version: 66.08
glider: 141
mission: 15
dive: 958
start: 6 14 111 17 9 28
data:
$ID,141
$MISSION,15
$DIVE,958
$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,-94053.266
$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,25
$R_STBD_OVSHOOT,66
$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
$GPS1,140611,153143,6652.926,-5651.085,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.3
$GPS2,140611,153143,6652.926,-5651.085,181,99.0,181,-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,44.4,18790,-17.5,-10.000
$D_GRID,609
$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,-146.0,0.0,0.0,0,124,0.00,0.00,-104.18,0.000,2,0.000,0.000,113,2523,2450,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.2,-7.7,21,177,12.73,2.22,-26.90,0.000,4,0.318,0.072,2657,3866,3629,0,0,0,0,0,0
$GC,187,-0.91,-146.0,16.2,-9.6,31,193,0.35,2.28,0.00,0.000,6,0.197,0.070,2579,2487,3630,0,0,0,0,0,0
$GC,532,-1.28,-146.0,55.5,-11.6,92,538,0.38,2.40,0.00,0.000,4,0.182,0.076,2462,1080,3629,0,0,0,0,0,0
$GC,574,-1.17,-146.0,61.9,-18.3,99,579,0.00,2.20,0.00,0.000,6,0.000,0.047,2462,2469,3629,0,0,0,0,0,0
$GC,912,-1.15,-146.0,120.0,-16.8,149,917,0.12,2.30,0.00,0.000,4,0.227,0.054,2488,3883,3629,0,0,0,0,0,0
$GC,924,-1.17,-146.0,122.0,-16.6,149,929,0.00,2.33,0.00,0.000,6,0.000,0.060,2489,2481,3629,0,0,0,0,0,0
$GC,1250,-1.22,-146.0,167.9,-14.3,180,1254,0.00,2.25,0.00,0.000,4,0.000,0.052,2489,3887,3628,0,0,0,0,0,0
$GC,1262,-1.29,-146.0,169.6,-14.3,180,1268,0.12,2.33,0.00,0.000,6,0.115,0.060,2448,2487,3628,0,0,0,0,0,0
$GC,1588,-1.50,-146.0,210.3,-0.3,211,1593,0.17,2.33,0.00,0.000,4,0.098,0.060,2378,3886,3628,0,0,0,0,0,0
$GC,1601,-1.67,-146.0,210.3,-0.1,211,1607,0.15,2.30,0.00,0.000,6,0.104,0.061,2323,2488,3628,0,0,0,0,0,0
$STATE,1690,end dive,NO_VERTICAL_VELOCITY
$STATE,1690,begin apogee
$GC,1698,-0.12,0.0,210.3,0.0,220,1826,1.67,0.00,119.88,1.039,6,0.152,0.000,2824,2266,3030,0,0,0,0,0,0
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1830,0.62,146.0,210.3,0.0,232,1965,0.77,2.55,124.12,0.991,4,0.150,0.072,3050,879,2433,0,0,0,0,0,0
$GC,2219,1.19,372.3,210.2,-0.4,267,2421,0.60,2.22,193.30,0.955,6,0.112,0.047,3247,2267,1511,0,0,0,0,0,0
$GC,2750,0.94,372.3,138.1,16.6,318,2755,0.30,2.38,0.00,0.000,4,0.229,0.067,3180,862,1502,0,0,0,0,0,0
$GC,2791,0.61,372.3,130.8,19.1,321,2796,0.45,2.22,0.00,0.000,6,0.229,0.050,3067,2264,1500,0,0,0,0,0,0
$GC,3118,0.65,402.1,101.4,8.6,351,3149,0.00,2.30,25.45,0.883,4,0.000,0.063,3067,3686,1389,0,0,0,0,0,0
$GC,3190,0.87,437.6,95.1,8.4,362,3231,0.20,2.30,31.88,0.876,6,0.082,0.063,3152,2267,1246,0,0,0,0,0,0
$GC,3571,0.81,437.6,46.1,11.6,430,3576,0.00,2.28,0.00,0.000,4,0.000,0.062,3152,3685,1240,0,0,0,0,0,0
