version: 66.08
glider: 141
mission: 15
dive: 950
start: 6 14 111 6 24 34
data:
$ID,141
$MISSION,15
$DIVE,950
$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,-92209.391
$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,27
$R_STBD_OVSHOOT,56
$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,2.87
$_SM_ANGLEo,-76.9
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-103.80,0.000,2,0.000,0.000,117,2523,2458,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.1,-6.6,21,177,12.82,2.50,-26.40,0.000,4,0.321,0.097,2655,1094,3629,0,0,0,0,0,0
$GC,190,-0.90,-146.0,17.0,-10.2,32,195,0.17,2.20,0.00,0.000,6,0.093,0.049,2577,2485,3630,0,0,0,0,0,0
$GC,536,-1.31,-146.0,54.7,-9.9,93,541,0.40,2.40,0.00,0.000,4,0.190,0.075,2449,1086,3630,0,0,0,0,0,0
$GC,567,-1.31,-146.0,59.2,-15.6,98,573,0.00,2.22,0.00,0.000,6,0.000,0.039,2448,2488,3629,0,0,0,0,0,0
$GC,905,-1.26,-146.0,119.4,-17.8,149,909,0.00,2.40,0.00,0.000,4,0.000,0.079,2448,1088,3628,0,0,0,0,0,0
$GC,936,-1.05,-146.0,125.9,-22.5,151,941,0.30,2.17,0.00,0.000,6,0.230,0.038,2517,2486,3628,0,0,0,0,0,0
$GC,1262,-1.14,-146.0,171.9,-13.7,181,1266,0.00,2.40,0.00,0.000,4,0.000,0.076,2518,1086,3628,0,0,0,0,0,0
$GC,1292,-1.05,-146.0,176.7,-18.1,183,1296,0.00,2.17,0.00,0.000,6,0.000,0.037,2518,2499,3627,0,0,0,0,0,0
$GC,1618,-1.55,-146.0,213.1,0.2,213,1623,0.45,2.42,0.00,0.000,4,0.131,0.074,2374,1087,3628,0,0,0,0,0,0
$STATE,1716,end dive,NO_VERTICAL_VELOCITY
$STATE,1716,begin apogee
$GC,1729,-0.12,0.0,213.2,0.0,221,1858,1.23,0.00,120.05,1.033,6,0.064,0.000,2826,2271,3029,0,0,0,0,0,0
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1863,0.62,146.0,213.1,0.0,234,1998,0.65,2.47,123.95,0.986,4,0.057,0.060,3074,3679,2434,0,0,0,0,0,0
$GC,2068,0.91,365.7,213.2,-0.1,253,2273,0.22,2.42,196.35,0.955,6,0.076,0.057,3167,2279,1538,0,0,0,0,0,0
$GC,2602,0.77,365.7,154.3,13.3,304,2607,0.20,2.40,0.00,0.000,4,0.201,0.067,3126,865,1530,0,0,0,0,0,0
$GC,2682,0.58,365.7,143.8,13.9,310,2688,0.30,2.25,0.00,0.000,6,0.208,0.047,3053,2288,1528,0,0,0,0,0,0
$GC,3008,0.81,415.1,113.5,7.7,341,3054,0.20,0.00,42.88,0.897,6,0.077,0.000,3145,2288,1336,0,0,0,0,0,0
$GC,3388,0.62,415.1,42.3,16.3,399,3393,0.25,2.38,0.00,0.000,4,0.198,0.061,3084,856,1332,0,0,0,0,0,0
$GC,3419,0.70,430.8,38.6,9.3,404,3435,0.00,2.25,10.88,0.878,6,0.000,0.047,3084,2276,1273,0,0,0,0,0,0
$FREEZE,8.90,NaN,-0.007,0,313,0
$FREEZE,8.34,NaN,-0.006,0,313,0
$FREEZE,7.86,NaN,-0.006,0,313,0
$GC,3778,0.96,473.3,10.2,8.0,467,3804,0.25,2.25,20.83,0.831,4,0.081,0.063,3194,3678,1098,0,0,0,0,0,0
$FREEZE,6.31,NaN,-0.005,0,313,0
$FREEZE,5.71,NaN,-0.004,0,313,0
$GC,3817,0.96,473.3,5.7,11.2,474,3822,0.00,2.30,0.00,0.000,6,0.000,0.056,3203,2261,1096,0,0,0,0,0,0
$FREEZE,4.35,NaN,-0.003,0,313,0
$FREEZE,3.69,NaN,-0.003,0,313,0
$FREEZE,3.03,NaN,-0.002,0,313,0
$FREEZE,3.00,NaN,-0.002,0,313,0
$FREEZE,2.98,NaN,-0.002,0,313,0
$STATE,3849,end climb,SURFACE_DEPTH_REACHED
$STATE,3849,begin surface coast
$FREEZE,3.00,NaN,-0.002,0,313,0
$FREEZE,2.97,NaN,-0.002,0,313,0
$FREEZE,2.94,NaN,-0.002,0,313,0
$FREEZE,3.00,NaN,-0.002,0,313,0
$FREEZE,2.99,NaN,-0.002,0,313,0
$FREEZE,3.01,NaN,-0.002,0,313,0
$FREEZE,2.99,NaN,-0.002,0,313,0
$FREEZE,2.93,NaN,-0.002,0,313,0
$FREEZE,2.92,NaN,-0.002,0,313,0
$FINISH,2.9,NaN
$STATE,3901,end surface coast,CONTROL_FINISHED_OK
$STATE,3902,begin surface
$SM_CCo,4043,38.70,0.069,0,0,750,559.04
$SM_GC,4.08,0.00,0.00,38.70,0.000,0.000,0.069,106,2506,750,-8.62,0.45,559.04
$RAFOS_CLK,269
$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,76.22
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,21.3,124.077
$10V_AH,9.8,59.985
$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,26.475,41.875,514.925,38.700,0.000,95.969,74.470,0.000,8.500,0.000,183.288,578.097,1922.938,494.223,1519.309,611.167,0.000,1099.430,0.000,824.803,0.000,2.624,0.000
$DEVICE_MAMPS,320.535,97.155,1032.750,68.850,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.629,339.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16758,489
$CAP_FILE_SIZE,66171,0
$CFSIZE,260165632,197771264
$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