version: 66.08
glider: 141
mission: 15
dive: 945
start: 6 13 111 23 26 2
data:
$ID,141
$MISSION,15
$DIVE,945
$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,-91102.688
$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,22
$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
$GPS1,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-77.8
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-103.78,0.000,2,0.000,0.000,114,2510,2472,0,0,0,0,0,0
$GC,129,-0.62,-146.0,5.1,-7.5,21,176,12.95,2.25,-25.80,0.000,4,0.321,0.067,2656,3875,3629,0,0,0,0,0,0
$GC,431,-0.96,-146.0,52.3,-14.6,75,437,0.35,2.30,0.00,0.000,6,0.125,0.070,2553,2491,3630,0,0,0,0,0,0
$GC,777,-1.32,-146.0,90.5,-12.1,136,783,0.30,2.40,0.00,0.000,4,0.122,0.082,2447,1079,3629,0,0,0,0,0,0
$GC,797,-1.51,-146.0,92.8,-11.3,139,802,0.20,2.22,0.00,0.000,6,0.122,0.041,2382,2482,3629,0,0,0,0,0,0
$GC,1126,-1.38,-146.0,160.8,-20.5,173,1131,0.15,2.42,0.00,0.000,4,0.226,0.078,2416,1083,3628,0,0,0,0,0,0
$GC,1137,-1.21,-146.0,163.6,-20.7,173,1144,0.22,2.22,0.00,0.000,6,0.230,0.045,2468,2489,3627,0,0,0,0,0,0
$GC,1463,-1.21,-146.0,215.7,-15.6,204,1468,0.00,2.38,0.00,0.000,4,0.000,0.068,2469,1069,3628,0,0,0,0,0,0
$STATE,1616,end dive,NO_VERTICAL_VELOCITY
$STATE,1616,begin apogee
$GC,1625,-0.12,0.0,216.6,0.0,217,1753,1.08,0.00,119.85,1.041,6,0.119,0.000,2816,2279,3030,0,0,0,0,0,0
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1757,0.62,146.0,216.5,0.0,229,1890,0.73,2.40,123.97,0.993,4,0.125,0.050,3056,3669,2433,0,0,0,0,0,0
$GC,1899,1.08,352.2,216.5,0.5,243,2096,0.45,2.47,187.18,0.962,6,0.072,0.056,3211,2274,1594,0,0,0,0,0,0
$GC,2422,0.86,352.2,154.7,15.8,293,2427,0.25,2.28,0.00,0.000,4,0.220,0.047,3147,3674,1586,0,0,0,0,0,0
$GC,2435,0.66,352.2,152.8,15.4,293,2441,0.28,2.33,0.00,0.000,6,0.185,0.057,3083,2270,1584,0,0,0,0,0,0
$GC,2761,0.65,365.6,121.4,9.4,324,2781,0.00,2.33,11.73,0.834,4,0.000,0.050,3083,3676,1538,0,0,0,0,0,0
$GC,2788,0.68,383.6,118.9,9.2,326,2814,0.00,2.28,17.58,0.863,6,0.000,0.062,3090,2271,1465,0,0,0,0,0,0
$GC,3143,0.68,383.6,82.9,10.3,373,3148,0.00,2.30,0.00,0.000,4,0.000,0.073,3099,863,1462,0,0,0,0,0,0
$GC,3189,0.71,383.6,77.9,10.7,381,3194,0.00,2.22,0.00,0.000,6,0.000,0.048,3099,2269,1461,0,0,0,0,0,0
$GC,3534,0.75,416.0,40.8,8.5,442,3569,0.00,2.25,26.90,0.901,4,0.000,0.048,3099,3687,1333,0,0,0,0,0,0
$GC,3577,0.92,458.6,37.2,8.0,450,3608,0.17,2.28,24.75,0.931,6,0.103,0.051,3161,2270,1159,0,0,0,0,0,0
$FREEZE,8.84,NaN,-0.007,0,308,0
$FREEZE,8.18,NaN,-0.006,0,308,0
$FREEZE,7.65,NaN,-0.006,0,308,0
$FREEZE,7.03,NaN,-0.005,0,308,0
$STATE,3863,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3863,begin subsurface finish
$FINISH1,7.0,1.027500,0
$GC,3870,0.00,0.0,7.0,-11.2,501,3960,1.00,2.28,-76.38,0.000,4,0.177,0.057,2873,3688,3032,0,0,0,0,0,0
$FINISH2,6.9
$STATE,3961,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3961,begin surface
$RAFOS_CLK,259
$RAFOS,3,1308011105,0.433333,0.418056,61,58,56,54,53,49,131,177,122,223,193,99
$RAFOS,2,1308010623,0.300000,0.284167,68,54,54,51,51,50,208,196,222,165,231,140
$RAFOS,1,1308010150,0.166667,0.152778,66,59,55,51,49,46,215,178,152,241,203,98
$RAFOS,0,1308009663,0.033333,0.017500,62,62,54,54,53,53,185,196,118,223,140,425
$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,77.09
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.90
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,21.2,123.380
$10V_AH,9.9,59.736
$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,18.125,43.500,511.950,0.000,0.000,98.360,17.450,0.000,14.000,0.000,182.282,540.123,1797.879,489.718,1516.900,578.392,0.000,1127.110,0.000,848.376,1440.000,2.616,0.000
$DEVICE_MAMPS,320.535,81.855,1041.165,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.690,358.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20103,518
$CAP_FILE_SIZE,63453,0
$CFSIZE,260165632,197955584
$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