version: 66.08
glider: 141
mission: 15
dive: 937
start: 6 13 111 12 24 36
data:
$ID,141
$MISSION,15
$DIVE,937
$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,-89258.805
$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,26
$R_STBD_OVSHOOT,54
$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,2.88
$_SM_ANGLEo,-77.8
$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,16,-0.62,-146.0,0.0,0.0,0,130,0.00,0.00,-107.82,0.000,2,0.000,0.000,113,2524,2512,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.3,-8.4,22,180,12.98,2.50,-24.42,0.000,4,0.321,0.089,2657,1083,3629,0,0,0,0,0,0
$GC,196,-0.90,-146.0,17.6,-9.5,33,202,0.25,2.22,0.00,0.000,6,0.111,0.047,2577,2483,3629,0,0,0,0,0,0
$GC,540,-1.26,-146.0,55.5,-11.6,94,546,0.32,2.28,0.00,0.000,4,0.149,0.052,2468,3898,3629,0,0,0,0,0,0
$GC,791,-1.60,-146.0,83.7,-11.3,138,797,0.35,2.33,0.00,0.000,6,0.108,0.067,2352,2487,3629,0,0,0,0,0,0
$GC,1121,-1.45,-146.0,153.6,-21.5,176,1126,0.17,2.45,0.00,0.000,4,0.228,0.081,2391,1075,3628,0,0,0,0,0,0
$GC,1151,-1.18,-146.0,160.8,-25.8,178,1156,0.38,2.20,0.00,0.000,6,0.243,0.040,2479,2486,3628,0,0,0,0,0,0
$GC,1479,-1.18,-146.0,213.3,-14.4,208,1483,0.00,2.25,0.00,0.000,4,0.000,0.054,2479,3892,3628,0,0,0,0,0,0
$STATE,1639,end dive,NO_VERTICAL_VELOCITY
$STATE,1639,begin apogee
$GC,1650,-0.12,0.0,216.1,0.0,222,1777,1.08,0.00,119.95,1.047,6,0.131,0.000,2818,2270,3029,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1781,0.62,146.0,216.1,0.0,234,1914,0.75,2.60,123.35,0.995,4,0.116,0.087,3059,869,2434,0,0,0,0,0,0
$GC,1937,0.94,340.0,215.7,1.0,249,2121,0.32,2.35,175.32,0.962,6,0.070,0.036,3174,2283,1643,0,0,0,0,0,0
$GC,2441,0.77,340.0,158.8,13.8,297,2446,0.22,2.38,0.00,0.000,4,0.197,0.065,3126,865,1634,0,0,0,0,0,0
$GC,2452,0.61,340.0,157.0,13.7,297,2458,0.25,2.25,0.00,0.000,6,0.209,0.053,3067,2275,1633,0,0,0,0,0,0
$GC,2780,0.64,359.9,126.8,9.1,328,2804,0.00,2.28,17.15,0.871,4,0.000,0.051,3067,3696,1561,0,0,0,0,0,0
$GC,2848,0.78,392.2,120.7,8.5,334,2883,0.12,2.30,29.60,0.890,6,0.100,0.054,3125,2270,1431,0,0,0,0,0,0
$GC,3216,0.74,392.2,79.5,10.8,383,3221,0.00,2.25,0.00,0.000,4,0.000,0.060,3125,3694,1427,0,0,0,0,0,0
$GC,3228,0.71,392.2,77.8,11.1,385,3234,0.15,2.28,0.00,0.000,6,0.173,0.057,3097,2277,1425,0,0,0,0,0,0
$GC,3573,0.74,416.0,45.5,8.9,446,3603,0.00,2.33,21.58,0.874,4,0.000,0.065,3105,863,1333,0,0,0,0,0,0
$GC,3617,0.81,436.3,41.6,9.1,454,3638,0.00,2.25,16.00,0.903,6,0.000,0.046,3105,2314,1251,0,0,0,0,0,0
$FREEZE,8.91,NaN,-0.007,0,300,2
$FREEZE,8.29,NaN,-0.006,0,300,2
$FREEZE,7.70,NaN,-0.006,0,300,2
$GC,3978,1.05,480.8,10.4,7.9,518,4009,0.25,2.45,21.77,0.846,4,0.079,0.063,3226,865,1067,0,0,0,0,0,0
$FREEZE,6.11,NaN,-0.005,0,300,2
$FREEZE,5.33,NaN,-0.004,0,300,2
$FREEZE,4.52,NaN,-0.003,0,300,2
$GC,4031,0.95,480.8,4.5,13.8,527,4037,0.25,2.22,0.00,0.000,6,0.270,0.047,3174,2282,1065,0,0,0,0,0,0
$FREEZE,2.12,NaN,-0.002,0,300,2
$STATE,4041,end climb,SURFACE_DEPTH_REACHED
$STATE,4041,begin surface coast
$FREEZE,1.86,NaN,-0.001,0,300,2
$FREEZE,1.85,NaN,-0.001,0,300,2
$FREEZE,1.82,NaN,-0.001,0,300,2
$FINISH,1.8,NaN
$STATE,4058,end surface coast,CONTROL_FINISHED_OK
$STATE,4058,begin surface
$SM_CCo,4116,34.97,0.065,0,0,751,559.04
$SM_GC,1.98,0.00,0.00,34.97,0.000,0.000,0.065,109,2505,751,-8.61,0.42,559.04
$RAFOS_CLK,271
$RAFOS,6,1307969350,12.833333,12.819445,67,58,57,54,53,51,186,174,203,132,120,143
$RAFOS,5,1307968867,12.700000,12.685278,64,64,61,53,52,51,177,209,218,199,135,149
$RAFOS,4,1307968386,12.566667,12.551666,56,56,53,52,52,51,208,220,166,151,176,199
$RAFOS,3,1307967902,12.433333,12.417222,65,63,62,57,55,54,218,204,189,136,175,162
$RAFOS,0,1307966461,12.033333,12.016945,64,60,58,57,52,51,134,202,188,158,223,212
$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,16.80
$XPDR_PINGS,34
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,21.2,122.256
$10V_AH,9.9,59.341
$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,26.475,47.175,524.725,34.975,0.000,98.751,16.954,0.000,8.750,0.000,183.289,596.000,1880.303,494.002,1557.053,603.189,0.000,1134.006,0.000,880.249,1440.000,2.616,0.000
$DEVICE_MAMPS,320.535,88.740,1047.285,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1119.097,370.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20147,532
$CAP_FILE_SIZE,69422,0
$CFSIZE,260165632,198234112
$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