version: 66.08
glider: 141
mission: 15
dive: 933
start: 6 13 111 7 8 49
data:
$ID,141
$MISSION,15
$DIVE,933
$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,26
$R_STBD_OVSHOOT,42
$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,14.37
$_SM_ANGLEo,5.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.65,0.000,2,0.000,0.000,2878,3679,3239,0,0,0,0,0,0
$GC,27,-0.62,-146.0,18.6,-0.0,1,38,0.68,0.35,-6.55,0.000,4,0.174,0.153,2670,3903,3629,0,0,0,0,0,0
$GC,294,-0.98,-146.0,58.3,-14.6,48,299,0.38,2.30,0.00,0.000,6,0.110,0.067,2546,2484,3631,0,0,0,0,0,0
$GC,639,-1.36,-146.0,90.6,-11.7,109,645,0.32,2.35,0.00,0.000,4,0.135,0.071,2436,1080,3630,0,0,0,0,0,0
$GC,682,-1.18,-146.0,97.1,-19.8,116,687,0.20,2.22,0.00,0.000,6,0.243,0.047,2480,2493,3629,0,0,0,0,0,0
$GC,1013,-1.18,-146.0,149.3,-15.5,148,1017,0.00,2.22,0.00,0.000,4,0.000,0.054,2480,3895,3628,0,0,0,0,0,0
$GC,1081,-1.53,-146.0,157.3,-11.3,154,1086,0.32,2.30,0.00,0.000,6,0.097,0.055,2371,2484,3628,0,0,0,0,0,0
$GC,1407,-1.63,-146.0,214.7,-4.1,184,1411,0.00,2.38,0.00,0.000,4,0.000,0.076,2370,1071,3626,0,0,0,0,0,0
$STATE,1536,end dive,NO_VERTICAL_VELOCITY
$STATE,1537,begin apogee
$GC,1547,-0.12,0.0,214.9,0.0,195,1674,1.40,0.00,118.60,1.029,6,0.129,0.000,2815,2271,3032,0,0,0,0,0,0
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.62,146.0,214.8,0.0,207,1812,0.70,2.45,123.53,0.983,4,0.086,0.051,3059,3675,2434,0,0,0,0,0,0
$GC,2068,0.92,371.1,214.6,-0.4,243,2266,0.25,2.30,190.10,0.952,6,0.080,0.058,3162,2270,1517,0,0,0,0,0,0
$GC,2587,0.80,371.1,156.4,13.5,292,2591,0.15,2.25,0.00,0.000,4,0.204,0.050,3127,3680,1508,0,0,0,0,0,0
$GC,2597,0.68,371.1,154.6,13.7,292,2603,0.17,2.28,0.00,0.000,6,0.158,0.060,3087,2269,1507,0,0,0,0,0,0
$GC,2923,0.68,371.1,121.9,10.2,323,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2269,1507,0,0,0,0,0,0
$GC,3248,0.69,377.7,90.4,9.7,362,3259,0.00,2.30,5.47,0.690,4,0.000,0.067,3096,864,1490,0,0,0,0,0,0
$GC,3316,0.69,377.7,83.6,10.0,374,3321,0.00,2.22,0.00,0.000,6,0.000,0.048,3096,2282,1489,0,0,0,0,0,0
$GC,3662,0.67,377.7,45.8,10.8,435,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2281,1489,0,0,0,0,0,0
$GC,4008,0.77,439.9,19.7,7.1,496,4048,0.00,2.30,33.08,0.896,4,0.000,0.055,3096,3677,1235,0,0,0,0,0,0
$GC,4063,0.92,478.6,15.3,8.2,506,4089,0.17,2.28,19.45,0.842,6,0.092,0.055,3166,2275,1078,0,0,0,0,0,0
$FREEZE,8.60,NaN,-0.006,0,296,0
$FREEZE,8.01,NaN,-0.006,0,296,0
$FREEZE,7.44,NaN,-0.006,0,296,0
$FREEZE,6.88,NaN,-0.005,0,296,0
$STATE,4146,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4146,begin subsurface finish
$FINISH1,6.9,1.027500,0
$GC,4153,0.00,0.0,6.9,-10.6,521,4253,1.00,2.40,-86.05,0.000,4,0.189,0.086,2875,866,3032,0,0,0,0,0,0
$FINISH2,6.0
$STATE,4254,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4254,begin surface
$RAFOS_CLK,229
$RAFOS,1,1307952542,8.166667,8.150556,67,58,57,57,53,52,195,147,173,207,118,133
$RAFOS,0,1307952062,8.033334,8.017222,65,61,58,57,55,47,204,222,170,157,139,129
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.029211
$HUMID,76.85
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.3,121.691
$10V_AH,9.9,59.154
$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,5.750,36.800,490.225,0.000,0.000,0.000,0.000,0.000,6.250,0.000,0.000,571.422,1918.886,398.753,1285.969,134.704,0.000,1010.580,0.000,907.752,1080.000,2.615,0.000
$DEVICE_MAMPS,242.505,153.000,1028.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.922,378.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,540
$CAP_FILE_SIZE,58077,0
$CFSIZE,260165632,198385664
$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