version: 66.08
glider: 141
mission: 15
dive: 955
start: 6 14 111 12 38 38
data:
$ID,141
$MISSION,15
$DIVE,955
$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,-92946.539
$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,31
$R_STBD_OVSHOOT,64
$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
$GPS1,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-76.1
$GPS2,140611,061758,6715.065,-5651.665,181,99.0,181,-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,210.8,22501,-17.5,-10.000
$D_GRID,236
$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,16,-0.62,-146.0,0.0,0.0,0,123,0.00,0.00,-103.60,0.000,2,0.000,0.000,113,2542,2460,0,0,0,0,0,0
$GC,129,-0.62,-146.0,5.2,-6.4,21,176,13.00,2.55,-25.73,0.000,4,0.324,0.096,2657,1087,3629,0,0,0,0,0,0
$GC,209,-0.96,-146.0,18.7,-8.6,35,214,0.28,2.20,0.00,0.000,6,0.151,0.040,2561,2487,3630,0,0,0,0,0,0
$GC,554,-1.32,-146.0,54.4,-12.9,96,560,0.32,2.40,0.00,0.000,4,0.116,0.079,2447,1090,3630,0,0,0,0,0,0
$GC,592,-1.28,-146.0,59.5,-15.1,102,597,0.00,2.20,0.00,0.000,6,0.000,0.043,2447,2474,3629,0,0,0,0,0,0
$GC,929,-1.24,-146.0,121.7,-17.8,152,933,0.00,2.40,0.00,0.000,4,0.000,0.079,2447,1084,3629,0,0,0,0,0,0
$GC,959,-1.03,-146.0,127.8,-21.5,154,964,0.32,2.20,0.00,0.000,6,0.222,0.039,2524,2492,3628,0,0,0,0,0,0
$GC,1285,-1.14,-146.0,170.8,-13.0,184,1289,0.00,2.25,0.00,0.000,4,0.000,0.055,2524,3896,3628,0,0,0,0,0,0
$GC,1298,-1.29,-146.0,172.4,-12.8,185,1303,0.22,2.28,0.00,0.000,6,0.111,0.057,2453,2500,3628,0,0,0,0,0,0
$GC,1624,-1.53,-146.0,216.1,0.2,215,1629,0.22,2.40,0.00,0.000,4,0.093,0.071,2367,1074,3628,0,0,0,0,0,0
$STATE,1737,end dive,NO_VERTICAL_VELOCITY
$STATE,1737,begin apogee
$GC,1746,-0.12,0.0,216.1,0.0,224,1876,1.45,0.00,119.93,1.042,6,0.142,0.000,2813,2272,3029,0,0,0,0,0,0
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1880,0.62,146.0,216.1,0.0,237,2015,0.73,2.50,123.65,0.992,4,0.105,0.063,3047,3685,2433,0,0,0,0,0,0
$GC,2268,1.04,365.6,215.9,-0.1,272,2466,0.40,2.33,186.35,0.959,6,0.065,0.062,3208,2272,1539,0,0,0,0,0,0
$GC,2787,0.85,365.6,149.0,15.3,322,2792,0.25,2.30,0.00,0.000,4,0.212,0.059,3142,3693,1530,0,0,0,0,0,0
$GC,2838,0.85,365.6,142.1,12.1,326,2842,0.00,2.33,0.00,0.000,6,0.000,0.059,3150,2263,1528,0,0,0,0,0,0
$GC,3165,0.74,365.6,100.0,12.6,356,3166,0.17,0.00,0.00,0.000,6,0.195,0.000,3106,2263,1528,0,0,0,0,0,0
$GC,3501,0.72,380.8,66.6,9.3,415,3522,0.00,2.35,12.85,0.842,4,0.000,0.070,3112,871,1477,0,0,0,0,0,0
$GC,3585,0.68,380.8,58.0,10.6,430,3591,0.00,2.22,0.00,0.000,6,0.000,0.046,3112,2277,1476,0,0,0,0,0,0
$GC,3932,0.73,423.4,26.7,8.0,491,3963,0.00,2.25,25.73,0.913,4,0.000,0.054,3111,3685,1302,0,0,0,0,0,0
$GC,4010,0.90,463.0,20.4,8.2,505,4039,0.10,2.28,20.20,0.873,6,0.116,0.054,3162,2274,1141,0,0,0,0,0,0
$FREEZE,8.51,NaN,-0.006,0,318,0
$FREEZE,8.03,NaN,-0.006,0,318,0
$FREEZE,7.35,NaN,-0.006,0,318,0
$FREEZE,6.78,NaN,-0.005,0,318,0
$FREEZE,6.23,NaN,-0.005,0,318,0
$FREEZE,5.60,NaN,-0.004,0,318,0
$FREEZE,5.15,NaN,-0.004,0,318,0
$FREEZE,4.45,NaN,-0.003,0,318,0
$FREEZE,3.93,NaN,-0.003,0,318,0
$FREEZE,3.41,NaN,-0.003,0,318,0
$FREEZE,2.86,NaN,-0.002,0,318,0
$STATE,4179,end climb,SURFACE_DEPTH_REACHED
$STATE,4180,begin surface coast
$FREEZE,2.29,NaN,-0.002,0,318,0
$FREEZE,1.79,NaN,-0.001,0,318,0
$FREEZE,1.82,NaN,-0.001,0,318,0
$FREEZE,1.79,NaN,-0.001,0,318,0
$FREEZE,1.81,NaN,-0.001,0,318,0
$FREEZE,1.79,NaN,-0.001,0,318,0
$FINISH,1.8,NaN
$STATE,4217,end surface coast,CONTROL_FINISHED_OK
$STATE,4217,begin surface
$SM_CCo,4262,42.58,0.066,0,0,750,559.04
$SM_GC,2.73,0.00,0.00,42.58,0.000,0.000,0.066,115,2518,750,-8.60,0.79,559.04
$RAFOS_CLK,277
$RAFOS,6,1308055742,12.833333,12.817223,74,61,61,58,57,57,204,153,122,193,169,216
$RAFOS,5,1308055262,12.700000,12.683888,72,58,54,52,51,50,203,222,154,139,172,185
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5651.67,140611,060658
$TT8_MAMPS,0.034454
$HUMID,76.02
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,85
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.2,124.767
$10V_AH,9.9,60.208
$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,26.325,41.675,488.700,42.575,0.000,102.173,25.686,0.000,21.500,0.000,183.283,609.057,1998.903,478.914,1607.060,595.602,0.000,1115.853,0.000,911.483,720.000,2.807,0.000
$DEVICE_MAMPS,323.595,95.625,1041.930,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.074,376.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20098,541
$CAP_FILE_SIZE,67667,0
$CFSIZE,260165632,197595136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6