version: 66.08
glider: 141
mission: 15
dive: 948
start: 6 14 111 3 17 34
data:
$ID,141
$MISSION,15
$DIVE,948
$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,-91471.25
$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,60
$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,2.89
$_SM_ANGLEo,-77.7
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.15,0.000,2,0.000,0.000,116,2523,2554,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.5,-9.0,22,176,12.82,2.42,-22.98,0.000,4,0.319,0.083,2658,1087,3628,0,0,0,0,0,0
$GC,184,-0.83,-146.0,17.2,-9.8,31,189,0.12,2.20,0.00,0.000,6,0.087,0.048,2597,2479,3629,0,0,0,0,0,0
$GC,530,-1.21,-146.0,55.5,-12.1,92,536,0.35,2.28,0.00,0.000,4,0.143,0.052,2483,3886,3628,0,0,0,0,0,0
$GC,545,-1.59,-146.0,57.2,-10.5,94,551,0.38,2.28,0.00,0.000,6,0.088,0.065,2349,2496,3628,0,0,0,0,0,0
$GC,887,-1.43,-146.0,130.0,-21.6,143,892,0.20,2.28,0.00,0.000,4,0.227,0.049,2397,3896,3627,0,0,0,0,0,0
$GC,1147,-1.50,-146.0,171.1,-15.6,165,1152,0.00,2.33,0.00,0.000,6,0.000,0.067,2397,2487,3627,0,0,0,0,0,0
$GC,1473,-1.77,-146.0,216.2,-0.1,196,1478,0.28,2.35,0.00,0.000,4,0.099,0.070,2295,1080,3627,0,0,0,0,0,0
$STATE,1549,end dive,NO_VERTICAL_VELOCITY
$STATE,1549,begin apogee
$GC,1558,-0.12,0.0,216.2,0.0,202,1688,1.67,0.00,119.45,1.047,6,0.138,0.000,2818,2276,3029,0,0,0,0,0,0
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1692,0.62,146.0,216.0,0.0,215,1827,0.70,2.60,123.80,0.996,4,0.078,0.075,3065,871,2433,0,0,0,0,0,0
$GC,2082,1.14,354.6,216.0,0.4,250,2270,0.47,2.25,177.00,0.962,6,0.093,0.037,3229,2316,1583,0,0,0,0,0,0
$GC,2589,0.91,354.6,158.4,15.4,299,2594,0.25,2.15,0.00,0.000,4,0.228,0.050,3163,3673,1575,0,0,0,0,0,0
$GC,2601,0.69,354.6,156.6,15.1,300,2607,0.28,2.28,0.00,0.000,6,0.165,0.049,3093,2261,1573,0,0,0,0,0,0
$GC,2927,0.69,372.0,125.7,9.2,330,2949,0.00,2.28,14.70,0.860,4,0.000,0.063,3101,865,1512,0,0,0,0,0,0
$GC,3006,0.64,372.0,117.4,10.5,337,3012,0.12,2.22,0.00,0.000,6,0.197,0.049,3073,2270,1510,0,0,0,0,0,0
$GC,3342,0.84,418.6,84.5,7.8,383,3393,0.17,2.33,41.78,0.892,4,0.083,0.052,3154,3678,1323,0,0,0,0,0,0
$GC,3415,0.81,418.6,76.4,13.5,396,3421,0.15,2.28,0.00,0.000,6,0.179,0.063,3127,2275,1320,0,0,0,0,0,0
$GC,3763,0.85,448.6,40.3,8.6,457,3794,0.00,2.30,23.83,0.897,4,0.000,0.060,3127,3671,1199,0,0,0,0,0,0
$GC,3807,0.94,466.9,36.1,9.2,465,3823,0.00,2.25,10.43,0.874,6,0.000,0.055,3131,2276,1126,0,0,0,0,0,0
$FREEZE,8.60,NaN,-0.006,0,311,0
$FREEZE,8.08,NaN,-0.006,0,311,0
$FREEZE,7.47,NaN,-0.006,0,311,0
$FREEZE,6.92,NaN,-0.005,0,311,0
$FREEZE,6.45,NaN,-0.005,0,311,0
$FREEZE,5.86,NaN,-0.004,0,311,0
$FREEZE,5.42,NaN,-0.004,0,311,0
$FREEZE,4.83,NaN,-0.004,0,311,0
$FREEZE,4.37,NaN,-0.003,0,311,0
$FREEZE,3.72,NaN,-0.003,0,311,0
$FREEZE,3.25,NaN,-0.002,0,311,0
$FREEZE,2.92,NaN,-0.002,0,311,0
$STATE,4154,end climb,SURFACE_DEPTH_REACHED
$STATE,4154,begin surface coast
$FREEZE,2.33,NaN,-0.002,0,311,0
$FREEZE,1.85,NaN,-0.001,0,311,0
$FREEZE,1.76,NaN,-0.001,0,311,0
$FREEZE,1.89,NaN,-0.001,0,311,0
$FREEZE,1.84,NaN,-0.001,0,311,0
$FREEZE,1.85,NaN,-0.001,0,311,0
$FINISH,1.8,NaN
$STATE,4189,end surface coast,CONTROL_FINISHED_OK
$STATE,4189,begin surface
$SM_CCo,4282,41.15,0.066,0,0,751,559.04
$SM_GC,2.80,0.00,0.00,41.15,0.000,0.000,0.066,113,2515,751,-8.60,0.71,559.04
$RAFOS_CLK,279
$RAFOS,2,1308025026,4.300000,4.285000,58,58,57,54,53,53,203,212,183,132,166,152
$RAFOS,1,1308024549,4.166667,4.152500,61,58,57,57,55,50,213,163,194,152,185,228
$RAFOS,0,1308024070,4.033333,4.019444,59,56,55,55,55,53,204,139,162,178,115,217
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.029211
$HUMID,76.81
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,22.1,123.789
$10V_AH,9.9,59.873
$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,26.775,41.275,510.975,41.150,0.000,98.433,20.082,0.000,11.500,0.000,183.283,620.931,1991.468,493.667,1602.103,599.619,0.000,1144.044,0.000,922.927,1440.000,2.614,0.000
$DEVICE_MAMPS,319.005,83.385,1046.520,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.206,370.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20103,533
$CAP_FILE_SIZE,68973,0
$CFSIZE,260165632,197844992
$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