version: 66.08
glider: 141
mission: 15
dive: 943
start: 6 13 111 20 29 35
data:
$ID,141
$MISSION,15
$DIVE,943
$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,-90365.539
$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,36
$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,17.82
$_SM_ANGLEo,8.1
$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,17,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.67,0.000,2,0.000,0.000,2874,3692,3264,0,0,0,0,0,0
$GC,26,-0.62,-146.0,22.2,-0.0,1,37,0.68,0.30,-5.50,0.000,4,0.165,0.151,2675,3905,3628,0,0,0,0,0,0
$GC,292,-0.98,-146.0,62.8,-15.7,48,298,0.40,2.30,0.00,0.000,6,0.114,0.055,2545,2489,3628,0,0,0,0,0,0
$GC,638,-1.23,-146.0,98.9,-10.6,109,643,0.22,2.38,0.00,0.000,4,0.096,0.077,2462,1078,3627,0,0,0,0,0,0
$GC,679,-0.98,-146.0,106.6,-23.0,113,685,0.32,2.22,0.00,0.000,6,0.232,0.039,2538,2523,3627,0,0,0,0,0,0
$GC,1005,-1.11,-146.0,147.9,-11.7,144,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2523,3627,0,0,0,0,0,0
$GC,1323,-1.26,-146.0,187.1,-11.9,174,1328,0.22,2.20,0.00,0.000,4,0.092,0.050,2452,3895,3626,0,0,0,0,0,0
$GC,1364,-1.49,-146.0,191.9,-12.4,177,1369,0.20,2.28,0.00,0.000,6,0.101,0.057,2381,2494,3626,0,0,0,0,0,0
$STATE,1644,end dive,NO_VERTICAL_VELOCITY
$STATE,1644,begin apogee
$GC,1652,-0.12,0.0,213.3,0.0,203,1780,1.40,0.00,118.55,1.023,6,0.133,0.000,2816,2257,3030,0,0,0,0,0,0
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1783,0.62,146.0,213.3,0.0,215,1917,0.73,2.47,122.60,0.978,4,0.113,0.050,3055,3668,2433,0,0,0,0,0,0
$GC,1986,1.14,357.6,213.1,0.2,234,2184,0.52,2.35,186.02,0.948,6,0.079,0.063,3236,2288,1571,0,0,0,0,0,0
$GC,2504,0.91,357.6,156.0,15.8,284,2509,0.28,2.38,0.00,0.000,4,0.222,0.074,3174,866,1563,0,0,0,0,0,0
$GC,2538,0.67,357.6,150.3,16.7,286,2543,0.35,2.25,0.00,0.000,6,0.225,0.054,3088,2283,1562,0,0,0,0,0,0
$GC,2865,0.68,368.5,118.0,9.5,317,2879,0.00,2.28,9.00,0.786,4,0.000,0.051,3088,3693,1527,0,0,0,0,0,0
$GC,2887,0.71,390.4,115.8,9.0,319,2913,0.00,2.30,20.98,0.864,6,0.000,0.051,3096,2262,1438,0,0,0,0,0,0
$GC,3243,0.71,391.8,81.6,9.9,367,3248,0.00,2.25,0.00,0.000,4,0.000,0.066,3107,866,1435,0,0,0,0,0,0
$GC,3334,0.71,391.8,72.5,10.6,383,3339,0.00,2.22,0.00,0.000,6,0.000,0.037,3107,2290,1435,0,0,0,0,0,0
$GC,3679,0.80,438.1,41.8,7.9,444,3725,0.00,2.25,37.85,0.910,4,0.000,0.058,3107,3673,1243,0,0,0,0,0,0
$GC,3734,1.00,477.7,37.4,8.2,454,3765,0.22,2.28,22.70,0.920,6,0.103,0.058,3188,2267,1083,0,0,0,0,0,0
$FREEZE,8.50,NaN,-0.006,0,306,0
$FREEZE,7.84,NaN,-0.006,0,306,0
$FREEZE,7.24,NaN,-0.005,0,306,0
$FREEZE,6.62,NaN,-0.005,0,306,0
$FREEZE,5.90,NaN,-0.004,0,306,0
$FREEZE,5.26,NaN,-0.004,0,306,0
$FREEZE,4.67,NaN,-0.004,0,306,0
$FREEZE,3.91,NaN,-0.003,0,306,0
$FREEZE,3.26,NaN,-0.002,0,306,0
$FREEZE,2.62,NaN,-0.002,0,306,0
$STATE,4034,end climb,SURFACE_DEPTH_REACHED
$STATE,4034,begin surface coast
$FREEZE,2.11,NaN,-0.002,0,306,0
$FREEZE,1.83,NaN,-0.001,0,306,0
$FREEZE,1.81,NaN,-0.001,0,306,0
$FREEZE,1.78,NaN,-0.001,0,306,0
$FREEZE,1.87,NaN,-0.001,0,306,0
$FINISH,1.9,NaN
$STATE,4063,end surface coast,CONTROL_FINISHED_OK
$STATE,4063,begin surface
$SM_CCo,4157,35.80,0.065,0,0,751,559.04
$SM_GC,2.83,0.00,0.00,35.80,0.000,0.000,0.065,109,2514,751,-8.61,0.68,559.04
$RAFOS_CLK,227
$RAFOS,6,1307998147,20.833334,20.818611,59,59,57,56,54,53,182,194,216,207,148,130
$RAFOS,5,1307997669,20.700001,20.685833,63,59,58,57,56,55,149,219,130,167,207,113
$RAFOS,4,1307997186,20.566668,20.551666,62,57,54,52,51,48,203,185,217,166,131,142
$RAFOS,3,1307996706,20.433332,20.418333,61,60,58,54,53,53,228,160,170,201,150,184
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.034454
$HUMID,76.42
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,65
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,21.5,123.091
$10V_AH,9.8,59.627
$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,14.525,35.375,517.700,35.800,0.000,0.000,0.000,0.000,16.500,0.000,0.000,559.712,1958.719,411.206,1194.445,132.412,0.000,980.817,0.000,839.893,1080.000,2.818,0.000
$DEVICE_MAMPS,231.795,150.705,1022.805,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.145,360.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16813,513
$CAP_FILE_SIZE,58655,0
$CFSIZE,260165632,198033408
$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