version: 66.08
glider: 141
mission: 15
dive: 921
start: 6 12 111 15 39 55
data:
$ID,141
$MISSION,15
$DIVE,921
$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,26
$R_STBD_OVSHOOT,34
$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,14.05
$_SM_ANGLEo,9.2
$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,12,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.58,0.000,2,0.000,0.000,2872,3687,3228,0,0,0,0,0,0
$GC,26,-0.62,-146.0,17.9,-0.0,1,36,0.62,0.00,-7.03,0.000,6,0.150,0.000,2668,3687,3629,0,0,0,0,0,0
$GC,376,-0.96,-146.0,69.4,-15.5,63,381,0.30,0.32,0.00,0.000,4,0.114,0.057,2561,3905,3631,0,0,0,0,0,0
$GC,428,-1.37,-146.0,77.6,-15.4,72,434,0.45,2.33,0.00,0.000,6,0.135,0.068,2429,2483,3630,0,0,0,0,0,0
$GC,762,-1.31,-146.0,138.6,-18.5,114,766,0.00,2.33,0.00,0.000,4,0.000,0.076,2429,1081,3629,0,0,0,0,0,0
$GC,786,-1.14,-146.0,143.6,-21.2,116,791,0.28,2.20,0.00,0.000,6,0.242,0.037,2490,2504,3629,0,0,0,0,0,0
$GC,1112,-1.18,-146.0,191.0,-12.7,146,1116,0.00,2.40,0.00,0.000,4,0.000,0.080,2490,1084,3628,0,0,0,0,0,0
$GC,1134,-1.10,-146.0,194.6,-15.6,147,1139,0.00,2.20,0.00,0.000,6,0.000,0.044,2490,2488,3627,0,0,0,0,0,0
$STATE,1406,end dive,NO_VERTICAL_VELOCITY
$STATE,1407,begin apogee
$GC,1414,-0.12,0.0,209.0,0.0,173,1542,1.02,0.00,119.32,1.027,6,0.132,0.000,2814,2260,3031,0,0,0,0,0,0
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1543,begin climb
$GC,1546,0.62,146.0,209.0,0.0,185,1679,0.73,2.50,123.50,0.981,4,0.096,0.050,3058,3672,2433,0,0,0,0,0,0
$GC,1933,1.01,361.8,208.8,0.0,220,2124,0.35,2.30,182.65,0.948,6,0.069,0.061,3195,2267,1554,0,0,0,0,0,0
$GC,2451,0.82,361.8,143.8,15.3,270,2456,0.25,2.33,0.00,0.000,4,0.209,0.070,3136,856,1544,0,0,0,0,0,0
$GC,2463,0.66,361.8,141.8,14.9,270,2469,0.22,2.25,0.00,0.000,6,0.217,0.044,3082,2298,1543,0,0,0,0,0,0
$GC,2791,0.66,362.4,108.4,10.0,301,2795,0.00,2.17,0.00,0.000,4,0.000,0.052,3082,3694,1542,0,0,0,0,0,0
$GC,2813,0.70,377.2,106.0,9.3,302,2833,0.00,2.30,12.95,0.840,6,0.000,0.063,3088,2262,1491,0,0,0,0,0,0
$GC,3172,0.72,395.1,72.5,9.2,360,3198,0.00,2.28,17.05,0.864,4,0.000,0.048,3088,3694,1418,0,0,0,0,0,0
$GC,3245,0.85,415.4,65.9,9.1,373,3271,0.12,2.28,19.45,0.863,6,0.101,0.062,3151,2268,1335,0,0,0,0,0,0
$GC,3613,0.80,415.4,23.5,10.5,438,3618,0.00,2.25,0.00,0.000,4,0.000,0.056,3151,3691,1332,0,0,0,0,0,0
$GC,3625,0.75,415.4,22.0,10.9,440,3631,0.20,2.28,0.00,0.000,6,0.171,0.063,3105,2279,1331,0,0,0,0,0,0
$FREEZE,8.86,NaN,-0.007,0,284,0
$FREEZE,8.36,NaN,-0.006,0,284,0
$FREEZE,7.85,NaN,-0.006,0,284,0
$FREEZE,7.43,NaN,-0.006,0,284,0
$STATE,3792,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3792,begin subsurface finish
$FINISH1,7.4,1.027500,0
$GC,3800,0.00,0.0,7.4,-8.3,470,3871,0.80,2.40,-62.80,0.000,4,0.174,0.086,2879,874,3033,0,0,0,0,0,0
$FINISH2,7.3
$STATE,3874,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3875,begin surface
$RAFOS_CLK,210
$RAFOS,4,1307896382,16.566668,16.550556,67,58,53,52,51,50,174,191,220,121,201,706
$RAFOS,3,1307895906,16.433332,16.418333,59,54,53,53,53,51,213,149,193,130,222,139
$RAFOS,2,1307895430,16.299999,16.286112,64,60,56,55,54,53,202,162,217,187,109,130
$RAFOS,1,1307894941,16.166666,16.150278,63,61,57,56,56,52,186,197,215,163,153,140
$RAFOS,0,1307894471,16.033333,16.019722,62,55,52,51,50,50,203,194,114,174,151,140
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.028462
$HUMID,78.94
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.00
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.6,16.9
$24V_AH,22.3,120.064
$10V_AH,9.8,58.610
$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,5.350,37.475,474.925,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,521.874,1755.704,383.648,1143.283,126.643,0.000,935.851,0.000,807.325,2160.000,2.614,0.000
$DEVICE_MAMPS,241.740,86.445,1027.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.756,338.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,16789,484
$CAP_FILE_SIZE,55899,0
$CFSIZE,260165632,198807552
$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