version: 66.08
glider: 141
mission: 15
dive: 920
start: 6 12 111 14 28 42
data:
$ID,141
$MISSION,15
$DIVE,920
$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,-86676.805
$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,48
$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,2.92
$_SM_ANGLEo,-77.3
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,128,0.00,0.00,-108.82,0.000,2,0.000,0.000,114,2509,2540,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.5,-8.7,22,180,12.82,2.22,-23.62,0.000,4,0.320,0.067,2654,3891,3628,0,0,0,0,0,0
$GC,272,-0.93,-146.0,28.6,-15.7,47,278,0.30,2.30,0.00,0.000,6,0.130,0.072,2564,2493,3629,0,0,0,0,0,0
$GC,619,-1.31,-146.0,65.9,-12.0,108,624,0.35,2.42,0.00,0.000,4,0.133,0.080,2447,1073,3628,0,0,0,0,0,0
$GC,673,-1.11,-146.0,75.5,-23.6,117,679,0.22,2.25,0.00,0.000,6,0.232,0.047,2498,2505,3627,0,0,0,0,0,0
$GC,1008,-1.17,-146.0,128.0,-14.8,161,1012,0.00,2.22,0.00,0.000,4,0.000,0.058,2498,3899,3628,0,0,0,0,0,0
$GC,1099,-1.53,-146.0,137.9,-9.5,168,1104,0.38,2.33,0.00,0.000,6,0.096,0.062,2372,2484,3627,0,0,0,0,0,0
$GC,1424,-1.40,-146.0,201.3,-20.3,199,1429,0.15,2.42,0.00,0.000,4,0.230,0.085,2406,1082,3626,0,0,0,0,0,0
$GC,1452,-1.17,-146.0,207.9,-24.2,201,1458,0.32,2.25,0.00,0.000,6,0.236,0.043,2483,2516,3626,0,0,0,0,0,0
$STATE,1636,end dive,NO_VERTICAL_VELOCITY
$STATE,1636,begin apogee
$GC,1647,-0.12,0.0,210.8,0.0,219,1774,1.10,0.00,120.00,1.044,6,0.146,0.000,2817,2263,3030,0,0,0,0,0,0
$STATE,1775,end apogee,CONTROL_FINISHED_OK
$STATE,1775,begin climb
$GC,1778,0.62,146.0,210.9,0.0,231,1912,0.73,2.47,124.35,0.995,4,0.106,0.050,3054,3672,2432,0,0,0,0,0,0
$GC,2168,0.95,361.7,210.5,0.0,267,2362,0.30,2.30,182.88,0.959,6,0.074,0.062,3175,2268,1554,0,0,0,0,0,0
$GC,2681,0.79,361.7,150.3,14.7,316,2686,0.20,2.28,0.00,0.000,4,0.210,0.051,3125,3684,1545,0,0,0,0,0,0
$GC,2727,0.79,361.7,144.5,11.5,319,2732,0.00,2.33,0.00,0.000,6,0.000,0.069,3132,2262,1543,0,0,0,0,0,0
$GC,3052,0.70,361.7,103.5,12.3,350,3057,0.15,2.25,0.00,0.000,4,0.212,0.051,3096,3684,1543,0,0,0,0,0,0
$GC,3065,0.63,361.7,101.9,12.5,351,3070,0.12,2.30,0.00,0.000,6,0.189,0.057,3069,2271,1543,0,0,0,0,0,0
$GC,3411,0.68,378.3,68.4,9.2,409,3430,0.00,0.00,14.10,0.856,6,0.000,0.000,3069,2271,1486,0,0,0,0,0,0
$GC,3773,0.84,465.2,42.0,6.0,473,3845,0.20,2.38,65.20,0.936,4,0.088,0.070,3155,865,1132,0,0,0,0,0,0
$GC,3900,0.82,465.2,29.7,11.3,496,3906,0.00,2.25,0.00,0.000,6,0.000,0.043,3155,2293,1128,0,0,0,0,0,0
$FREEZE,8.48,NaN,-0.006,0,283,0
$FREEZE,7.36,NaN,-0.006,0,283,0
$FREEZE,6.29,NaN,-0.005,0,283,0
$STATE,4046,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4046,begin subsurface finish
$FINISH1,6.3,1.027500,0
$GC,4053,0.00,0.0,6.3,-17.1,522,4162,1.12,2.22,-96.38,0.000,4,0.237,0.060,2872,3687,3032,0,0,0,0,0,0
$FINISH2,5.7
$STATE,4163,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4163,begin surface
$RAFOS_CLK,273
$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,78.07
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.70
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,22.2,119.935
$10V_AH,9.8,58.573
$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,18.475,39.625,506.525,0.000,0.000,94.248,27.035,0.000,12.000,0.000,183.282,568.042,1884.855,496.716,1589.469,615.421,0.000,1159.835,0.000,908.858,0.000,2.614,0.000
$DEVICE_MAMPS,319.770,84.915,1044.225,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.263,375.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20084,543
$CAP_FILE_SIZE,65145,0
$CFSIZE,260165632,198836224
$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