version: 66.08
glider: 141
mission: 15
dive: 923
start: 6 12 111 17 55 39
data:
$ID,141
$MISSION,15
$DIVE,923
$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,29
$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,16.70
$_SM_ANGLEo,7.8
$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,-3.55,0.000,2,0.000,0.000,2873,3699,3247,0,0,0,0,0,0
$GC,26,-0.62,-146.0,20.7,-0.0,1,37,0.65,0.30,-6.03,0.000,4,0.176,0.151,2672,3910,3627,0,0,0,0,0,0
$GC,72,-0.96,-146.0,26.7,-14.1,9,78,0.35,2.30,0.00,0.000,6,0.116,0.063,2559,2483,3629,0,0,0,0,0,0
$GC,419,-1.36,-146.0,63.4,-11.2,70,424,0.38,0.00,0.00,0.000,6,0.137,0.000,2435,2483,3628,0,0,0,0,0,0
$GC,763,-1.29,-146.0,123.8,-18.4,120,767,0.00,2.35,0.00,0.000,4,0.000,0.074,2435,1079,3626,0,0,0,0,0,0
$GC,779,-1.15,-146.0,127.4,-19.1,121,785,0.22,2.25,0.00,0.000,6,0.236,0.047,2485,2539,3626,0,0,0,0,0,0
$GC,1105,-1.15,-146.0,178.1,-16.0,152,1108,0.00,2.47,0.00,0.000,4,0.000,0.078,2485,1082,3625,0,0,0,0,0,0
$GC,1117,-1.13,-146.0,179.9,-15.1,153,1121,0.00,2.17,0.00,0.000,6,0.000,0.036,2486,2495,3624,0,0,0,0,0,0
$GC,1443,-1.32,-146.0,205.1,-0.3,183,1448,0.15,2.38,0.00,0.000,6,0.107,0.072,2425,1081,3624,0,0,0,0,0,0
$STATE,1449,end dive,NO_VERTICAL_VELOCITY
$STATE,1449,begin apogee
$GC,1458,-0.12,0.0,205.1,0.0,183,1588,1.30,0.00,118.45,1.024,6,0.147,0.000,2818,2275,3031,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1592,0.62,146.0,204.8,0.0,196,1727,0.68,2.45,122.50,0.975,4,0.073,0.051,3061,3674,2434,0,0,0,0,0,0
$GC,1981,0.93,354.3,204.4,0.4,231,2164,0.25,2.28,175.65,0.945,6,0.076,0.067,3169,2276,1585,0,0,0,0,0,0
$GC,2484,0.78,354.3,152.4,13.3,279,2486,0.20,0.00,0.00,0.000,6,0.194,0.000,3119,2276,1576,0,0,0,0,0,0
$GC,2802,0.71,354.3,116.5,10.8,309,2806,0.00,2.33,0.00,0.000,4,0.000,0.070,3127,860,1574,0,0,0,0,0,0
$GC,2881,0.52,354.3,106.3,13.7,315,2887,0.38,2.22,0.00,0.000,6,0.213,0.049,3034,2274,1573,0,0,0,0,0,0
$GC,3224,0.80,409.2,79.4,7.5,370,3280,0.25,2.30,47.28,0.890,4,0.075,0.052,3144,3680,1360,0,0,0,0,0,0
$GC,3327,0.85,409.2,67.3,11.8,389,3332,0.00,2.28,0.00,0.000,6,0.000,0.063,3154,2270,1357,0,0,0,0,0,0
$GC,3672,0.79,409.2,26.2,10.4,450,3677,0.15,2.25,0.00,0.000,4,0.200,0.058,3117,3683,1356,0,0,0,0,0,0
$GC,3697,0.82,409.2,23.7,10.3,454,3702,0.00,2.25,0.00,0.000,6,0.000,0.057,3124,2277,1355,0,0,0,0,0,0
$FREEZE,8.74,NaN,-0.007,0,286,0
$FREEZE,8.29,NaN,-0.006,0,286,0
$FREEZE,7.71,NaN,-0.006,0,286,0
$STATE,3869,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3869,begin subsurface finish
$FINISH1,7.7,1.027500,0
$GC,3876,0.00,0.0,7.7,-9.1,485,3943,0.88,2.40,-57.47,0.000,4,0.170,0.088,2877,871,3033,0,0,0,0,0,0
$FINISH2,7.8
$STATE,3944,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3947,begin surface
$RAFOS_CLK,215
$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,78.62
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.10
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.8,17.0
$24V_AH,22.5,120.323
$10V_AH,9.8,58.684
$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,5.825,36.875,463.875,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,523.986,1804.905,368.143,1178.944,125.524,0.000,933.818,0.000,834.509,0.000,2.618,0.000
$DEVICE_MAMPS,236.385,150.705,1023.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.612,348.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16802,498
$CAP_FILE_SIZE,55064,0
$CFSIZE,260165632,198742016
$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