version: 66.08
glider: 141
mission: 15
dive: 913
start: 6 12 111 4 11 3
data:
$ID,141
$MISSION,15
$DIVE,913
$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,-84464.359
$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,37
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-75.2
$GPS2,100611,043555,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,137,0.00,0.00,-118.20,0.000,2,0.000,0.000,113,2483,2659,0,0,0,0,0,0
$GC,144,-0.62,-146.0,5.5,-10.1,24,185,12.57,2.40,-20.23,0.000,4,0.314,0.090,2657,1083,3629,0,0,0,0,0,0
$GC,254,-0.95,-146.0,23.8,-10.9,44,260,0.35,2.22,0.00,0.000,6,0.189,0.052,2566,2487,3630,0,0,0,0,0,0
$GC,599,-1.34,-146.0,60.9,-12.9,105,604,0.40,2.38,0.00,0.000,4,0.150,0.074,2443,1084,3629,0,0,0,0,0,0
$GC,641,-1.19,-146.0,67.6,-20.1,112,647,0.15,2.22,0.00,0.000,6,0.243,0.051,2476,2486,3629,0,0,0,0,0,0
$GC,978,-1.19,-146.0,121.6,-15.9,160,982,0.00,2.25,0.00,0.000,4,0.000,0.059,2476,3899,3629,0,0,0,0,0,0
$GC,1008,-1.39,-146.0,125.6,-12.6,162,1013,0.17,2.30,0.00,0.000,6,0.113,0.061,2420,2488,3629,0,0,0,0,0,0
$GC,1334,-1.32,-146.0,184.8,-18.3,192,1338,0.00,2.38,0.00,0.000,4,0.000,0.083,2420,1081,3628,0,0,0,0,0,0
$GC,1352,-1.15,-146.0,188.8,-20.0,193,1357,0.30,2.17,0.00,0.000,6,0.243,0.041,2488,2491,3627,0,0,0,0,0,0
$STATE,1648,end dive,NO_VERTICAL_VELOCITY
$STATE,1648,begin apogee
$GC,1656,-0.12,0.0,208.4,0.0,221,1784,1.00,0.00,120.18,1.038,6,0.118,0.000,2817,2263,3029,0,0,0,0,0,0
$STATE,1785,end apogee,CONTROL_FINISHED_OK
$STATE,1785,begin climb
$GC,1788,0.62,146.0,208.4,0.0,233,1920,0.70,2.55,123.28,0.989,4,0.092,0.079,3059,871,2432,0,0,0,0,0,0
$GC,2178,1.04,362.5,208.3,0.0,269,2370,0.38,2.17,182.73,0.955,6,0.070,0.039,3208,2285,1551,0,0,0,0,0,0
$GC,2691,0.83,362.5,146.1,16.2,318,2696,0.25,2.33,0.00,0.000,4,0.216,0.067,3149,869,1542,0,0,0,0,0,0
$GC,2737,0.62,362.5,138.1,18.1,321,2743,0.30,2.25,0.00,0.000,6,0.226,0.049,3072,2299,1540,0,0,0,0,0,0
$GC,3063,0.62,366.4,104.9,9.8,352,3067,0.00,2.35,0.00,0.000,4,0.000,0.066,3081,867,1540,0,0,0,0,0,0
$GC,3138,0.60,366.7,97.4,10.0,360,3143,0.00,2.22,0.00,0.000,6,0.000,0.050,3081,2277,1539,0,0,0,0,0,0
$GC,3483,0.57,366.7,58.5,10.4,421,3489,0.12,2.25,0.00,0.000,4,0.183,0.062,3049,3689,1539,0,0,0,0,0,0
$GC,3513,0.72,388.8,55.6,9.0,426,3545,0.12,2.28,22.42,0.871,6,0.103,0.062,3112,2277,1444,0,0,0,0,0,0
$GC,3884,0.76,421.7,21.1,8.5,492,3910,0.00,2.38,17.40,0.881,4,0.000,0.067,3122,865,1310,0,0,0,0,0,0
$GC,3988,0.76,423.3,11.4,9.9,510,3993,0.00,2.22,0.00,0.000,6,0.000,0.050,3122,2273,1307,0,0,0,0,0,0
$FREEZE,8.72,NaN,-0.007,0,276,0
$FREEZE,8.15,NaN,-0.006,0,276,0
$FREEZE,7.61,NaN,-0.006,0,276,0
$FREEZE,6.90,NaN,-0.005,0,276,0
$STATE,4026,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4026,begin subsurface finish
$FINISH1,6.9,1.027500,0
$GC,4033,0.00,0.0,6.9,-10.4,517,4109,0.88,2.40,-66.80,0.000,4,0.201,0.087,2879,871,3031,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4114,begin surface
$RAFOS_CLK,272
$RAFOS,6,1307854141,4.833333,4.816945,61,59,59,57,55,52,187,198,213,133,154,173
$RAFOS,5,1307853665,4.700000,4.684722,66,56,52,49,48,47,213,139,125,165,111,188
$RAFOS,4,1307853183,4.566667,4.550833,59,57,54,53,53,50,178,201,216,158,139,120
$RAFOS,3,1307852711,4.433333,4.419722,57,54,54,53,53,50,145,129,109,208,223,185
$RAFOS,2,1307852223,4.300000,4.284167,63,61,61,55,55,49,197,174,214,158,126,233
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,78.82
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.90
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.7,17.1
$24V_AH,22.4,118.927
$10V_AH,9.9,58.196
$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,17.700,44.100,466.000,0.000,0.000,94.580,40.038,0.000,10.750,0.000,183.286,577.059,1891.120,458.104,1581.380,604.180,0.000,1101.004,0.000,889.929,1800.000,2.609,0.000
$DEVICE_MAMPS,313.650,90.270,1038.105,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.291,368.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20111,532
$CAP_FILE_SIZE,66461,0
$CFSIZE,260165632,199086080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6