version: 66.08
glider: 141
mission: 15
dive: 946
start: 6 14 111 0 33 52
data:
$ID,141
$MISSION,15
$DIVE,946
$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,31
$R_STBD_OVSHOOT,42
$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,15.98
$_SM_ANGLEo,8.5
$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,-3.70,0.000,2,0.000,0.000,2873,3688,3252,0,0,0,0,0,0
$GC,27,-0.62,-146.0,20.2,-0.0,1,38,0.60,0.30,-6.07,0.000,4,0.122,0.155,2669,3895,3628,0,0,0,0,0,0
$GC,293,-0.99,-146.0,60.2,-14.7,48,299,0.38,2.28,0.00,0.000,6,0.114,0.064,2547,2496,3630,0,0,0,0,0,0
$GC,639,-1.42,-146.0,95.4,-9.8,109,644,0.38,2.38,0.00,0.000,4,0.111,0.070,2412,1077,3628,0,0,0,0,0,0
$GC,670,-1.34,-146.0,100.5,-16.9,114,675,0.00,2.22,0.00,0.000,6,0.000,0.045,2412,2490,3628,0,0,0,0,0,0
$GC,995,-1.26,-146.0,164.2,-19.0,145,1000,0.17,2.45,0.00,0.000,4,0.230,0.078,2453,1078,3627,0,0,0,0,0,0
$GC,1025,-1.06,-146.0,170.4,-21.1,147,1030,0.28,2.20,0.00,0.000,6,0.230,0.037,2517,2497,3627,0,0,0,0,0,0
$GC,1350,-1.16,-146.0,212.9,-12.9,177,1354,0.00,2.22,0.00,0.000,4,0.000,0.052,2517,3895,3626,0,0,0,0,0,0
$GC,1373,-1.42,-146.0,215.5,-10.9,178,1379,0.32,2.30,0.00,0.000,6,0.112,0.055,2414,2482,3625,0,0,0,0,0,0
$STATE,1557,end dive,NO_VERTICAL_VELOCITY
$STATE,1557,begin apogee
$GC,1566,-0.12,0.0,217.0,0.0,196,1693,1.30,0.00,118.53,1.031,6,0.137,0.000,2816,2260,3030,0,0,0,0,0,0
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1697,0.62,146.0,217.0,0.0,208,1831,0.73,2.45,123.12,0.982,4,0.106,0.048,3055,3667,2433,0,0,0,0,0,0
$GC,2087,1.01,362.4,216.6,0.0,244,2281,0.35,2.30,182.75,0.954,6,0.067,0.056,3196,2266,1551,0,0,0,0,0,0
$GC,2601,0.83,362.4,152.1,15.5,293,2606,0.25,2.25,0.00,0.000,4,0.212,0.047,3130,3678,1542,0,0,0,0,0,0
$GC,2613,0.66,362.4,150.3,15.1,293,2619,0.20,2.28,0.00,0.000,6,0.170,0.062,3083,2274,1541,0,0,0,0,0,0
$GC,2939,0.66,362.4,116.4,10.0,324,2943,0.00,2.22,0.00,0.000,4,0.000,0.050,3083,3680,1540,0,0,0,0,0,0
$GC,2951,0.66,362.4,115.2,10.0,325,2955,0.00,2.28,0.00,0.000,6,0.000,0.054,3088,2274,1540,0,0,0,0,0,0
$GC,3286,0.69,386.9,85.0,8.9,370,3312,0.00,2.33,21.00,0.877,4,0.000,0.068,3099,860,1451,0,0,0,0,0,0
$GC,3376,0.69,386.9,75.9,11.0,386,3381,0.00,2.25,0.00,0.000,6,0.000,0.039,3099,2312,1450,0,0,0,0,0,0
$GC,3723,0.62,386.9,34.6,10.3,447,3729,0.15,2.20,0.00,0.000,4,0.188,0.063,3061,3686,1448,0,0,0,0,0,0
$GC,3748,0.73,419.9,32.3,8.5,451,3774,0.00,2.28,20.08,0.913,6,0.000,0.052,3069,2269,1318,0,0,0,0,0,0
$FREEZE,8.63,NaN,-0.006,0,309,0
$FREEZE,8.23,NaN,-0.006,0,309,0
$STATE,4099,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4099,begin subsurface finish
$FINISH1,8.2,1.027500,0
$GC,4106,0.00,0.0,8.2,-6.7,514,4173,0.65,2.30,-56.78,0.000,4,0.182,0.057,2872,3696,3033,0,0,0,0,0,0
$FINISH2,8.5
$STATE,4174,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4177,begin surface
$RAFOS_CLK,228
$RAFOS,6,1308012550,0.833333,0.819444,67,57,56,52,50,50,217,185,147,111,126,167
$RAFOS,5,1308012065,0.700000,0.684722,57,55,54,53,50,50,144,191,174,209,134,227
$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,77.91
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.00
$XPDR_PINGS,24
$ALTIM_TOP_PING,20.0,16.5
$24V_AH,22.2,123.508
$10V_AH,9.9,59.775
$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,5.750,41.825,465.475,0.000,0.000,0.000,0.000,0.000,6.250,0.000,0.000,573.190,1916.960,369.414,1243.194,129.390,0.000,953.274,0.000,873.932,720.000,2.614,0.000
$DEVICE_MAMPS,229.500,154.530,1031.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.384,369.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,527
$CAP_FILE_SIZE,58112,0
$CFSIZE,260165632,197922816
$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