version: 66.08
glider: 141
mission: 15
dive: 750
start: 6 3 111 15 52 23
data:
$ID,141
$MISSION,15
$DIVE,750
$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,-55271.02
$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,23
$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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-1.6
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-106.97,0.000,2,0.000,0.000,3158,2287,3480,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.5,-8.9,19,143,1.73,2.67,-4.90,0.000,4,0.196,0.087,2673,3899,3623,0,0,0,0,0,0
$GC,197,-0.50,-146.0,15.3,-17.8,30,204,0.00,2.25,0.00,0.000,6,0.000,0.052,2672,2488,3626,0,0,0,0,0,0
$GC,544,-0.44,-146.0,64.6,-13.1,91,551,0.17,2.33,0.00,0.000,4,0.207,0.077,2716,1068,3624,0,0,0,0,0,0
$GC,594,-0.50,-146.0,70.3,-10.1,99,600,0.00,2.30,0.00,0.000,6,0.000,0.063,2715,2486,3625,0,0,0,0,0,0
$GC,944,-0.56,-146.0,104.2,-9.2,157,948,0.00,2.35,0.00,0.000,4,0.000,0.080,2716,3906,3623,0,0,0,0,0,0
$GC,966,-0.62,-146.0,106.3,-8.7,158,974,0.15,2.25,0.00,0.000,6,0.110,0.051,2663,2487,3623,0,0,0,0,0,0
$GC,1292,-0.56,-146.0,147.3,-13.0,189,1296,0.00,2.28,0.00,0.000,4,0.000,0.067,2664,1081,3621,0,0,0,0,0,0
$GC,1366,-0.54,-146.0,156.6,-12.0,195,1370,0.00,2.28,0.00,0.000,6,0.000,0.064,2664,2496,3621,0,0,0,0,0,0
$GC,1697,-0.49,-146.0,197.2,-12.5,226,1702,0.15,2.38,0.00,0.000,4,0.212,0.077,2699,3911,3621,0,0,0,0,0,0
$STATE,1885,end dive,NO_VERTICAL_VELOCITY
$STATE,1885,begin apogee
$GC,1894,-0.12,0.0,202.0,0.0,242,2021,0.35,0.00,118.18,1.033,6,0.137,0.000,2814,2265,3030,0,0,0,0,0,0
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2026,0.62,146.0,202.0,0.0,254,2158,0.77,2.47,121.50,0.978,4,0.137,0.072,3066,870,2433,0,0,0,0,0,0
$GC,2302,0.59,186.0,186.7,8.2,278,2343,0.00,2.30,34.08,0.926,6,0.000,0.055,3066,2276,2271,0,0,0,0,0,0
$GC,2662,0.56,186.0,148.8,10.4,312,2666,0.00,2.33,0.00,0.000,4,0.000,0.073,3076,868,2266,0,0,0,0,0,0
$GC,2736,0.52,186.0,140.7,10.5,318,2741,0.15,2.25,0.00,0.000,6,0.177,0.055,3038,2285,2264,0,0,0,0,0,0
$GC,3063,0.63,245.8,114.1,7.2,348,3121,0.00,2.42,51.55,0.918,4,0.000,0.073,3043,870,2026,0,0,0,0,0,0
$GC,3264,0.77,288.8,98.3,8.0,368,3312,0.20,2.28,38.20,0.899,6,0.084,0.058,3128,2281,1851,0,0,0,0,0,0
$GC,3653,0.72,288.8,42.3,14.9,436,3660,0.12,2.33,0.00,0.000,4,0.182,0.072,3105,864,1844,0,0,0,0,0,0
$GC,3746,0.76,288.8,31.3,10.9,452,3753,0.00,2.25,0.00,0.000,6,0.000,0.056,3105,2284,1842,0,0,0,0,0,0
$FREEZE,8.61,-0.904,-1.817,3,113,0
$FREEZE,8.03,-0.907,-1.817,3,113,0
$FREEZE,7.39,-0.911,-1.816,3,113,0
$FREEZE,6.93,-0.910,-1.816,3,113,0
$FREEZE,6.41,-0.912,-1.815,3,113,0
$FREEZE,6.14,-0.913,-1.815,3,113,0
$FREEZE,5.85,-0.914,-1.815,3,113,0
$FREEZE,5.42,-0.909,-1.814,3,113,0
$FREEZE,4.75,-0.900,-1.814,3,113,0
$FREEZE,4.29,-0.900,-1.814,3,113,0
$FREEZE,3.68,-0.905,-1.813,3,113,0
$FREEZE,3.21,-0.913,-1.813,3,113,0
$FREEZE,2.56,-0.911,-1.812,3,113,0
$STATE,4027,end climb,SURFACE_DEPTH_REACHED
$STATE,4027,begin surface coast
$FREEZE,2.25,-0.789,-1.805,3,113,0
$FREEZE,2.11,-0.841,-1.808,3,113,0
$FREEZE,1.90,-0.802,-1.807,3,113,0
$FREEZE,1.99,-0.738,-0.839,3,113,0
$FINISH,2.0,1.012357
$STATE,4048,end surface coast,FINISH_DEPTH_REACHED
$STATE,4049,begin surface
$RAFOS_CLK,227
$RAFOS,6,1307119745,16.833334,16.818056,66,61,51,51,50,47,189,203,162,439,115,174
$RAFOS,5,1307119264,16.700001,16.684444,73,56,56,55,54,52,215,173,747,189,137,200
$RAFOS,4,1307118788,16.566668,16.552221,83,58,57,57,56,54,212,167,185,132,202,142
$RAFOS,3,1307118301,16.433332,16.416945,61,57,56,55,54,53,187,201,213,224,160,118
$RAFOS,2,1307117824,16.299999,16.284445,65,62,57,53,51,51,163,187,130,200,139,209
$RAFOS,1,1307117345,16.166666,16.151388,65,64,60,53,51,49,169,197,144,206,130,119
$RAFOS,0,1307116866,16.033333,16.018333,65,63,58,57,57,52,211,147,130,188,159,115
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.50
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,22.9,100.553
$10V_AH,9.8,51.863
$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,3.800,42.350,363.500,0.000,0.000,0.000,0.000,0.000,14.500,0.000,0.000,1182.927,1672.892,400.242,868.112,109.836,0.000,919.888,0.000,863.978,2520.000,2.617,0.000
$DEVICE_MAMPS,211.905,87.210,1032.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.421,370.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20115,506
$CAP_FILE_SIZE,58237,0
$CFSIZE,260165632,204423168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6