version: 66.08
glider: 141
mission: 15
dive: 904
start: 6 11 111 16 49 18
data:
$ID,141
$MISSION,15
$DIVE,904
$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,-83357.641
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.71
$_SM_ANGLEo,3.4
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-4.93,0.000,2,0.000,0.000,2879,863,3315,0,0,0,0,0,0
$GC,28,-0.62,-146.0,18.7,-0.0,1,39,0.68,0.30,-5.22,0.000,4,0.180,0.138,2674,1096,3627,0,0,0,0,0,0
$GC,151,-1.02,-146.0,33.4,-13.0,22,156,0.38,2.17,0.00,0.000,6,0.147,0.047,2544,2508,3629,0,0,0,0,0,0
$GC,499,-1.40,-146.0,67.7,-9.0,83,504,0.35,2.40,0.00,0.000,4,0.119,0.070,2422,1072,3629,0,0,0,0,0,0
$GC,546,-1.13,-146.0,76.6,-23.4,91,552,0.25,2.20,0.00,0.000,6,0.233,0.047,2494,2477,3628,0,0,0,0,0,0
$GC,887,-1.16,-146.0,127.4,-14.8,136,891,0.00,2.22,0.00,0.000,4,0.000,0.054,2494,3896,3628,0,0,0,0,0,0
$GC,961,-1.53,-146.0,135.6,-10.2,142,966,0.38,2.28,0.00,0.000,6,0.102,0.056,2369,2492,3627,0,0,0,0,0,0
$GC,1289,-1.40,-146.0,198.4,-19.8,172,1294,0.17,2.38,0.00,0.000,4,0.224,0.080,2409,1083,3626,0,0,0,0,0,0
$GC,1318,-1.16,-146.0,205.6,-23.4,174,1323,0.32,2.15,0.00,0.000,6,0.247,0.038,2484,2489,3625,0,0,0,0,0,0
$STATE,1503,end dive,NO_VERTICAL_VELOCITY
$STATE,1506,begin apogee
$GC,1513,-0.12,0.0,208.5,0.0,191,1640,1.02,0.00,118.82,1.020,6,0.122,0.000,2818,2262,3030,0,0,0,0,0,0
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1645,0.62,146.0,208.6,0.0,203,1778,0.73,2.47,122.03,0.973,4,0.109,0.052,3056,3663,2433,0,0,0,0,0,0
$GC,2032,1.04,355.4,208.4,0.3,239,2218,0.38,2.25,176.73,0.946,6,0.067,0.061,3208,2279,1579,0,0,0,0,0,0
$GC,2536,0.83,355.4,148.3,15.3,287,2541,0.28,2.33,0.00,0.000,4,0.216,0.070,3143,866,1570,0,0,0,0,0,0
$GC,2582,0.57,355.4,141.0,16.6,290,2587,0.35,2.25,0.00,0.000,6,0.215,0.055,3056,2302,1568,0,0,0,0,0,0
$GC,2907,0.61,369.0,110.4,9.4,321,2923,0.00,2.35,10.98,0.820,4,0.000,0.063,3065,864,1524,0,0,0,0,0,0
$GC,2971,0.71,382.0,104.6,9.4,326,2993,0.00,2.17,13.05,0.842,6,0.000,0.039,3065,2284,1471,0,0,0,0,0,0
$GC,3332,0.90,405.1,71.6,8.9,385,3363,0.25,2.22,21.62,0.871,4,0.074,0.054,3180,3675,1376,0,0,0,0,0,0
$GC,3392,0.90,405.1,63.8,13.0,396,3398,0.15,2.28,0.00,0.000,6,0.185,0.063,3153,2264,1375,0,0,0,0,0,0
$GC,3740,0.85,405.1,23.7,11.0,457,3745,0.00,2.25,0.00,0.000,4,0.000,0.060,3152,3685,1375,0,0,0,0,0,0
$GC,3776,0.85,405.1,19.7,10.1,463,3781,0.00,2.25,0.00,0.000,6,0.000,0.054,3159,2274,1374,0,0,0,0,0,0
$FREEZE,8.32,NaN,-0.006,0,267,0
$FREEZE,7.79,NaN,-0.006,0,267,0
$FREEZE,7.09,NaN,-0.005,0,267,0
$STATE,3892,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3892,begin subsurface finish
$FINISH1,7.1,1.027500,0
$GC,3899,0.00,0.0,7.1,-11.0,484,3970,0.98,2.28,-61.62,0.000,4,0.173,0.058,2874,3690,3032,0,0,0,0,0,0
$FINISH2,7.5
$STATE,3974,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3975,begin surface
$RAFOS_CLK,216
$RAFOS,6,1307810980,16.833334,16.827778,64,57,56,53,52,51,203,139,165,221,185,174
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,80.28
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.10
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.7,17.3
$24V_AH,22.6,117.687
$10V_AH,10.0,57.804
$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,6.650,41.575,463.225,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,536.660,1789.050,375.046,1200.008,127.936,0.000,949.777,0.000,851.168,360.000,2.622,0.000
$DEVICE_MAMPS,247.095,138.465,1019.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.794,348.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16764,498
$CAP_FILE_SIZE,58296,0
$CFSIZE,260165632,199405568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6