version: 66.08
glider: 141
mission: 15
dive: 947
start: 6 14 111 1 45 18
data:
$ID,141
$MISSION,15
$DIVE,947
$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,-91102.688
$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,32
$R_STBD_OVSHOOT,42
$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,17.58
$_SM_ANGLEo,5.3
$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,18,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.65,0.000,2,0.000,0.000,2872,3696,3260,0,0,0,0,0,0
$GC,27,-0.62,-146.0,21.7,-0.0,1,38,0.65,0.28,-5.70,0.000,4,0.174,0.160,2671,3893,3629,0,0,0,0,0,0
$GC,294,-0.97,-146.0,60.7,-15.0,48,300,0.35,2.28,0.00,0.000,6,0.106,0.059,2556,2496,3630,0,0,0,0,0,0
$GC,640,-1.34,-146.0,99.2,-12.1,109,645,0.35,2.38,0.00,0.000,4,0.176,0.069,2443,1078,3628,0,0,0,0,0,0
$GC,665,-1.51,-146.0,102.1,-10.7,112,670,0.20,2.20,0.00,0.000,6,0.126,0.037,2381,2498,3627,0,0,0,0,0,0
$GC,991,-1.39,-146.0,167.4,-20.3,142,996,0.15,2.45,0.00,0.000,4,0.225,0.077,2415,1078,3626,0,0,0,0,0,0
$GC,1009,-1.21,-146.0,171.5,-21.5,143,1014,0.25,2.17,0.00,0.000,6,0.234,0.037,2471,2492,3626,0,0,0,0,0,0
$GC,1336,-1.38,-146.0,217.4,-1.1,173,1341,0.15,2.40,0.00,0.000,4,0.105,0.074,2414,1080,3626,0,0,0,0,0,0
$STATE,1466,end dive,NO_VERTICAL_VELOCITY
$STATE,1466,begin apogee
$GC,1476,-0.12,0.0,217.6,0.0,184,1603,1.30,0.00,118.65,1.031,6,0.140,0.000,2813,2271,3030,0,0,0,0,0,0
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1607,0.62,146.0,217.4,0.0,196,1741,0.73,2.62,123.50,0.983,4,0.125,0.073,3062,864,2433,0,0,0,0,0,0
$GC,1996,0.97,361.8,217.1,0.0,231,2187,0.32,2.25,182.52,0.952,6,0.070,0.039,3191,2321,1554,0,0,0,0,0,0
$GC,2513,0.79,361.8,157.2,14.6,281,2518,0.25,2.40,0.00,0.000,4,0.204,0.062,3131,861,1546,0,0,0,0,0,0
$GC,2554,0.60,361.8,151.2,15.6,284,2559,0.28,2.22,0.00,0.000,6,0.219,0.051,3065,2264,1544,0,0,0,0,0,0
$GC,2880,0.64,370.3,118.8,9.6,314,2892,0.00,2.25,6.85,0.741,4,0.000,0.050,3065,3684,1519,0,0,0,0,0,0
$GC,2950,0.81,390.5,112.3,9.1,320,2976,0.15,2.25,19.65,0.871,6,0.092,0.051,3135,2271,1437,0,0,0,0,0,0
$GC,3314,0.75,390.5,70.9,11.4,374,3320,0.00,2.28,0.00,0.000,4,0.000,0.065,3147,865,1434,0,0,0,0,0,0
$GC,3378,0.67,390.5,62.1,14.0,385,3383,0.25,2.22,0.00,0.000,6,0.207,0.047,3085,2273,1434,0,0,0,0,0,0
$GC,3726,0.92,451.4,30.4,7.2,446,3767,0.20,2.30,33.65,0.929,4,0.079,0.061,3174,3671,1187,0,0,0,0,0,0
$GC,3786,0.92,451.4,23.8,11.7,457,3791,0.00,2.28,0.00,0.000,6,0.000,0.054,3182,2267,1185,0,0,0,0,0,0
$FREEZE,8.46,NaN,-0.006,0,310,2
$FREEZE,7.62,NaN,-0.006,0,310,2
$FREEZE,7.07,NaN,-0.005,0,310,2
$FREEZE,6.46,NaN,-0.005,0,310,2
$FREEZE,5.82,NaN,-0.004,0,310,2
