version: 66.08
glider: 141
mission: 15
dive: 965
start: 6 15 111 3 11 30
data:
$ID,141
$MISSION,15
$DIVE,965
$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,-95900.664
$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,29
$R_STBD_OVSHOOT,41
$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,-5651.085,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.86
$_SM_ANGLEo,4.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.67,0.000,2,0.000,0.000,2873,2312,3241,0,0,0,0,0,0
$GC,26,-0.62,-146.0,18.7,-0.0,1,42,0.62,2.58,-6.50,0.000,4,0.135,0.056,2673,3908,3632,0,0,0,0,0,0
$GC,207,-0.99,-146.0,46.0,-14.9,33,213,0.38,2.30,0.00,0.000,6,0.108,0.063,2551,2487,3634,0,0,0,0,0,0
$GC,552,-1.35,-146.0,79.0,-11.5,94,558,0.32,2.35,0.00,0.000,4,0.129,0.068,2443,1084,3633,0,0,0,0,0,0
$GC,583,-1.46,-146.0,82.7,-12.9,99,589,0.15,2.22,0.00,0.000,6,0.136,0.046,2396,2496,3632,0,0,0,0,0,0
$GC,915,-1.36,-146.0,150.2,-20.5,137,920,0.12,2.40,0.00,0.000,4,0.232,0.073,2423,1087,3631,0,0,0,0,0,0
$GC,932,-1.19,-146.0,154.2,-20.6,138,937,0.22,2.20,0.00,0.000,6,0.230,0.046,2476,2485,3631,0,0,0,0,0,0
$GC,1257,-1.19,-146.0,205.2,-15.2,169,1261,0.00,2.38,0.00,0.000,4,0.000,0.075,2476,1090,3630,0,0,0,0,0,0
$GC,1301,-1.00,-146.0,213.7,-20.5,172,1307,0.17,2.20,0.00,0.000,6,0.207,0.036,2535,2487,3630,0,0,0,0,0,0
$STATE,1485,end dive,NO_VERTICAL_VELOCITY
$STATE,1485,begin apogee
$GC,1496,-0.12,0.0,216.8,0.0,190,1624,0.88,0.00,119.25,1.022,6,0.116,0.000,2819,2276,3031,0,0,0,0,0,0
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1628,0.62,146.0,216.8,0.0,202,1762,0.73,2.45,123.90,0.975,4,0.127,0.045,3059,3665,2432,0,0,0,0,0,0
$GC,2018,0.98,363.2,216.5,-0.0,238,2213,0.30,2.30,184.95,0.949,6,0.070,0.055,3185,2271,1548,0,0,0,0,0,0
$GC,2532,0.81,363.2,156.8,14.3,287,2537,0.22,2.28,0.00,0.000,4,0.198,0.047,3129,3678,1539,0,0,0,0,0,0
$GC,2561,0.79,363.2,152.9,12.2,289,2565,0.00,2.30,0.00,0.000,6,0.000,0.054,3136,2268,1538,0,0,0,0,0,0
$GC,2887,0.69,363.2,114.2,11.8,319,2892,0.20,2.33,0.00,0.000,4,0.194,0.064,3094,864,1538,0,0,0,0,0,0
$GC,2939,0.65,363.2,108.3,12.1,323,2943,0.00,2.20,0.00,0.000,6,0.000,0.037,3094,2283,1537,0,0,0,0,0,0
$GC,3281,0.48,363.2,60.8,13.2,378,3286,0.25,2.25,0.00,0.000,4,0.199,0.054,3024,3682,1537,0,0,0,0,0,0
$GC,3323,0.78,424.7,56.9,7.2,385,3385,0.25,2.25,52.72,0.879,6,0.093,0.052,3118,2278,1297,0,0,0,0,0,0
$GC,3728,0.83,460.5,21.6,8.3,457,3754,0.00,2.30,18.05,0.863,4,0.000,0.066,3125,865,1151,0,0,0,0,0,0
$GC,3804,0.98,491.6,15.5,8.6,470,3826,0.15,2.22,15.18,0.818,6,0.100,0.039,3187,2282,1024,0,0,0,0,0,0
$FREEZE,8.79,NaN,-0.007,0,328,0
$FREEZE,7.94,NaN,-0.006,0,328,0
$FREEZE,6.94,NaN,-0.005,0,328,0
$FREEZE,5.72,NaN,-0.004,0,328,0
$FREEZE,4.80,NaN,-0.004,0,328,0
$FREEZE,3.98,NaN,-0.003,0,328,0
$FREEZE,3.13,NaN,-0.002,0,328,0
$FREEZE,2.21,NaN,-0.002,0,328,0
$STATE,3892,end climb,SURFACE_DEPTH_REACHED
$STATE,3893,begin surface coast
$FREEZE,1.90,NaN,-0.001,0,328,0
$FREEZE,1.89,NaN,-0.001,0,328,0
$FREEZE,1.89,NaN,-0.001,0,328,0
$FINISH,1.9,NaN
$STATE,3910,end surface coast,CONTROL_FINISHED_OK
$STATE,3910,begin surface
$SM_CCo,4027,29.73,0.064,0,0,750,559.04
$SM_GC,2.45,0.00,0.00,29.73,0.000,0.000,0.064,110,2519,750,-8.61,0.82,559.04
$RAFOS_CLK,223
$RAFOS,1,1308110944,4.166667,4.151111,67,60,59,57,55,51,140,198,207,175,228,946
$RAFOS,0,1308110470,4.033333,4.019444,63,56,51,51,50,48,220,152,113,139,181,164
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.027713
$HUMID,74.49
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,22.0,126.198
$10V_AH,9.9,60.732
$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,13.850,42.150,514.050,29.725,0.000,0.000,0.000,0.000,4.500,0.000,0.000,561.936,1850.015,403.919,1166.473,139.295,0.000,976.639,0.000,828.666,720.000,2.617,0.000
$DEVICE_MAMPS,231.795,74.970,1022.040,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.806,341.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16748,489
$CAP_FILE_SIZE,59536,0
$CFSIZE,260165632,197238784
$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