version: 66.08
glider: 141
mission: 15
dive: 941
start: 6 13 111 17 48 23
data:
$ID,141
$MISSION,15
$DIVE,941
$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,-89996.961
$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,45
$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,14.47
$_SM_ANGLEo,8.0
$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,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,-3.65,0.000,2,0.000,0.000,2871,3686,3239,0,0,0,0,0,0
$GC,26,-0.62,-146.0,18.6,-0.0,1,38,0.65,0.32,-6.60,0.000,4,0.151,0.159,2670,3897,3629,0,0,0,0,0,0
$GC,293,-0.97,-146.0,57.1,-15.4,48,298,0.38,2.28,0.00,0.000,6,0.111,0.057,2547,2491,3631,0,0,0,0,0,0
$GC,639,-1.38,-146.0,90.6,-10.0,109,645,0.35,2.38,0.00,0.000,4,0.190,0.072,2430,1077,3629,0,0,0,0,0,0
$GC,675,-1.24,-146.0,96.8,-18.4,115,681,0.15,2.22,0.00,0.000,6,0.252,0.038,2461,2490,3629,0,0,0,0,0,0
$GC,1002,-1.21,-146.0,152.8,-17.3,147,1006,0.00,2.20,0.00,0.000,4,0.000,0.052,2461,3888,3628,0,0,0,0,0,0
$GC,1047,-1.46,-146.0,159.1,-12.1,150,1052,0.20,2.28,0.00,0.000,6,0.104,0.057,2394,2495,3628,0,0,0,0,0,0
$GC,1373,-1.65,-146.0,212.3,-2.5,181,1377,0.17,2.28,0.00,0.000,4,0.101,0.056,2328,3883,3627,0,0,0,0,0,0
$STATE,1504,end dive,NO_VERTICAL_VELOCITY
$STATE,1504,begin apogee
$GC,1515,-0.12,0.0,212.2,0.0,192,1642,1.55,0.00,119.07,1.030,6,0.129,0.000,2813,2263,3029,0,0,0,0,0,0
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1646,0.62,146.0,212.3,0.0,204,1780,0.73,2.50,122.75,0.981,4,0.109,0.048,3049,3676,2434,0,0,0,0,0,0
$GC,2036,1.08,359.1,212.1,0.2,240,2224,0.43,2.30,180.15,0.949,6,0.067,0.057,3220,2275,1565,0,0,0,0,0,0
$GC,2544,0.87,359.1,146.5,15.8,288,2546,0.30,0.00,0.00,0.000,6,0.210,0.000,3146,2275,1556,0,0,0,0,0,0
$GC,2862,0.78,359.1,107.7,11.9,318,2866,0.00,2.33,0.00,0.000,4,0.000,0.069,3154,863,1555,0,0,0,0,0,0
$GC,2907,0.57,359.1,101.1,15.8,321,2913,0.40,2.25,0.00,0.000,6,0.219,0.052,3056,2297,1553,0,0,0,0,0,0
$GC,3254,0.71,428.1,73.9,6.8,381,3321,0.10,2.45,59.08,0.890,4,0.110,0.064,3111,866,1284,0,0,0,0,0,0
$GC,3391,0.76,428.1,60.8,10.4,406,3396,0.00,2.25,0.00,0.000,6,0.000,0.044,3111,2311,1281,0,0,0,0,0,0
$GC,3736,0.96,475.4,29.9,7.8,467,3772,0.17,2.25,27.38,0.910,4,0.083,0.052,3190,3679,1090,0,0,0,0,0,0
$GC,3804,1.05,475.4,22.6,11.7,479,3810,0.00,2.28,0.00,0.000,6,0.000,0.059,3200,2265,1088,0,0,0,0,0,0
$FREEZE,8.53,NaN,-0.006,0,304,0
$FREEZE,7.78,NaN,-0.006,0,304,0
$FREEZE,7.04,NaN,-0.005,0,304,0
$FREEZE,6.14,NaN,-0.005,0,304,0
$FREEZE,5.54,NaN,-0.004,0,304,0
$FREEZE,4.80,NaN,-0.004,0,304,0
$FREEZE,4.11,NaN,-0.003,0,304,0
$FREEZE,3.32,NaN,-0.003,0,304,0
$FREEZE,2.71,NaN,-0.002,0,304,0
$STATE,3961,end climb,SURFACE_DEPTH_REACHED
$STATE,3961,begin surface coast
$FREEZE,2.09,NaN,-0.002,0,304,0
$FREEZE,1.78,NaN,-0.001,0,304,0
$FREEZE,1.77,NaN,-0.001,0,304,0
$FREEZE,1.82,NaN,-0.001,0,304,0
$FINISH,1.8,NaN
$STATE,3984,end surface coast,CONTROL_FINISHED_OK
$STATE,3984,begin surface
$SM_CCo,4010,37.03,0.065,0,0,750,559.04
$SM_GC,2.89,0.00,0.00,37.03,0.000,0.000,0.065,109,2517,750,-8.61,0.76,559.04
$RAFOS_CLK,216
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026215
$HUMID,76.58
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,22.2,122.811
$10V_AH,9.8,59.531
$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,14.550,35.550,508.425,37.025,0.000,0.000,0.000,0.000,9.250,0.000,0.000,554.163,1795.813,404.603,1221.898,135.376,0.000,973.104,0.000,866.913,0.000,2.618,0.000
$DEVICE_MAMPS,252.450,159.120,1030.455,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.808,358.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16752,511
$CAP_FILE_SIZE,57429,0
$CFSIZE,260165632,198103040
$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