version: 66.08
glider: 141
mission: 15
dive: 931
start: 6 13 111 4 26 33
data:
$ID,141
$MISSION,15
$DIVE,931
$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,-88152.078
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.58
$_SM_ANGLEo,6.3
$GPS2,130611,000401,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,18,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.62,0.000,2,0.000,0.000,2869,3698,3244,0,0,0,0,0,0
$GC,27,-0.62,-146.0,19.8,-0.0,1,38,0.62,0.25,-6.28,0.000,4,0.144,0.174,2673,3906,3629,0,0,0,0,0,0
$GC,293,-0.99,-146.0,59.2,-14.9,48,299,0.38,2.30,0.00,0.000,6,0.104,0.057,2547,2489,3631,0,0,0,0,0,0
$GC,638,-1.38,-146.0,93.7,-11.6,109,643,0.35,0.00,0.00,0.000,6,0.187,0.000,2430,2489,3629,0,0,0,0,0,0
$GC,967,-1.33,-146.0,149.4,-17.8,144,971,0.00,2.25,0.00,0.000,4,0.000,0.050,2430,3899,3627,0,0,0,0,0,0
$GC,1102,-1.56,-146.0,166.1,-12.7,155,1107,0.20,2.28,0.00,0.000,6,0.098,0.057,2359,2491,3627,0,0,0,0,0,0
$GC,1428,-1.79,-146.0,213.5,0.0,185,1433,0.20,2.35,0.00,0.000,4,0.097,0.070,2283,1082,3627,0,0,0,0,0,0
$STATE,1503,end dive,NO_VERTICAL_VELOCITY
$STATE,1503,begin apogee
$GC,1513,-0.12,0.0,213.6,0.0,191,1642,1.75,0.00,119.22,1.030,6,0.154,0.000,2816,2284,3029,0,0,0,0,0,0
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1646,0.62,146.0,213.5,0.0,204,1781,0.75,2.60,123.18,0.983,4,0.127,0.070,3055,858,2432,0,0,0,0,0,0
$GC,2035,0.98,361.9,213.1,0.0,239,2227,0.35,2.25,182.43,0.952,6,0.070,0.046,3193,2316,1554,0,0,0,0,0,0
$GC,2554,0.80,361.9,148.8,15.2,289,2559,0.25,2.15,0.00,0.000,4,0.203,0.050,3124,3669,1545,0,0,0,0,0,0
$GC,2565,0.63,361.9,146.7,15.3,289,2571,0.20,2.25,0.00,0.000,6,0.159,0.059,3073,2262,1543,0,0,0,0,0,0
$GC,2891,0.66,386.3,115.6,8.9,320,2916,0.00,2.30,20.73,0.871,4,0.000,0.063,3082,864,1454,0,0,0,0,0,0
$GC,2964,0.71,390.2,108.6,9.8,326,2974,0.00,2.17,4.90,0.645,6,0.000,0.038,3082,2276,1439,0,0,0,0,0,0
$GC,3309,0.71,390.2,67.8,10.9,381,3314,0.00,2.22,0.00,0.000,4,0.000,0.064,3082,3680,1437,0,0,0,0,0,0
$GC,3334,0.74,390.2,65.2,11.4,385,3339,0.00,2.28,0.00,0.000,6,0.000,0.064,3084,2270,1435,0,0,0,0,0,0
$GC,3678,0.86,438.9,35.7,7.8,446,3715,0.15,2.33,28.27,0.947,4,0.099,0.060,3144,3676,1239,0,0,0,0,0,0
$GC,3729,0.86,438.9,30.7,10.5,455,3734,0.00,2.28,0.00,0.000,6,0.000,0.062,3152,2267,1237,0,0,0,0,0,0
$FREEZE,8.68,NaN,-0.007,0,294,0
$FREEZE,8.13,NaN,-0.006,0,294,0
$FREEZE,7.51,NaN,-0.006,0,294,0
$FREEZE,7.03,NaN,-0.005,0,294,0
$FREEZE,6.33,NaN,-0.005,0,294,0
$FREEZE,5.74,NaN,-0.004,0,294,0
$FREEZE,5.19,NaN,-0.004,0,294,0
$FREEZE,4.61,NaN,-0.003,0,294,0
$FREEZE,4.05,NaN,-0.003,0,294,0
$FREEZE,3.43,NaN,-0.003,0,294,0
$FREEZE,2.90,NaN,-0.002,0,294,0
$STATE,3985,end climb,SURFACE_DEPTH_REACHED
$STATE,3985,begin surface coast
$FREEZE,2.37,NaN,-0.002,0,294,0
$FREEZE,2.02,NaN,-0.002,0,294,0
$FREEZE,1.87,NaN,-0.001,0,294,0
$FREEZE,1.73,NaN,-0.001,0,294,0
$FREEZE,1.76,NaN,-0.001,0,294,0
$FINISH,1.8,NaN
$STATE,4015,end surface coast,CONTROL_FINISHED_OK
$STATE,4015,begin surface
$SM_CCo,4149,53.67,0.066,0,0,751,559.04
$SM_GC,2.84,0.00,0.00,53.67,0.000,0.000,0.066,110,2505,751,-8.61,0.42,559.04
$RAFOS_CLK,230
$RAFOS,6,1307940544,4.833333,4.817778,62,56,56,53,49,48,193,173,216,153,139,120
$RAFOS,5,1307940062,4.700000,4.683889,59,59,56,54,53,51,179,199,169,140,208,113
$RAFOS,4,1307939581,4.566667,4.550278,59,57,54,54,54,53,216,194,158,123,135,104
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026215
$HUMID,77.87
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,22.3,121.413
$10V_AH,9.9,59.057
$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,14.025,34.475,478.725,53.675,0.000,0.000,0.000,0.000,3.750,0.000,0.000,587.204,1917.252,408.953,1222.823,131.911,0.000,979.220,0.000,868.030,1080.000,2.616,0.000
$DEVICE_MAMPS,202.725,174.420,1029.690,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.218,356.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16793,506
$CAP_FILE_SIZE,58433,0
$CFSIZE,260165632,198455296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6