version: 66.08
glider: 141
mission: 15
dive: 935
start: 6 13 111 9 27 40
data:
$ID,141
$MISSION,15
$DIVE,935
$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,-88520.656
$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,30
$R_STBD_OVSHOOT,44
$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,16.38
$_SM_ANGLEo,1.2
$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,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,-3.60,0.000,2,0.000,0.000,2879,875,3253,0,0,0,0,0,0
$GC,26,-0.62,-146.0,21.3,-0.0,1,37,0.62,0.28,-5.85,0.000,4,0.122,0.145,2672,1080,3629,0,0,0,0,0,0
$GC,95,-0.92,-146.0,29.4,-11.1,13,101,0.28,2.17,0.00,0.000,6,0.174,0.037,2579,2508,3632,0,0,0,0,0,0
$GC,441,-1.23,-146.0,64.9,-9.8,74,446,0.28,2.38,0.00,0.000,4,0.105,0.067,2477,1082,3631,0,0,0,0,0,0
$GC,473,-1.18,-146.0,69.4,-15.3,79,478,0.00,2.17,0.00,0.000,6,0.000,0.047,2477,2471,3631,0,0,0,0,0,0
$GC,808,-1.15,-146.0,128.0,-17.3,125,812,0.00,2.25,0.00,0.000,4,0.000,0.052,2477,3887,3630,0,0,0,0,0,0
$GC,838,-1.32,-146.0,132.6,-13.6,127,843,0.10,2.28,0.00,0.000,6,0.124,0.058,2440,2499,3629,0,0,0,0,0,0
$GC,1165,-1.25,-146.0,190.7,-17.9,157,1169,0.00,2.40,0.00,0.000,4,0.000,0.079,2440,1078,3627,0,0,0,0,0,0
$GC,1201,-0.99,-146.0,198.8,-24.2,160,1206,0.43,2.15,0.00,0.000,6,0.230,0.037,2540,2486,3627,0,0,0,0,0,0
$STATE,1470,end dive,NO_VERTICAL_VELOCITY
$STATE,1471,begin apogee
$GC,1479,-0.12,0.0,212.6,0.0,185,1606,0.88,0.00,119.10,1.023,6,0.135,0.000,2814,2264,3030,0,0,0,0,0,0
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1610,0.62,146.0,212.7,0.0,197,1744,0.75,2.47,122.32,0.975,4,0.110,0.048,3057,3663,2433,0,0,0,0,0,0
$GC,1752,1.04,355.5,212.5,0.3,211,1950,0.40,2.42,187.52,0.947,6,0.063,0.057,3205,2277,1580,0,0,0,0,0,0
$GC,2277,0.86,355.5,157.2,13.9,261,2282,0.25,2.35,0.00,0.000,4,0.207,0.067,3147,863,1573,0,0,0,0,0,0
$GC,2306,0.70,355.5,153.1,12.7,263,2311,0.22,2.25,0.00,0.000,6,0.206,0.045,3092,2273,1571,0,0,0,0,0,0
$GC,2633,0.72,373.2,121.8,9.2,293,2653,0.00,2.25,15.18,0.847,4,0.000,0.060,3092,3687,1507,0,0,0,0,0,0
$GC,2671,0.79,384.5,117.9,9.5,296,2690,0.00,2.30,11.75,0.825,6,0.000,0.054,3098,2262,1462,0,0,0,0,0,0
$GC,3020,0.81,399.6,83.7,9.3,343,3041,0.00,2.33,14.38,0.842,4,0.000,0.066,3109,868,1401,0,0,0,0,0,0
$GC,3110,0.83,399.6,75.0,10.2,359,3115,0.00,2.22,0.00,0.000,6,0.000,0.047,3109,2285,1400,0,0,0,0,0,0
$GC,3457,0.99,435.9,44.6,8.3,420,3494,0.20,2.22,31.10,0.895,4,0.079,0.060,3196,3683,1251,0,0,0,0,0,0
$GC,3508,1.02,435.9,39.0,11.0,429,3513,0.00,2.28,0.00,0.000,6,0.000,0.057,3206,2268,1249,0,0,0,0,0,0
$FREEZE,8.98,NaN,-0.007,0,298,0
$FREEZE,8.22,NaN,-0.006,0,298,0
$FREEZE,7.56,NaN,-0.006,0,298,0
$FREEZE,6.93,NaN,-0.005,0,298,0
$FREEZE,6.23,NaN,-0.005,0,298,0
$FREEZE,5.65,NaN,-0.004,0,298,0
$FREEZE,4.86,NaN,-0.004,0,298,0
$FREEZE,4.29,NaN,-0.003,0,298,0
$FREEZE,3.60,NaN,-0.003,0,298,0
$FREEZE,2.94,NaN,-0.002,0,298,0
$STATE,3801,end climb,SURFACE_DEPTH_REACHED
$STATE,3801,begin surface coast
$FREEZE,2.31,NaN,-0.002,0,298,0
$FREEZE,1.78,NaN,-0.001,0,298,0
$FREEZE,1.81,NaN,-0.001,0,298,0
$FREEZE,1.76,NaN,-0.001,0,298,0
$FREEZE,1.76,NaN,-0.001,0,298,0
$FINISH,1.8,NaN
$STATE,3830,end surface coast,CONTROL_FINISHED_OK
$STATE,3830,begin surface
$SM_CCo,3851,55.08,0.063,0,0,750,559.04
$SM_GC,2.85,0.00,0.00,55.08,0.000,0.000,0.063,117,2513,750,-8.59,0.65,559.04
$RAFOS_CLK,209
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026964
$HUMID,76.65
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.3,17.6
$24V_AH,21.4,121.962
$10V_AH,10.0,59.227
$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,13.375,39.875,501.350,55.075,0.000,0.000,0.000,0.000,4.500,0.000,0.000,542.472,1746.998,418.463,1136.362,126.218,0.000,960.820,0.000,795.979,0.000,2.618,0.000
$DEVICE_MAMPS,229.500,145.350,1022.805,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.392,341.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16786,486
$CAP_FILE_SIZE,57214,0
$CFSIZE,260165632,198320128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6