version: 66.08
glider: 141
mission: 15
dive: 927
start: 6 12 111 22 42 16
data:
$ID,141
$MISSION,15
$DIVE,927
$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,-87045.367
$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,31
$R_STBD_OVSHOOT,40
$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,14.71
$_SM_ANGLEo,12.4
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.55,0.000,2,0.000,0.000,2878,877,3231,0,0,0,0,0,0
$GC,26,-0.62,-146.0,18.6,-0.0,1,37,0.70,0.30,-6.82,0.000,4,0.191,0.155,2674,1087,3629,0,0,0,0,0,0
$GC,50,-0.97,-146.0,21.2,-9.9,5,56,0.30,2.20,0.00,0.000,6,0.106,0.044,2555,2508,3632,0,0,0,0,0,0
$GC,396,-1.42,-146.0,61.1,-9.9,66,402,0.40,2.38,0.00,0.000,4,0.101,0.070,2409,1087,3631,0,0,0,0,0,0
$GC,434,-1.23,-146.0,67.7,-20.2,72,440,0.20,2.20,0.00,0.000,6,0.236,0.047,2458,2487,3631,0,0,0,0,0,0
$GC,776,-1.20,-146.0,125.3,-16.6,120,781,0.00,2.38,0.00,0.000,4,0.000,0.080,2458,1083,3630,0,0,0,0,0,0
$GC,810,-0.98,-146.0,132.8,-22.5,122,816,0.35,2.22,0.00,0.000,6,0.231,0.047,2544,2494,3630,0,0,0,0,0,0
$GC,1137,-1.27,-146.0,167.0,-9.5,153,1139,0.25,0.00,0.00,0.000,6,0.099,0.000,2455,2495,3628,0,0,0,0,0,0
$GC,1456,-1.34,-146.0,215.0,-10.7,183,1460,0.00,2.33,0.00,0.000,4,0.000,0.065,2454,1087,3628,0,0,0,0,0,0
$STATE,1597,end dive,NO_VERTICAL_VELOCITY
$STATE,1598,begin apogee
$GC,1607,-0.12,0.0,215.0,0.0,195,1734,1.12,0.00,119.45,1.034,6,0.117,0.000,2820,2267,3030,0,0,0,0,0,0
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1739,0.62,146.0,214.8,0.0,207,1871,0.73,2.50,122.55,0.985,4,0.119,0.054,3052,3677,2434,0,0,0,0,0,0
$GC,1879,1.07,351.2,214.8,0.5,221,2074,0.45,2.47,184.10,0.953,6,0.074,0.057,3210,2273,1597,0,0,0,0,0,0
$GC,2394,0.84,351.2,162.7,15.8,270,2399,0.25,2.28,0.00,0.000,4,0.219,0.049,3145,3686,1590,0,0,0,0,0,0
$GC,2405,0.63,351.2,160.7,15.7,270,2411,0.28,2.30,0.00,0.000,6,0.161,0.061,3075,2273,1588,0,0,0,0,0,0
$GC,2731,0.65,363.7,129.3,9.4,301,2747,0.00,2.28,10.95,0.822,4,0.000,0.050,3075,3682,1546,0,0,0,0,0,0
$GC,2753,0.67,376.3,127.1,9.4,302,2772,0.00,2.28,13.07,0.839,6,0.000,0.056,3080,2272,1494,0,0,0,0,0,0
$GC,3097,0.70,386.8,92.9,9.5,340,3113,0.00,2.30,10.32,0.815,4,0.000,0.076,3090,867,1452,0,0,0,0,0,0
$GC,3132,0.74,399.6,89.6,9.4,346,3153,0.00,2.22,12.98,0.835,6,0.000,0.047,3090,2283,1400,0,0,0,0,0,0
$GC,3495,0.90,412.7,48.3,9.4,410,3516,0.17,2.28,12.77,0.833,4,0.086,0.056,3166,3670,1346,0,0,0,0,0,0
$GC,3552,0.90,412.7,41.8,11.1,420,3557,0.00,2.25,0.00,0.000,6,0.000,0.060,3176,2270,1345,0,0,0,0,0,0
$FREEZE,8.85,NaN,-0.007,0,290,2
$FREEZE,8.20,NaN,-0.006,0,290,2
$FREEZE,7.54,NaN,-0.006,0,290,2
$FREEZE,6.96,NaN,-0.005,0,290,2
$FREEZE,6.25,NaN,-0.005,0,290,2
$FREEZE,5.64,NaN,-0.004,0,290,2
$FREEZE,5.09,NaN,-0.004,0,290,2
$FREEZE,4.39,NaN,-0.003,0,290,2
$FREEZE,3.75,NaN,-0.003,0,290,2
$FREEZE,3.23,NaN,-0.002,0,290,2
$FREEZE,3.01,NaN,-0.002,0,290,2
$FREEZE,2.77,NaN,-0.002,0,290,2
$GC,3898,0.88,438.4,3.0,8.8,481,3904,0.00,0.00,4.22,0.592,2,0.000,0.000,3176,2270,1310,0,0,0,0,0,0
$STATE,3904,end climb,SURFACE_DEPTH_REACHED
$STATE,3905,begin surface coast
$FREEZE,2.42,NaN,-0.002,0,290,2
$FREEZE,2.06,NaN,-0.002,0,290,2
$FREEZE,1.82,NaN,-0.001,0,290,2
$FREEZE,1.80,NaN,-0.001,0,290,2
$FREEZE,1.77,NaN,-0.001,0,290,2
$FREEZE,1.81,NaN,-0.001,0,290,2
$FREEZE,1.79,NaN,-0.001,0,290,2
$FREEZE,1.78,NaN,-0.001,0,290,2
$FREEZE,1.81,NaN,-0.001,0,290,2
$FINISH,1.8,NaN
$STATE,3954,end surface coast,CONTROL_FINISHED_OK
$STATE,3954,begin surface
$SM_CCo,3981,61.80,0.063,0,0,750,559.04
$SM_GC,2.70,0.00,0.00,61.80,0.000,0.000,0.063,110,2503,750,-8.60,0.34,559.04
$RAFOS_CLK,216
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,77.91
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.8,20.3
$24V_AH,21.3,120.863
$10V_AH,9.8,58.848
$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,13.950,39.375,490.425,61.800,0.000,0.000,0.000,0.000,5.500,0.000,0.000,542.103,1855.554,422.916,1150.303,136.334,0.000,968.849,0.000,810.188,0.000,2.620,0.000
$DEVICE_MAMPS,236.385,154.530,1034.280,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.936,344.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,16777,491
$CAP_FILE_SIZE,59093,0
$CFSIZE,260165632,198598656
$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