version: 66.08
glider: 141
mission: 15
dive: 961
start: 6 14 111 21 25 7
data:
$ID,141
$MISSION,15
$DIVE,961
$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,28
$R_STBD_OVSHOOT,34
$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,16.22
$_SM_ANGLEo,10.1
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-3.62,0.000,2,0.000,0.000,2874,869,3246,0,0,0,0,0,0
$GC,27,-0.62,-146.0,20.1,-0.0,1,43,0.62,4.80,-6.20,0.000,4,0.135,0.047,2674,3907,3629,0,0,0,0,0,0
$GC,155,-0.97,-146.0,38.2,-15.4,23,160,0.38,2.30,0.00,0.000,6,0.110,0.062,2551,2482,3631,0,0,0,0,0,0
$GC,501,-1.41,-146.0,74.6,-9.7,84,507,0.40,2.35,0.00,0.000,4,0.109,0.070,2409,1078,3629,0,0,0,0,0,0
$GC,538,-1.22,-146.0,81.0,-19.7,90,543,0.25,2.25,0.00,0.000,6,0.243,0.045,2464,2535,3629,0,0,0,0,0,0
$GC,876,-1.22,-146.0,136.5,-16.4,131,880,0.00,2.15,0.00,0.000,4,0.000,0.052,2465,3896,3628,0,0,0,0,0,0
$GC,887,-1.25,-146.0,138.6,-16.3,131,892,0.00,2.30,0.00,0.000,6,0.000,0.061,2464,2497,3629,0,0,0,0,0,0
$GC,1213,-1.25,-146.0,190.0,-15.5,162,1217,0.00,2.20,0.00,0.000,4,0.000,0.050,2464,3886,3627,0,0,0,0,0,0
$GC,1225,-1.29,-146.0,192.0,-15.3,162,1230,0.00,2.33,0.00,0.000,6,0.000,0.060,2464,2481,3628,0,0,0,0,0,0
$STATE,1529,end dive,NO_VERTICAL_VELOCITY
$STATE,1529,begin apogee
$GC,1536,-0.12,0.0,211.4,0.0,191,1664,1.10,0.00,118.82,1.022,6,0.125,0.000,2814,2255,3029,0,0,0,0,0,0
$STATE,1665,end apogee,CONTROL_FINISHED_OK
$STATE,1665,begin climb
$GC,1668,0.62,146.0,211.4,0.0,203,1802,0.75,2.53,123.15,0.975,4,0.140,0.070,3056,872,2432,0,0,0,0,0,0
$GC,1849,1.11,360.3,211.3,0.1,220,2051,0.50,2.35,192.95,0.947,6,0.075,0.046,3226,2278,1560,0,0,0,0,0,0
$GC,2380,0.87,360.3,144.3,16.8,271,2385,0.30,2.42,0.00,0.000,4,0.221,0.068,3159,869,1551,0,0,0,0,0,0
$GC,2400,0.64,360.3,141.0,17.0,272,2405,0.35,2.28,0.00,0.000,6,0.230,0.048,3078,2275,1550,0,0,0,0,0,0
$GC,2726,0.65,361.2,107.1,10.0,302,2730,0.00,2.22,0.00,0.000,4,0.000,0.053,3078,3689,1550,0,0,0,0,0,0
$GC,2756,0.71,365.2,104.1,9.8,304,2760,0.00,2.30,0.00,0.000,6,0.000,0.057,3083,2277,1549,0,0,0,0,0,0
$GC,3098,0.73,386.1,71.0,9.0,360,3128,0.00,2.30,22.05,0.869,4,0.000,0.064,3095,866,1455,0,0,0,0,0,0
$GC,3197,0.73,386.1,60.8,10.5,378,3203,0.00,2.25,0.00,0.000,6,0.000,0.046,3095,2323,1454,0,0,0,0,0,0
$GC,3543,0.87,413.3,25.1,8.7,439,3564,0.12,2.40,14.55,0.876,4,0.101,0.065,3163,865,1344,0,0,0,0,0,0
$GC,3598,0.80,413.3,19.4,13.1,448,3604,0.10,2.20,0.00,0.000,6,0.190,0.038,3124,2275,1343,0,0,0,0,0,0
$FREEZE,8.62,NaN,-0.006,0,324,0
$FREEZE,8.08,NaN,-0.006,0,324,0
$FREEZE,7.40,NaN,-0.006,0,324,0
$FREEZE,6.76,NaN,-0.005,0,324,0
$FREEZE,6.04,NaN,-0.005,0,324,0
$FREEZE,5.46,NaN,-0.004,0,324,0
$FREEZE,5.00,NaN,-0.004,0,324,0
$FREEZE,4.56,NaN,-0.003,0,324,0
$FREEZE,4.14,NaN,-0.003,0,324,0
$FREEZE,3.53,NaN,-0.003,0,324,0
$FREEZE,3.12,NaN,-0.002,0,324,0
$FREEZE,2.59,NaN,-0.002,0,324,0
$STATE,3748,end climb,SURFACE_DEPTH_REACHED
$STATE,3749,begin surface coast
$FREEZE,2.11,NaN,-0.002,0,324,0
$FREEZE,1.96,NaN,-0.001,0,324,0
$FREEZE,1.77,NaN,-0.001,0,324,0
$FREEZE,1.82,NaN,-0.001,0,324,0
$FREEZE,1.82,NaN,-0.001,0,324,0
$FREEZE,1.70,NaN,-0.001,0,324,0
$FINISH,1.7,NaN
$STATE,3783,end surface coast,CONTROL_FINISHED_OK
$STATE,3783,begin surface
$SM_CCo,3852,65.55,0.063,0,0,751,559.04
$SM_GC,2.76,0.00,0.00,65.55,0.000,0.000,0.063,117,2519,751,-8.59,0.82,559.04
$RAFOS_CLK,215
$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,74.17
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.20
$XPDR_PINGS,75
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,21.3,125.633
$10V_AH,9.8,60.522
$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,13.650,44.575,471.525,65.550,0.000,0.000,0.000,0.000,19.000,0.000,0.000,529.952,1789.690,413.155,1117.857,132.424,0.000,950.813,0.000,785.637,0.000,2.817,0.000
$DEVICE_MAMPS,242.505,72.675,1022.040,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.818,337.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16757,481
$CAP_FILE_SIZE,56324,0
$CFSIZE,260165632,197386240
$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