version: 66.08
glider: 141
mission: 15
dive: 960
start: 6 14 111 20 16 9
data:
$ID,141
$MISSION,15
$DIVE,960
$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,-94790.422
$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,54
$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,2.86
$_SM_ANGLEo,-75.1
$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,17,-0.62,-146.0,0.0,0.0,0,133,0.00,0.00,-113.12,0.000,2,0.000,0.000,111,2510,2615,0,0,0,0,0,0
$GC,140,-0.62,-146.0,5.8,-8.9,20,182,12.88,2.45,-20.33,0.000,4,0.321,0.097,2653,1085,3629,0,0,0,0,0,0
$GC,286,-1.06,-146.0,27.9,-10.7,45,293,0.40,2.17,0.00,0.000,6,0.104,0.040,2523,2491,3629,0,0,0,0,0,0
$GC,637,-1.21,-146.0,66.7,-11.6,106,645,0.15,2.45,0.00,0.000,4,0.102,0.081,2464,1087,3629,0,0,0,0,0,0
$GC,666,-1.13,-146.0,71.7,-16.1,110,674,0.15,2.17,0.00,0.000,6,0.246,0.046,2495,2483,3628,0,0,0,0,0,0
$GC,1006,-1.16,-146.0,124.8,-15.1,156,1010,0.00,2.25,0.00,0.000,4,0.000,0.056,2494,3889,3628,0,0,0,0,0,0
$GC,1020,-1.24,-146.0,127.0,-15.2,156,1027,0.00,2.30,0.00,0.000,6,0.000,0.060,2495,2490,3629,0,0,0,0,0,0
$GC,1346,-1.29,-146.0,173.9,-14.7,187,1351,0.15,2.42,0.00,0.000,4,0.108,0.079,2440,1081,3628,0,0,0,0,0,0
$GC,1370,-1.16,-146.0,178.5,-19.1,188,1377,0.20,2.20,0.00,0.000,6,0.236,0.038,2483,2493,3627,0,0,0,0,0,0
$GC,1698,-1.40,-146.0,209.8,-0.1,219,1703,0.20,2.42,0.00,0.000,4,0.109,0.071,2416,1076,3628,0,0,0,0,0,0
$GC,1709,-1.68,-146.0,209.8,0.1,219,1717,0.28,2.25,0.00,0.000,6,0.095,0.052,2324,2491,3628,0,0,0,0,0,0
$STATE,1724,end dive,NO_VERTICAL_VELOCITY
$STATE,1724,begin apogee
$GC,1732,-0.12,0.0,209.7,0.0,221,1865,1.60,0.00,119.95,1.037,6,0.133,0.000,2816,2267,3029,0,0,0,0,0,0
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1869,0.62,146.0,210.0,0.0,233,2004,0.73,2.53,124.07,0.989,4,0.100,0.052,3054,3677,2433,0,0,0,0,0,0
$GC,2099,1.08,350.4,210.0,0.6,253,2290,0.45,2.45,182.60,0.959,6,0.076,0.058,3210,2274,1601,0,0,0,0,0,0
$GC,2610,0.87,350.4,150.0,15.6,300,2615,0.25,2.35,0.00,0.000,4,0.216,0.050,3146,3694,1592,0,0,0,0,0,0
$GC,2633,0.75,350.4,146.7,13.5,301,2641,0.17,2.40,0.00,0.000,6,0.190,0.058,3112,2262,1590,0,0,0,0,0,0
$GC,2959,0.68,350.4,109.5,11.0,332,2963,0.00,2.30,0.00,0.000,4,0.000,0.070,3120,865,1590,0,0,0,0,0,0
$GC,3000,0.58,350.4,104.6,13.1,335,3005,0.25,2.25,0.00,0.000,6,0.198,0.044,3057,2283,1589,0,0,0,0,0,0
$GC,3343,0.67,393.9,75.1,8.0,391,3389,0.00,2.33,37.25,0.892,4,0.000,0.052,3057,3688,1423,0,0,0,0,0,0
$GC,3433,0.89,446.7,68.0,7.6,407,3489,0.25,2.30,46.83,0.881,6,0.080,0.058,3155,2268,1207,0,0,0,0,0,0
$GC,3831,0.86,446.7,19.4,11.9,478,3836,0.00,2.25,0.00,0.000,4,0.000,0.050,3155,3690,1201,0,0,0,0,0,0
$GC,3854,0.86,446.7,16.4,11.6,482,3859,0.00,2.28,0.00,0.000,6,0.000,0.057,3164,2274,1200,0,0,0,0,0,0
$FREEZE,8.63,NaN,-0.006,0,323,0
$FREEZE,8.06,NaN,-0.006,0,323,0
$FREEZE,7.52,NaN,-0.006,0,323,0
$STATE,3931,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3931,begin subsurface finish
$FINISH1,7.5,1.027500,0
$GC,3939,0.00,0.0,7.5,-11.4,496,4020,1.02,2.40,-72.88,0.000,4,0.185,0.086,2875,868,3033,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4024,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4024,begin surface
$RAFOS_CLK,263
$RAFOS,6,1308084544,20.833334,20.817778,69,63,58,51,46,46,203,213,185,161,125,144
$RAFOS,5,1308084070,20.700001,20.686111,55,54,54,53,52,50,218,198,168,141,113,1468
$RAFOS,4,1308083583,20.566668,20.550833,61,55,54,53,53,50,121,189,199,178,209,152
$RAFOS,3,1308083105,20.433332,20.418056,60,60,57,53,53,49,196,224,214,170,138,121
$RAFOS,2,1308082625,20.299999,20.284721,62,60,58,58,57,56,205,215,162,189,226,175
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.034454
$HUMID,75.12
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.20
$XPDR_PINGS,68
$ALTIM_TOP_PING,19.4,16.6
$24V_AH,21.4,125.501
$10V_AH,9.7,60.486
$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,19.125,49.300,510.700,0.000,0.000,103.414,29.917,0.000,17.250,0.000,183.288,885.289,1669.010,566.936,1290.880,600.109,0.000,1150.570,0.000,834.410,1800.000,4.863,0.000
$DEVICE_MAMPS,321.300,97.155,1037.340,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.569,365.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20134,512
$CAP_FILE_SIZE,67156,0
$CFSIZE,260165632,197410816
$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