version: 66.08
glider: 141
mission: 15
dive: 932
start: 6 13 111 5 57 0
data:
$ID,141
$MISSION,15
$DIVE,932
$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,-88520.656
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-77.8
$GPS2,130611,000401,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-108.32,0.000,2,0.000,0.000,109,2505,2517,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.4,-8.5,22,180,12.90,2.47,-24.05,0.000,4,0.320,0.087,2655,1082,3629,0,0,0,0,0,0
$GC,190,-0.86,-146.0,17.4,-9.9,32,196,0.15,2.20,0.00,0.000,6,0.089,0.048,2586,2475,3629,0,0,0,0,0,0
$GC,536,-1.19,-146.0,57.9,-12.7,93,542,0.30,2.30,0.00,0.000,4,0.134,0.054,2486,3892,3629,0,0,0,0,0,0
$GC,798,-1.64,-146.0,84.8,-8.9,139,804,0.45,2.33,0.00,0.000,6,0.097,0.069,2332,2487,3629,0,0,0,0,0,0
$GC,1134,-1.47,-146.0,158.0,-22.0,177,1139,0.22,2.25,0.00,0.000,4,0.231,0.050,2384,3886,3627,0,0,0,0,0,0
$GC,1394,-1.54,-146.0,198.5,-14.3,199,1400,0.00,2.30,0.00,0.000,6,0.000,0.067,2384,2487,3627,0,0,0,0,0,0
$STATE,1643,end dive,NO_VERTICAL_VELOCITY
$STATE,1643,begin apogee
$GC,1652,-0.12,0.0,213.1,0.0,223,1780,1.20,0.00,119.97,1.042,6,0.068,0.000,2826,2270,3030,0,0,0,0,0,0
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1784,0.62,146.0,213.1,0.0,235,1918,0.65,2.50,124.43,0.991,4,0.067,0.071,3075,871,2431,0,0,0,0,0,0
$GC,2173,0.95,368.6,213.2,-0.3,271,2372,0.25,2.20,188.68,0.957,6,0.080,0.046,3171,2280,1527,0,0,0,0,0,0
$GC,2699,0.79,368.6,151.8,13.5,321,2704,0.20,2.22,0.00,0.000,4,0.199,0.051,3121,3669,1518,0,0,0,0,0,0
$GC,2710,0.65,368.6,150.0,13.6,321,2716,0.15,2.30,0.00,0.000,6,0.150,0.058,3078,2267,1516,0,0,0,0,0,0
$GC,3036,0.66,374.1,117.7,9.7,352,3046,0.00,2.30,4.60,0.624,4,0.000,0.061,3078,3666,1504,0,0,0,0,0,0
$GC,3052,0.66,374.1,115.9,10.0,353,3058,0.00,2.25,0.00,0.000,6,0.000,0.058,3083,2274,1504,0,0,0,0,0,0
$GC,3388,0.68,390.5,83.5,9.2,399,3409,0.00,2.33,16.10,0.862,4,0.000,0.070,3094,859,1438,0,0,0,0,0,0
$GC,3473,0.68,390.5,75.1,10.3,414,3478,0.00,2.22,0.00,0.000,6,0.000,0.050,3094,2269,1436,0,0,0,0,0,0
$GC,3820,0.77,443.0,38.8,7.6,475,3861,0.00,2.38,32.95,0.957,4,0.000,0.067,3098,872,1224,0,0,0,0,0,0
$GC,3939,1.00,486.0,29.4,8.0,496,3971,0.25,2.22,23.10,0.904,6,0.076,0.049,3199,2284,1048,0,0,0,0,0,0
$FREEZE,7.89,NaN,-0.006,0,295,1
$FREEZE,6.71,NaN,-0.005,0,295,1
$STATE,4071,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4071,begin subsurface finish
$FINISH1,6.7,1.027500,0
$GC,4079,0.00,0.0,6.7,-23.6,520,4199,1.25,2.22,-108.12,0.000,4,0.243,0.067,2878,3678,3032,0,0,0,0,0,0
$FINISH2,5.4
$STATE,4200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4200,begin surface
$RAFOS_CLK,271
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026215
$HUMID,77.40
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.1,16.9
$24V_AH,22.1,121.558
$10V_AH,9.8,59.114
$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,17.975,39.350,509.825,0.000,0.000,98.523,17.422,0.000,12.500,0.000,183.289,576.774,1890.243,504.686,1606.772,594.286,0.000,1177.626,0.000,922.413,0.000,4.987,0.000
$DEVICE_MAMPS,319.770,87.210,1041.930,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.951,376.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20090,543
$CAP_FILE_SIZE,64102,0
$CFSIZE,260165632,198418432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130611,000401,6715.065,-5654.765,181,99.0,181,-37.6