version: 66.08
glider: 141
mission: 15
dive: 885
start: 6 10 111 16 17 37
data:
$ID,141
$MISSION,15
$DIVE,885
$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,-80408.047
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.75
$_SM_ANGLEo,-6.4
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.85,0.000,2,0.000,0.000,2895,3694,3067,0,0,0,0,0,0
$GC,29,-0.62,-146.0,10.2,-0.0,1,54,0.65,4.30,-13.88,0.000,4,0.135,0.065,2672,1074,3629,0,0,0,0,0,0
$GC,62,-0.60,-146.0,13.8,-11.7,6,69,0.00,2.33,0.00,0.000,6,0.000,0.069,2672,2496,3630,0,0,0,0,0,0
$GC,411,-0.50,-146.0,70.3,-14.5,67,417,0.00,2.33,0.00,0.000,4,0.000,0.067,2672,1083,3629,0,0,0,0,0,0
$GC,595,-0.48,-146.0,96.3,-14.1,99,602,0.15,2.35,0.00,0.000,6,0.222,0.074,2705,2494,3629,0,0,0,0,0,0
$GC,925,-0.48,-146.0,130.7,-9.9,132,930,0.00,2.33,0.00,0.000,4,0.000,0.080,2705,3898,3628,0,0,0,0,0,0
$GC,999,-0.54,-146.0,137.8,-9.0,138,1005,0.00,2.25,0.00,0.000,6,0.000,0.050,2705,2490,3628,0,0,0,0,0,0
$GC,1325,-0.57,-146.0,169.0,-9.1,169,1329,0.00,2.38,0.00,0.000,4,0.000,0.074,2705,3900,3627,0,0,0,0,0,0
$GC,1366,-0.64,-146.0,172.8,-8.4,172,1371,0.15,2.25,0.00,0.000,6,0.109,0.049,2653,2489,3627,0,0,0,0,0,0
$GC,1692,-0.64,-146.0,214.6,-10.8,202,1696,0.00,2.38,0.00,0.000,4,0.000,0.073,2653,3905,3626,0,0,0,0,0,0
$STATE,1833,end dive,NO_VERTICAL_VELOCITY
$STATE,1833,begin apogee
$GC,1843,-0.12,0.0,214.6,0.0,214,1969,0.52,0.00,119.22,1.021,6,0.148,0.000,2815,2266,3030,0,0,0,0,0,0
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1973,0.62,146.0,214.5,0.0,225,2107,0.80,2.62,122.32,0.974,4,0.153,0.069,3052,3694,2433,0,0,0,0,0,0
$GC,2328,0.59,146.0,203.6,11.4,256,2335,0.00,2.30,0.00,0.000,6,0.000,0.053,3062,2267,2428,0,0,0,0,0,0
$GC,2654,0.63,177.2,176.8,8.6,287,2688,0.00,2.33,26.45,0.924,4,0.000,0.068,3073,861,2306,0,0,0,0,0,0
$GC,2742,0.70,197.1,169.1,9.1,294,2770,0.00,2.30,18.25,0.897,6,0.000,0.054,3072,2286,2225,0,0,0,0,0,0
$GC,3089,0.75,212.0,136.5,9.3,327,3109,0.10,0.00,13.60,0.866,6,0.116,0.000,3119,2286,2165,0,0,0,0,0,0
$GC,3430,0.72,212.0,94.1,12.4,363,3437,0.00,2.30,0.00,0.000,4,0.000,0.067,3119,3695,2163,0,0,0,0,0,0
$GC,3467,0.63,212.0,89.4,13.4,369,3475,0.22,2.28,0.00,0.000,6,0.184,0.053,3071,2276,2163,0,0,0,0,0,0
$GC,3817,0.74,246.2,58.1,8.4,430,3853,0.00,2.38,30.48,0.884,4,0.000,0.067,3079,869,2026,0,0,0,0,0,0
$GC,3965,0.90,288.6,45.5,8.0,455,4003,0.20,2.28,31.33,0.916,6,0.087,0.061,3162,2280,1853,0,0,0,0,0,0
$FREEZE,8.60,-1.294,-1.802,0,248,0
$FREEZE,7.84,-1.303,-1.801,0,248,0
$FREEZE,7.22,-1.288,-1.801,0,248,0
$FREEZE,6.65,-1.307,-1.800,0,248,0
$FREEZE,5.71,-1.311,-1.799,0,248,0
$FREEZE,5.20,-1.316,-1.799,0,248,0
$FREEZE,4.48,-1.322,-1.798,0,248,0
$FREEZE,3.82,-1.329,-1.798,0,248,0
$FREEZE,3.18,-1.328,-1.797,0,248,0
$FREEZE,2.62,-1.345,-1.796,0,248,0
$STATE,4304,end climb,SURFACE_DEPTH_REACHED
$STATE,4304,begin surface coast
$FREEZE,2.23,-1.122,-1.776,0,248,0
$FREEZE,2.14,-1.338,-1.792,0,248,0
$FREEZE,2.15,-1.404,-1.796,0,248,0
$FREEZE,2.10,-1.401,-1.797,0,248,0
$FINISH,2.1,1.026361
$STATE,4326,end surface coast,CONTROL_FINISHED_OK
$STATE,4327,begin surface
$SM_CCo,4468,118.55,0.063,0,0,751,559.04
$SM_GC,2.66,0.00,0.00,118.55,0.000,0.000,0.063,113,2501,751,-8.60,0.34,559.04
$RAFOS_CLK,248
$RAFOS,6,1307724542,16.833334,16.817223,61,59,55,54,51,50,185,208,151,221,237,136
$RAFOS,5,1307724070,16.700001,16.686111,58,57,56,55,53,51,158,224,191,131,209,178
$RAFOS,4,1307723586,16.566668,16.551666,61,60,55,53,51,48,214,158,135,185,124,168
$RAFOS,3,1307723102,16.433332,16.417223,67,59,58,57,56,55,211,142,195,172,230,221
$RAFOS,2,1307722679,16.299999,16.299723,68,58,57,57,53,51,217,174,127,145,201,189
$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,77.24
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.50
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.4,21.2
$24V_AH,22.5,115.343
$10V_AH,9.8,56.990
$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,11.750,44.625,361.650,118.550,0.000,0.000,0.000,0.000,6.750,0.000,0.000,1237.831,1940.983,469.453,867.143,135.842,0.000,975.126,0.000,863.788,1800.000,2.620,0.000
$DEVICE_MAMPS,221.850,79.560,1021.275,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.737,382.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20075,519
$CAP_FILE_SIZE,59900,0
$CFSIZE,260165632,200060928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6