version: 66.08
glider: 141
mission: 15
dive: 959
start: 6 14 111 18 46 31
data:
$ID,141
$MISSION,15
$DIVE,959
$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,-94421.844
$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,49
$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,2.87
$_SM_ANGLEo,-75.6
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-119.72,0.000,2,0.000,0.000,117,2508,2660,0,0,0,0,0,0
$GC,146,-0.62,-146.0,5.1,-8.0,24,182,12.48,0.00,-20.95,0.000,6,0.312,0.000,2655,2508,3629,0,0,0,0,0,0
$GC,524,-1.02,-146.0,59.3,-13.3,91,530,0.32,2.25,0.00,0.000,4,0.108,0.053,2541,3893,3630,0,0,0,0,0,0
$GC,605,-1.39,-146.0,70.1,-13.2,105,611,0.40,2.33,0.00,0.000,6,0.153,0.070,2425,2496,3630,0,0,0,0,0,0
$GC,947,-1.33,-146.0,132.1,-18.7,151,951,0.00,2.22,0.00,0.000,4,0.000,0.054,2425,3882,3629,0,0,0,0,0,0
$GC,999,-1.46,-146.0,140.0,-14.2,155,1003,0.00,2.30,0.00,0.000,6,0.000,0.060,2425,2486,3629,0,0,0,0,0,0
$GC,1325,-1.40,-146.0,199.0,-17.9,185,1329,0.00,2.25,0.00,0.000,4,0.000,0.053,2425,3892,3628,0,0,0,0,0,0
$GC,1381,-1.53,-146.0,207.6,-15.0,189,1387,0.15,2.35,0.00,0.000,6,0.106,0.063,2371,2483,3628,0,0,0,0,0,0
$STATE,1566,end dive,NO_VERTICAL_VELOCITY
$STATE,1566,begin apogee
$GC,1574,-0.12,0.0,209.9,0.0,207,1703,1.42,0.00,119.82,1.039,6,0.127,0.000,2818,2265,3030,0,0,0,0,0,0
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1707,0.62,146.0,209.8,0.0,219,1842,0.73,2.53,124.62,0.991,4,0.106,0.075,3055,877,2432,0,0,0,0,0,0
$GC,2096,1.06,366.7,209.7,-0.2,254,2294,0.43,2.22,188.25,0.959,6,0.076,0.039,3212,2266,1534,0,0,0,0,0,0
$GC,2615,0.86,366.7,144.9,15.8,304,2620,0.25,2.28,0.00,0.000,4,0.217,0.052,3147,3678,1525,0,0,0,0,0,0
$GC,2645,0.82,366.7,140.3,13.3,306,2649,0.00,2.33,0.00,0.000,6,0.000,0.058,3153,2266,1523,0,0,0,0,0,0
$GC,2973,0.72,366.7,97.6,12.5,338,2978,0.22,2.33,0.00,0.000,4,0.200,0.070,3105,865,1523,0,0,0,0,0,0
$GC,3025,0.68,366.7,91.4,12.2,347,3030,0.00,2.22,0.00,0.000,6,0.000,0.045,3105,2263,1522,0,0,0,0,0,0
$GC,3371,0.65,366.7,48.6,11.0,408,3376,0.12,2.33,0.00,0.000,4,0.192,0.065,3083,858,1522,0,0,0,0,0,0
$GC,3418,0.72,399.1,44.1,8.5,416,3450,0.00,2.25,26.98,0.879,6,0.000,0.047,3083,2309,1401,0,0,0,0,0,0
$GC,3790,0.87,468.9,16.4,6.8,482,3832,0.17,2.20,35.53,0.868,4,0.089,0.061,3155,3674,1116,0,0,0,0,0,0
$FREEZE,8.24,NaN,-0.006,0,322,0
$FREEZE,7.79,NaN,-0.006,0,322,0
$FREEZE,7.24,NaN,-0.005,0,322,0
$GC,3877,1.00,493.4,9.1,8.9,497,3897,0.00,2.28,11.32,0.780,6,0.000,0.064,3164,2275,1017,0,0,0,0,0,0
$FREEZE,6.19,NaN,-0.005,0,322,0
$FREEZE,5.69,NaN,-0.004,0,322,0
$FREEZE,4.97,NaN,-0.004,0,322,0
$FREEZE,4.43,NaN,-0.003,0,322,0
$FREEZE,3.87,NaN,-0.003,0,322,0
$FREEZE,3.47,NaN,-0.003,0,322,0
$FREEZE,2.93,NaN,-0.002,0,322,0
$STATE,3935,end climb,SURFACE_DEPTH_REACHED
$STATE,3938,begin surface coast
$FREEZE,2.12,NaN,-0.002,0,322,0
$FREEZE,1.88,NaN,-0.001,0,322,0
$FREEZE,1.88,NaN,-0.001,0,322,0
$FREEZE,1.78,NaN,-0.001,0,322,0
$FREEZE,1.79,NaN,-0.001,0,322,0
$FREEZE,1.80,NaN,-0.001,0,322,0
$FINISH,1.8,NaN
$STATE,3971,end surface coast,CONTROL_FINISHED_OK
$STATE,3971,begin surface
$SM_CCo,4112,29.15,0.066,0,0,750,559.04
$SM_GC,2.59,0.00,0.00,29.15,0.000,0.000,0.066,112,2508,750,-8.60,0.51,559.04
$RAFOS_CLK,267
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026215
$HUMID,76.10
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,22.0,125.355
$10V_AH,9.8,60.434
$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,25.500,37.325,506.525,29.150,0.000,98.712,17.191,0.000,9.500,0.000,183.290,580.136,1942.092,478.624,1524.189,593.070,0.000,1104.903,0.000,864.554,0.000,2.616,0.000
$DEVICE_MAMPS,312.120,78.795,1038.870,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.043,356.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20149,514
$CAP_FILE_SIZE,65517,0
$CFSIZE,260165632,197451776
$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