version: 66.08
glider: 141
mission: 15
dive: 949
start: 6 14 111 4 50 1
data:
$ID,141
$MISSION,15
$DIVE,949
$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,-91840.812
$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,61
$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,-77.1
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-108.22,0.000,2,0.000,0.000,113,2516,2563,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.7,-9.4,22,175,12.82,2.42,-22.27,0.000,4,0.318,0.084,2656,1075,3629,0,0,0,0,0,0
$GC,183,-0.85,-146.0,17.6,-9.9,31,189,0.15,2.20,0.00,0.000,6,0.096,0.046,2588,2478,3629,0,0,0,0,0,0
$GC,529,-1.29,-146.0,55.4,-11.2,92,535,0.38,2.38,0.00,0.000,4,0.139,0.071,2453,1079,3629,0,0,0,0,0,0
$GC,550,-1.52,-146.0,57.7,-11.6,95,556,0.22,2.22,0.00,0.000,6,0.120,0.049,2380,2479,3629,0,0,0,0,0,0
$GC,888,-1.39,-146.0,126.4,-20.0,144,892,0.15,2.28,0.00,0.000,4,0.230,0.054,2414,3887,3628,0,0,0,0,0,0
$GC,1147,-1.50,-146.0,163.8,-14.4,167,1151,0.00,2.33,0.00,0.000,6,0.000,0.060,2414,2487,3628,0,0,0,0,0,0
$GC,1473,-1.70,-146.0,215.8,-1.8,197,1478,0.25,2.30,0.00,0.000,4,0.097,0.059,2317,3887,3628,0,0,0,0,0,0
$STATE,1603,end dive,NO_VERTICAL_VELOCITY
$STATE,1603,begin apogee
$GC,1614,-0.12,0.0,215.8,0.0,208,1741,1.67,0.00,119.72,1.041,6,0.149,0.000,2814,2267,3030,0,0,0,0,0,0
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1745,0.62,146.0,215.8,0.0,220,1881,0.73,2.58,124.38,0.991,4,0.085,0.075,3072,874,2432,0,0,0,0,0,0
$GC,2135,1.00,365.8,215.8,-0.1,255,2333,0.32,2.22,187.05,0.959,6,0.068,0.042,3199,2270,1537,0,0,0,0,0,0
$GC,2653,0.82,365.8,158.3,14.2,305,2655,0.28,0.00,0.00,0.000,6,0.200,0.000,3130,2270,1527,0,0,0,0,0,0
$GC,2971,0.76,365.8,122.3,11.0,335,2975,0.00,2.33,0.00,0.000,4,0.000,0.067,3138,858,1526,0,0,0,0,0,0
$GC,2993,0.66,365.8,119.6,11.4,336,2999,0.22,2.25,0.00,0.000,6,0.190,0.055,3081,2275,1525,0,0,0,0,0,0
$GC,3326,0.71,387.5,89.0,9.0,377,3352,0.00,2.33,18.10,0.872,4,0.000,0.061,3081,3695,1449,0,0,0,0,0,0
$GC,3377,0.83,405.9,84.2,9.1,386,3403,0.15,2.28,17.90,0.864,6,0.093,0.051,3148,2273,1374,0,0,0,0,0,0
$GC,3743,0.80,416.9,43.5,9.5,451,3758,0.00,0.00,10.15,0.819,6,0.000,0.000,3147,2273,1329,0,0,0,0,0,0
$FREEZE,8.70,NaN,-0.007,0,312,0
$GC,4101,0.80,419.1,8.7,9.9,514,4106,0.00,2.30,0.00,0.000,4,0.000,0.074,3157,862,1328,0,0,0,0,0,0
$FREEZE,7.28,NaN,-0.005,0,312,0
$FREEZE,6.84,NaN,-0.005,0,312,0
$FREEZE,6.18,NaN,-0.005,0,312,0
$FREEZE,5.48,NaN,-0.004,0,312,0
$FREEZE,4.96,NaN,-0.004,0,312,0
$FREEZE,4.17,NaN,-0.003,0,312,0
$GC,4143,0.75,419.1,4.2,11.9,521,4149,0.20,2.25,0.00,0.000,6,0.165,0.044,3103,2291,1327,0,0,0,0,0,0
$FREEZE,2.61,NaN,-0.002,0,312,0
$STATE,4153,end climb,SURFACE_DEPTH_REACHED
$STATE,4153,begin surface coast
$FREEZE,2.13,NaN,-0.002,0,312,0
$FREEZE,1.98,NaN,-0.001,0,312,0
$FREEZE,1.99,NaN,-0.001,0,312,0
$FREEZE,1.96,NaN,-0.001,0,312,0
$FREEZE,1.98,NaN,-0.001,0,312,0
$FINISH,2.0,NaN
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4182,begin surface
$SM_CCo,4324,64.47,0.066,0,0,751,559.04
$SM_GC,2.76,0.00,0.00,64.47,0.000,0.000,0.066,117,2523,751,-8.59,0.93,559.04
$RAFOS_CLK,277
$RAFOS,3,1308025502,4.433333,4.417222,61,55,54,52,51,50,190,227,159,208,148,137
$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,75.51
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.50
$XPDR_PINGS,92
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.0,123.928
$10V_AH,9.8,59.930
$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,26.250,37.650,477.300,64.475,0.000,98.351,16.940,0.000,23.250,0.000,183.284,621.763,2057.566,491.638,1594.688,601.153,0.000,1132.931,0.000,916.688,0.000,2.813,0.000
$DEVICE_MAMPS,318.240,84.150,1041.165,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.501,367.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20126,528
$CAP_FILE_SIZE,67637,0
$CFSIZE,260165632,197808128
$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