version: 66.08
glider: 141
mission: 15
dive: 938
start: 6 13 111 13 53 55
data:
$ID,141
$MISSION,15
$DIVE,938
$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,-89627.383
$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,53
$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
$GPS1,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-77.9
$GPS2,130611,000401,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-108.47,0.000,2,0.000,0.000,109,2506,2557,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.7,-10.1,22,175,12.90,2.20,-22.25,0.000,4,0.321,0.063,2654,3892,3627,0,0,0,0,0,0
$GC,430,-0.97,-146.0,54.9,-15.8,75,436,0.32,2.30,0.00,0.000,6,0.112,0.069,2551,2491,3629,0,0,0,0,0,0
$GC,775,-1.38,-146.0,92.9,-10.3,136,781,0.35,2.40,0.00,0.000,4,0.113,0.082,2426,1073,3628,0,0,0,0,0,0
$GC,805,-1.38,-146.0,97.5,-15.0,141,811,0.00,2.22,0.00,0.000,6,0.000,0.046,2426,2472,3627,0,0,0,0,0,0
$GC,1138,-1.32,-146.0,160.8,-18.6,173,1142,0.00,2.40,0.00,0.000,4,0.000,0.082,2426,1084,3627,0,0,0,0,0,0
$GC,1168,-1.10,-146.0,167.3,-22.6,175,1173,0.32,2.17,0.00,0.000,6,0.241,0.040,2500,2492,3626,0,0,0,0,0,0
$GC,1495,-1.14,-146.0,215.0,-14.5,205,1499,0.00,2.42,0.00,0.000,4,0.000,0.080,2500,1078,3626,0,0,0,0,0,0
$GC,1511,-1.28,-146.0,216.7,-11.7,206,1517,0.15,2.25,0.00,0.000,6,0.110,0.045,2450,2493,3626,0,0,0,0,0,0
$STATE,1664,end dive,NO_VERTICAL_VELOCITY
$STATE,1664,begin apogee
$GC,1672,-0.12,0.0,216.7,0.0,221,1800,1.15,0.00,119.72,1.046,6,0.120,0.000,2818,2270,3029,0,0,0,0,0,0
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,0.62,146.0,216.7,0.0,233,1938,0.73,2.50,124.18,0.998,4,0.107,0.050,3054,3679,2433,0,0,0,0,0,0
$GC,2193,1.01,357.6,216.3,0.2,269,2382,0.35,2.30,179.30,0.959,6,0.073,0.061,3193,2277,1571,0,0,0,0,0,0
$GC,2709,0.82,357.6,154.3,14.4,318,2714,0.25,2.35,0.00,0.000,4,0.204,0.070,3133,856,1561,0,0,0,0,0,0
$GC,2732,0.65,357.6,150.8,14.3,319,2738,0.22,2.25,0.00,0.000,6,0.219,0.052,3080,2285,1560,0,0,0,0,0,0
$GC,3057,0.66,359.4,118.2,9.9,350,3061,0.00,2.22,0.00,0.000,4,0.000,0.052,3080,3694,1559,0,0,0,0,0,0
$GC,3091,0.72,362.4,114.7,9.9,352,3097,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2270,1558,0,0,0,0,0,0
$GC,3429,0.77,404.1,82.8,8.1,399,3475,0.00,2.33,39.72,0.898,4,0.000,0.073,3097,866,1382,0,0,0,0,0,0
$GC,3546,0.81,420.0,72.0,9.3,420,3567,0.00,2.25,15.23,0.848,6,0.000,0.049,3097,2313,1317,0,0,0,0,0,0
$GC,3909,1.04,461.3,37.9,8.1,484,3941,0.25,2.22,25.80,0.943,4,0.073,0.063,3209,3685,1148,0,0,0,0,0,0
$GC,3960,0.96,461.3,31.3,15.1,493,3966,0.17,2.30,0.00,0.000,6,0.193,0.059,3175,2277,1145,0,0,0,0,0,0
$FREEZE,8.69,NaN,-0.007,0,301,0
$FREEZE,7.98,NaN,-0.006,0,301,0
$FREEZE,7.41,NaN,-0.006,0,301,0
$FREEZE,6.65,NaN,-0.005,0,301,0
$STATE,4169,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4169,begin subsurface finish
$FINISH1,6.7,1.027500,0
$GC,4176,0.00,0.0,6.7,-12.0,530,4271,1.05,2.40,-83.03,0.000,4,0.181,0.089,2872,869,3033,0,0,0,0,0,0
$FINISH2,6.2
$STATE,4272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4272,begin surface
$RAFOS_CLK,277
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026964
$HUMID,76.93
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.90
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.1,122.400
$10V_AH,9.8,59.398
$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,18.225,44.175,503.950,0.000,0.000,98.851,17.452,0.000,10.500,0.000,183.290,580.529,1990.493,482.053,1594.715,578.563,0.000,1145.244,0.000,907.595,0.000,2.614,0.000
$DEVICE_MAMPS,320.535,88.740,1045.755,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1151.404,379.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20111,548
$CAP_FILE_SIZE,65877,0
$CFSIZE,260165632,198201344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6