$FREEZE,5.21,NaN,-0.004,0,310,2
$FREEZE,4.47,NaN,-0.003,0,310,2
$FREEZE,3.82,NaN,-0.003,0,310,2
$FREEZE,3.69,NaN,-0.003,0,310,2
$FREEZE,3.65,NaN,-0.003,0,310,2
$FREEZE,3.54,NaN,-0.003,0,310,2
$FREEZE,3.55,NaN,-0.003,0,310,2
$FREEZE,3.53,NaN,-0.003,0,310,2
$FREEZE,3.35,NaN,-0.003,0,310,2
$FREEZE,3.35,NaN,-0.003,0,310,2
$FREEZE,3.28,NaN,-0.002,0,310,2
$FREEZE,3.14,NaN,-0.002,0,310,2
$FREEZE,3.01,NaN,-0.002,0,310,2
$FREEZE,3.00,NaN,-0.002,0,310,2
$STATE,4021,end climb,SURFACE_DEPTH_REACHED
$STATE,4021,begin surface coast
$FREEZE,2.99,NaN,-0.002,0,310,2
$FREEZE,2.86,NaN,-0.002,0,310,2
$FREEZE,2.70,NaN,-0.002,0,310,2
$FREEZE,2.47,NaN,-0.002,0,310,2
$FREEZE,2.20,NaN,-0.002,0,310,2
$FREEZE,2.14,NaN,-0.002,0,310,2
$FREEZE,2.12,NaN,-0.002,0,310,2
$FREEZE,2.14,NaN,-0.002,0,310,2
$FREEZE,2.18,NaN,-0.002,0,310,2
$FREEZE,2.07,NaN,-0.002,0,310,2
$FREEZE,2.11,NaN,-0.002,0,310,2
$FREEZE,2.19,NaN,-0.002,0,310,2
$FREEZE,2.24,NaN,-0.002,0,310,2
$FREEZE,1.94,NaN,-0.001,0,310,2
$FREEZE,1.96,NaN,-0.001,0,310,2
$FREEZE,1.98,NaN,-0.001,0,310,2
$FREEZE,2.02,NaN,-0.002,0,310,2
$FREEZE,1.99,NaN,-0.002,0,310,2
$FREEZE,1.97,NaN,-0.001,0,310,2
$FREEZE,1.98,NaN,-0.001,0,310,2
$FREEZE,1.91,NaN,-0.001,0,310,2
$FREEZE,1.92,NaN,-0.001,0,310,2
$FREEZE,1.89,NaN,-0.001,0,310,2
$FREEZE,1.86,NaN,-0.001,0,310,2
$FREEZE,1.85,NaN,-0.001,0,310,2
$FREEZE,1.82,NaN,-0.001,0,310,2
$FREEZE,1.83,NaN,-0.001,0,310,2
$FREEZE,1.85,NaN,-0.001,0,310,2
$FREEZE,1.77,NaN,-0.001,0,310,2
$FREEZE,1.81,NaN,-0.001,0,310,2
$FREEZE,1.84,NaN,-0.001,0,310,2
$FREEZE,1.74,NaN,-0.001,0,310,2
$FREEZE,1.84,NaN,-0.001,0,310,2
$FREEZE,1.81,NaN,-0.001,0,310,2
$FREEZE,1.81,NaN,-0.001,0,310,2
$FREEZE,1.81,NaN,-0.001,0,310,2
$FREEZE,1.78,NaN,-0.001,0,310,2
$FINISH,1.8,NaN
$STATE,4231,end surface coast,CONTROL_FINISHED_OK
$STATE,4231,begin surface
$SM_CCo,4258,47.97,0.065,0,0,751,559.04
$SM_GC,2.74,0.00,0.00,47.97,0.000,0.000,0.065,116,2522,751,-8.59,0.90,559.04
$RAFOS_CLK,230
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.034454
$HUMID,77.17
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.70
$XPDR_PINGS,72
$ALTIM_TOP_PING,19.9,18.0
$24V_AH,22.3,123.643
$10V_AH,9.9,59.815
$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,14.550,39.475,484.825,47.975,0.000,0.000,0.000,0.000,18.250,0.000,0.000,629.367,1903.179,411.929,1285.075,141.512,0.000,983.281,0.000,907.868,0.000,2.615,0.000
$DEVICE_MAMPS,234.090,159.885,1031.220,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.078,377.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20075,536
$CAP_FILE_SIZE,62614,0
$CFSIZE,260165632,197881856
$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