$GC,3590,0.77,437.6,44.2,11.3,433,3596,0.17,2.28,0.00,0.000,6,0.169,0.063,3116,2277,1240,0,0,0,0,0,0
$GC,3938,0.81,455.3,13.7,9.2,494,3954,0.00,2.38,8.40,0.783,4,0.000,0.076,3124,867,1172,0,0,0,0,0,0
$GC,3962,0.90,496.2,11.5,8.1,498,3988,0.00,2.25,20.15,0.829,6,0.000,0.045,3124,2297,1006,0,0,0,0,0,0
$FREEZE,8.10,NaN,-0.006,0,321,0
$FREEZE,7.52,NaN,-0.006,0,321,0
$FREEZE,6.96,NaN,-0.005,0,321,0
$FREEZE,6.30,NaN,-0.005,0,321,0
$FREEZE,5.82,NaN,-0.004,0,321,0
$FREEZE,5.31,NaN,-0.004,0,321,0
$FREEZE,4.65,NaN,-0.003,0,321,0
$FREEZE,4.60,NaN,-0.003,0,321,0
$FREEZE,4.74,NaN,-0.004,0,321,0
$FREEZE,4.89,NaN,-0.004,0,321,0
$FREEZE,4.84,NaN,-0.004,0,321,0
$FREEZE,4.86,NaN,-0.004,0,321,0
$FREEZE,4.82,NaN,-0.004,0,321,0
$FREEZE,4.66,NaN,-0.004,0,321,0
$FREEZE,4.67,NaN,-0.004,0,321,0
$FREEZE,4.53,NaN,-0.003,0,321,0
$FREEZE,4.52,NaN,-0.003,0,321,0
$FREEZE,4.50,NaN,-0.003,0,321,0
$FREEZE,4.59,NaN,-0.003,0,321,0
$FREEZE,4.38,NaN,-0.003,0,321,0
$FREEZE,4.27,NaN,-0.003,0,321,0
$FREEZE,4.35,NaN,-0.003,0,321,0
$FREEZE,4.34,NaN,-0.003,0,321,0
$FREEZE,4.44,NaN,-0.003,0,321,0
$FREEZE,4.27,NaN,-0.003,0,321,0
$FREEZE,4.22,NaN,-0.003,0,321,0
$FREEZE,4.25,NaN,-0.003,0,321,0
$FREEZE,4.21,NaN,-0.003,0,321,0
$FREEZE,4.25,NaN,-0.003,0,321,0
$FREEZE,4.30,NaN,-0.003,0,321,0
$FREEZE,4.36,NaN,-0.003,0,321,0
$FREEZE,4.30,NaN,-0.003,0,321,0
$FREEZE,4.35,NaN,-0.003,0,321,0
$FREEZE,4.39,NaN,-0.003,0,321,0
$FREEZE,4.47,NaN,-0.003,0,321,0
$FREEZE,4.45,NaN,-0.003,0,321,0
$FREEZE,4.52,NaN,-0.003,0,321,0
$FREEZE,4.35,NaN,-0.003,0,321,0
$FREEZE,4.39,NaN,-0.003,0,321,0
$FREEZE,4.35,NaN,-0.003,0,321,0
$FREEZE,4.35,NaN,-0.003,0,321,0
$FREEZE,4.38,NaN,-0.003,0,321,0
$FREEZE,4.38,NaN,-0.003,0,321,0
$FREEZE,4.18,NaN,-0.003,0,321,0
$FREEZE,4.19,NaN,-0.003,0,321,0
$FREEZE,4.19,NaN,-0.003,0,321,0
$STATE,4241,end climb,NO_VERTICAL_VELOCITY
$STATE,4242,begin surface
$SM_CCo,4246,30.05,0.835,0,0,750,559.04
$SM_GC,2.76,8.73,0.00,0.00,0.086,0.000,0.000,117,2506,741,-8.56,0.45,561.49
$RAFOS_CLK,292
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026964
$HUMID,77.99
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,22.1,125.211
$10V_AH,9.8,60.378
$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,26.925,46.700,523.175,30.050,0.000,96.548,33.271,0.000,9.750,0.000,183.287,633.513,2249.165,494.977,1606.610,596.943,0.000,1150.102,0.000,909.202,0.000,2.617,0.000
$DEVICE_MAMPS,318.240,76.500,1038.870,835.380,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.623,380.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20140,548
$CAP_FILE_SIZE,72808,0
$CFSIZE,260165632,197476352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6