version: 66.08
glider: 141
mission: 15
dive: 952
start: 6 14 111 9 0 30
data:
$ID,141
$MISSION,15
$DIVE,952
$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,37
$R_STBD_OVSHOOT,41
$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
$GPS1,140611,061758,6715.065,-5651.665,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.37
$_SM_ANGLEo,7.8
$GPS2,140611,061758,6715.065,-5651.665,0,10000.0,0,-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,210.8,22501,-17.5,-10.000
$D_GRID,236
$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,-4.03,0.000,2,0.000,0.000,2872,878,3269,0,0,0,0,0,0
$GC,26,-0.62,-146.0,20.5,-0.0,1,38,0.65,0.28,-5.75,0.000,4,0.161,0.148,2675,1069,3628,0,0,0,0,0,0
$GC,113,-0.99,-146.0,31.0,-13.2,16,119,0.45,2.25,0.00,0.000,6,0.179,0.047,2552,2535,3631,0,0,0,0,0,0
$GC,460,-1.38,-146.0,64.5,-10.7,77,466,0.38,2.45,0.00,0.000,4,0.139,0.079,2430,1095,3630,0,0,0,0,0,0
$GC,492,-1.50,-146.0,68.9,-13.3,82,498,0.10,2.20,0.00,0.000,6,0.094,0.049,2380,2490,3629,0,0,0,0,0,0
$GC,828,-1.39,-146.0,138.1,-20.1,126,833,0.15,2.28,0.00,0.000,4,0.233,0.056,2413,3880,3628,0,0,0,0,0,0
$GC,960,-1.50,-146.0,157.9,-15.0,137,964,0.00,2.25,0.00,0.000,6,0.000,0.059,2414,2507,3628,0,0,0,0,0,0
$GC,1292,-1.69,-146.0,212.4,-3.2,168,1297,0.25,2.40,0.00,0.000,4,0.109,0.070,2324,1074,3627,0,0,0,0,0,0
$STATE,1422,end dive,NO_VERTICAL_VELOCITY
$STATE,1422,begin apogee
$GC,1431,-0.12,0.0,212.5,0.0,179,1559,1.55,0.00,119.05,1.030,6,0.119,0.000,2817,2267,3030,0,0,0,0,0,0
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1563,0.62,146.0,212.5,0.0,191,1698,0.77,2.45,123.35,0.980,4,0.138,0.051,3054,3670,2433,0,0,0,0,0,0
$GC,1923,1.04,365.2,212.0,-0.1,224,2121,0.40,2.33,186.48,0.949,6,0.064,0.067,3210,2263,1541,0,0,0,0,0,0
$GC,2441,0.85,365.2,151.8,14.4,274,2446,0.25,2.28,0.00,0.000,4,0.208,0.048,3143,3680,1532,0,0,0,0,0,0
$GC,2452,0.68,365.2,149.9,14.2,274,2458,0.22,2.28,0.00,0.000,6,0.161,0.058,3087,2275,1529,0,0,0,0,0,0
$GC,2778,0.69,369.7,119.4,9.8,305,2782,0.00,2.28,0.00,0.000,4,0.000,0.050,3087,3686,1529,0,0,0,0,0,0
$GC,2795,0.72,370.3,117.5,10.0,306,2804,0.00,2.30,3.95,0.558,6,0.000,0.063,3095,2267,1519,0,0,0,0,0,0
$GC,3134,0.72,370.3,83.6,10.5,351,3139,0.00,2.25,0.00,0.000,4,0.000,0.060,3095,3681,1519,0,0,0,0,0,0
$GC,3146,0.73,374.2,82.4,9.8,353,3157,0.00,2.28,5.28,0.679,6,0.000,0.055,3104,2275,1504,0,0,0,0,0,0
$GC,3499,0.76,403.5,49.7,8.6,415,3534,0.00,2.40,27.38,0.885,4,0.000,0.067,3111,863,1385,0,0,0,0,0,0
$GC,3618,0.83,419.5,39.0,9.3,436,3634,0.00,2.25,8.93,0.881,6,0.000,0.048,3111,2315,1321,0,0,0,0,0,0
$FREEZE,8.60,NaN,-0.006,0,315,1
$FREEZE,8.02,NaN,-0.006,0,315,1
$FREEZE,7.56,NaN,-0.006,0,315,1
$FREEZE,6.89,NaN,-0.005,0,315,1
$GC,3977,1.03,468.8,9.5,7.7,499,3998,0.22,0.00,18.90,0.836,2,0.080,0.000,3208,2315,1162,0,0,0,0,0,0
$STATE,3999,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3999,begin subsurface finish
$FINISH1,6.9,1.027500,0
$GC,4007,0.00,0.0,6.9,-9.5,503,4102,1.20,2.30,-83.68,0.000,4,0.197,0.086,2879,878,3030,0,0,0,0,0,0
$FINISH2,6.0
$STATE,4103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4103,begin surface
$RAFOS_CLK,219
$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,75.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.90
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,22.2,124.351
$10V_AH,9.8,60.080
$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,6.600,41.450,493.300,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,562.563,1803.752,402.405,1251.705,139.495,0.000,1011.694,0.000,890.320,0.000,2.617,0.000
$DEVICE_MAMPS,232.560,147.645,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.331,363.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,20136,521
$CAP_FILE_SIZE,59141,0
$CFSIZE,260165632,197705728
$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