version: 66.08
glider: 141
mission: 15
dive: 951
start: 6 14 111 7 53 10
data:
$ID,141
$MISSION,15
$DIVE,951
$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,-92577.969
$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,51
$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,4.35
$_SM_ANGLEo,-64.0
$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,16,-0.62,-146.0,0.0,0.0,0,102,0.00,0.00,-83.53,0.000,2,0.000,0.000,106,2506,2391,0,0,0,0,0,0
$GC,107,-0.62,-146.0,5.5,-4.2,17,158,13.07,2.28,-30.65,0.000,4,0.324,0.067,2657,3887,3629,0,0,0,0,0,0
$GC,413,-0.96,-146.0,51.3,-15.5,72,419,0.32,2.30,0.00,0.000,6,0.115,0.067,2556,2496,3630,0,0,0,0,0,0
$GC,758,-1.40,-146.0,86.8,-7.7,133,763,0.40,2.28,0.00,0.000,4,0.111,0.058,2415,3886,3629,0,0,0,0,0,0
$GC,839,-1.59,-146.0,97.6,-13.5,147,846,0.17,2.33,0.00,0.000,6,0.103,0.067,2352,2482,3629,0,0,0,0,0,0
$GC,1167,-1.45,-146.0,168.5,-22.2,179,1172,0.17,2.42,0.00,0.000,4,0.228,0.080,2391,1082,3628,0,0,0,0,0,0
$GC,1189,-1.20,-146.0,174.0,-23.0,180,1195,0.32,2.22,0.00,0.000,6,0.243,0.040,2467,2476,3628,0,0,0,0,0,0
$GC,1515,-1.52,-146.0,212.9,-0.1,211,1520,0.25,2.40,0.00,0.000,4,0.102,0.072,2377,1078,3628,0,0,0,0,0,0
$STATE,1591,end dive,NO_VERTICAL_VELOCITY
$STATE,1591,begin apogee
$GC,1602,-0.12,0.0,212.9,0.0,217,1730,1.40,0.00,120.12,1.043,6,0.132,0.000,2820,2270,3029,0,0,0,0,0,0
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1734,0.62,146.0,212.8,0.0,230,1869,0.73,2.55,124.15,0.992,4,0.106,0.052,3055,3678,2434,0,0,0,0,0,0
$GC,1905,1.00,354.1,212.7,0.4,246,2102,0.38,2.53,188.55,0.962,6,0.067,0.058,3195,2271,1586,0,0,0,0,0,0
$GC,2429,0.81,354.1,151.4,14.1,296,2434,0.25,2.38,0.00,0.000,4,0.207,0.051,3129,3690,1578,0,0,0,0,0,0
$GC,2440,0.64,354.1,149.5,14.2,296,2446,0.25,2.38,0.00,0.000,6,0.163,0.063,3069,2269,1577,0,0,0,0,0,0
$GC,2768,0.67,377.1,119.6,8.9,327,2793,0.00,2.30,20.38,0.883,4,0.000,0.050,3069,3694,1491,0,0,0,0,0,0
$GC,2800,0.71,394.4,116.4,9.2,329,2825,0.00,2.33,16.52,0.855,6,0.000,0.063,3072,2274,1422,0,0,0,0,0,0
$GC,3156,0.78,410.5,83.1,9.3,378,3178,0.12,2.33,15.30,0.857,4,0.103,0.069,3135,863,1355,0,0,0,0,0,0
$GC,3208,0.73,410.5,77.2,12.5,387,3213,0.15,2.25,0.00,0.000,6,0.200,0.045,3101,2300,1354,0,0,0,0,0,0
$GC,3557,0.73,414.9,36.2,9.8,448,3567,0.00,2.40,4.10,0.638,4,0.000,0.063,3109,868,1338,0,0,0,0,0,0
$GC,3597,0.78,420.9,31.9,9.7,455,3608,0.00,2.25,3.65,0.622,6,0.000,0.041,3109,2313,1312,0,0,0,0,0,0
$STATE,3848,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3848,begin subsurface finish
$FINISH1,9.1,1.027500,0
$GC,3857,0.00,0.0,9.1,-9.2,499,3923,0.77,2.33,-59.62,0.000,4,0.171,0.086,2872,878,3030,0,0,0,0,0,0
$FINISH2,7.4
$STATE,3924,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3927,begin surface
$RAFOS_CLK,257
$RAFOS,6,1308041344,8.833333,8.817778,59,58,57,52,50,49,152,198,176,123,215,143
$RAFOS,5,1308040867,8.700000,8.685278,64,60,60,57,54,45,200,146,218,170,182,118
$RAFOS,4,1308040383,8.566667,8.550834,64,52,50,49,49,46,193,210,170,134,114,76
$RAFOS,3,1308039905,8.433333,8.418056,64,62,57,56,55,52,209,220,175,158,195,148
$RAFOS,2,1308039428,8.300000,8.285556,63,61,59,56,49,49,198,138,220,156,169,180
$RAFOS,1,1308038952,8.166667,8.153334,65,58,56,55,55,54,189,168,1171,213,147,222
$RAFOS,0,1308038464,8.033334,8.017777,60,55,55,52,48,48,171,152,206,195,138,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5651.67,140611,060658
$TT8_MAMPS,0.026964
$HUMID,76.58
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.00
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.9,15.6
$24V_AH,21.1,124.218
$10V_AH,9.8,60.041
$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,18.775,44.225,492.775,0.000,0.000,98.848,19.645,0.000,11.750,0.000,183.289,558.387,1798.653,456.251,1497.309,599.371,0.000,1070.997,0.000,835.903,2520.000,2.612,0.000
$DEVICE_MAMPS,324.360,104.040,1043.460,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.361,355.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,16773,512
$CAP_FILE_SIZE,65252,0
$CFSIZE,260165632,197738496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,061758,6715.065,-5651.665,0,10000.0,0,-37.6