEZE,1.83,NaN,-0.001,0,282,0
$FREEZE,1.80,NaN,-0.001,0,282,0
$FREEZE,1.86,NaN,-0.001,0,282,0
$FREEZE,1.81,NaN,-0.001,0,282,0
$FREEZE,1.75,NaN,-0.001,0,282,0
$FREEZE,1.82,NaN,-0.001,0,282,0
$FREEZE,1.84,NaN,-0.001,0,282,0
$FREEZE,1.87,NaN,-0.001,0,282,0
$FREEZE,1.82,NaN,-0.001,0,282,0
$FREEZE,1.87,NaN,-0.001,0,282,0
$FREEZE,1.87,NaN,-0.001,0,282,0
$FREEZE,1.86,NaN,-0.001,0,282,0
$FREEZE,1.77,NaN,-0.001,0,282,0
$FREEZE,1.88,NaN,-0.001,0,282,0
$FREEZE,1.82,NaN,-0.001,0,282,0
$FREEZE,1.84,NaN,-0.001,0,282,0
$FREEZE,1.76,NaN,-0.001,0,282,0
$FREEZE,1.82,NaN,-0.001,0,282,0
$FREEZE,1.78,NaN,-0.001,0,282,0
$FINISH,1.8,NaN
$STATE,4287,end surface coast,NO_VERTICAL_VELOCITY
$STATE,4287,begin surface
$SM_CCo,4429,56.58,0.066,0,0,751,559.04
$SM_GC,2.82,0.00,0.00,56.58,0.000,0.000,0.066,114,2509,751,-8.60,0.54,559.04
$RAFOS_CLK,285
$RAFOS,3,1307881505,12.433333,12.418056,65,65,57,57,54,52,192,221,204,162,179,138
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.034454
$HUMID,80.36
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,76
$ALTIM_TOP_PING,20.0,18.1
$24V_AH,22.3,119.789
$10V_AH,9.9,58.516
$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,25.825,32.950,489.925,56.575,0.000,98.550,19.524,0.000,19.250,0.000,182.288,634.411,2129.620,486.113,1614.924,606.776,0.000,1130.651,0.000,919.571,0.000,2.614,0.000
$DEVICE_MAMPS,318.240,78.795,1047.285,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.704,392.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20124,562
$CAP_FILE_SIZE,68026,0
$CFSIZE,260165632,198864896
$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