version: 66.08
glider: 141
mission: 15
dive: 954
start: 6 14 111 11 12 51
data:
$ID,141
$MISSION,15
$DIVE,954
$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,-92577.969
$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,22
$R_STBD_OVSHOOT,44
$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,-5651.665,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.18
$_SM_ANGLEo,6.3
$GPS2,140611,061758,6715.065,-5651.665,0,10000.0,0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.60,0.000,2,0.000,0.000,2878,856,3247,0,0,0,0,0,0
$GC,27,-0.62,-146.0,20.1,-0.0,1,38,0.65,0.30,-6.12,0.000,4,0.129,0.138,2670,1103,3628,0,0,0,0,0,0
$GC,203,-1.02,-146.0,39.3,-11.6,32,209,0.35,2.15,0.00,0.000,6,0.129,0.044,2543,2502,3630,0,0,0,0,0,0
$GC,551,-1.24,-146.0,77.8,-10.4,93,556,0.22,2.17,0.00,0.000,4,0.092,0.058,2457,3872,3629,0,0,0,0,0,0
$GC,587,-1.50,-146.0,82.4,-12.0,99,593,0.22,2.25,0.00,0.000,6,0.100,0.060,2379,2474,3629,0,0,0,0,0,0
$GC,925,-1.37,-146.0,152.8,-21.0,138,930,0.17,2.33,0.00,0.000,4,0.228,0.071,2419,1084,3627,0,0,0,0,0,0
$GC,947,-1.14,-146.0,158.5,-23.0,139,953,0.25,2.20,0.00,0.000,6,0.227,0.039,2492,2477,3626,0,0,0,0,0,0
$GC,1273,-1.16,-146.0,209.9,-14.7,170,1277,0.00,2.35,0.00,0.000,4,0.000,0.073,2492,1083,3626,0,0,0,0,0,0
$GC,1334,-1.40,-146.0,215.5,-0.4,175,1340,0.22,2.25,0.00,0.000,6,0.094,0.047,2415,2499,3625,0,0,0,0,0,0
$STATE,1455,end dive,NO_VERTICAL_VELOCITY
$STATE,1455,begin apogee
$GC,1463,-0.12,0.0,215.7,0.0,187,1591,1.35,0.00,118.60,1.024,6,0.148,0.000,2817,2263,3030,0,0,0,0,0,0
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1595,0.62,146.0,215.7,0.0,199,1729,0.75,2.53,122.53,0.978,4,0.132,0.050,3048,3694,2433,0,0,0,0,0,0
$GC,1815,1.12,368.5,215.4,-0.3,220,2020,0.52,2.40,195.60,0.952,6,0.079,0.056,3230,2283,1526,0,0,0,0,0,0
$GC,2341,0.92,368.5,154.2,15.6,270,2345,0.25,2.28,0.00,0.000,4,0.217,0.048,3165,3693,1519,0,0,0,0,0,0
$GC,2352,0.74,368.5,152.2,15.7,270,2358,0.25,2.33,0.00,0.000,6,0.163,0.052,3103,2261,1518,0,0,0,0,0,0
$GC,2678,0.75,377.4,120.4,9.6,301,2692,0.00,2.35,7.68,0.763,4,0.000,0.050,3102,3694,1490,0,0,0,0,0,0
$GC,2704,0.80,396.5,117.8,9.1,303,2730,0.00,2.28,18.55,0.864,6,0.000,0.061,3110,2277,1413,0,0,0,0,0,0
$GC,3062,0.81,405.1,82.4,9.6,351,3077,0.00,2.33,8.60,0.783,4,0.000,0.056,3110,3699,1377,0,0,0,0,0,0
$GC,3108,0.94,423.8,78.0,9.1,359,3134,0.15,2.30,18.42,0.857,6,0.094,0.054,3174,2264,1301,0,0,0,0,0,0
$GC,3474,0.88,423.8,34.3,11.4,424,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2263,1298,0,0,0,0,0,0
$FREEZE,8.96,NaN,-0.007,0,317,0
$FREEZE,8.41,NaN,-0.006,0,317,0
$FREEZE,7.88,NaN,-0.006,0,317,0
$FREEZE,7.28,NaN,-0.005,0,317,0
$FREEZE,6.65,NaN,-0.005,0,317,0
$FREEZE,6.02,NaN,-0.005,0,317,0
$FREEZE,5.46,NaN,-0.004,0,317,0
$FREEZE,4.87,NaN,-0.004,0,317,0
$FREEZE,4.32,NaN,-0.003,0,317,0
$FREEZE,3.74,NaN,-0.003,0,317,0
$FREEZE,3.13,NaN,-0.002,0,317,0
$FREEZE,2.65,NaN,-0.002,0,317,0
$STATE,3769,end climb,SURFACE_DEPTH_REACHED
$STATE,3769,begin surface coast
$FREEZE,2.05,NaN,-0.002,0,317,0
$FREEZE,1.85,NaN,-0.001,0,317,0
$FREEZE,1.83,NaN,-0.001,0,317,0
$FREEZE,1.78,NaN,-0.001,0,317,0
$FREEZE,1.79,NaN,-0.001,0,317,0
$FINISH,1.8,NaN
$STATE,3798,end surface coast,CONTROL_FINISHED_OK
$STATE,3798,begin surface
$SM_CCo,3861,60.95,0.063,0,0,750,559.04
$SM_GC,2.77,0.00,0.00,60.95,0.000,0.000,0.063,113,2541,750,-8.60,1.44,559.04
$RAFOS_CLK,210
$RAFOS,1,1308053346,12.166667,12.151667,62,56,55,54,54,53,211,132,162,191,114,141
$RAFOS,0,1308052865,12.033333,12.018056,70,58,58,57,56,51,218,178,522,201,159,122
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5651.67,140611,060658
$TT8_MAMPS,0.026215
$HUMID,75.47
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,21.6,124.625
$10V_AH,9.9,60.150
$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,14.350,35.525,489.975,60.950,0.000,0.000,0.000,0.000,6.000,0.000,0.000,545.565,1752.956,420.787,1134.497,133.315,0.000,964.057,0.000,798.161,720.000,2.622,0.000
$DEVICE_MAMPS,227.970,138.465,1024.335,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.875,337.729,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16779,482
$CAP_FILE_SIZE,56975,0
$CFSIZE,260165632,197640192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,061758,6715.065,-5651.665,181,99.0,181,-37.6