version: 66.08
glider: 141
mission: 15
dive: 934
start: 6 13 111 8 21 34
data:
$ID,141
$MISSION,15
$DIVE,934
$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,27
$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,16.24
$_SM_ANGLEo,1.5
$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,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.53,0.000,2,0.000,0.000,2875,866,3246,0,0,0,0,0,0
$GC,26,-0.62,-146.0,21.2,-0.0,1,37,0.62,0.28,-5.97,0.000,4,0.155,0.143,2671,1067,3628,0,0,0,0,0,0
$GC,187,-1.10,-146.0,40.7,-11.4,29,193,0.47,2.22,0.00,0.000,6,0.100,0.044,2511,2493,3630,0,0,0,0,0,0
$GC,532,-1.15,-146.0,87.6,-13.7,90,537,0.00,2.22,0.00,0.000,4,0.000,0.057,2510,3902,3629,0,0,0,0,0,0
$GC,581,-1.53,-146.0,93.1,-10.3,98,587,0.40,2.28,0.00,0.000,6,0.103,0.061,2376,2486,3629,0,0,0,0,0,0
$GC,915,-1.41,-146.0,159.9,-20.5,133,920,0.15,2.28,0.00,0.000,4,0.233,0.050,2409,3897,3627,0,0,0,0,0,0
$GC,1180,-1.50,-146.0,199.0,-15.0,156,1184,0.00,2.30,0.00,0.000,6,0.000,0.057,2409,2490,3627,0,0,0,0,0,0
$STATE,1430,end dive,NO_VERTICAL_VELOCITY
$STATE,1430,begin apogee
$GC,1437,-0.12,0.0,213.6,0.0,179,1562,1.20,0.00,118.90,1.027,6,0.094,0.000,2821,2263,3030,0,0,0,0,0,0
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1566,0.62,146.0,213.6,0.0,191,1701,0.70,2.45,122.75,0.977,4,0.098,0.049,3056,3666,2433,0,0,0,0,0,0
$GC,1719,1.04,364.6,213.5,-0.1,205,1927,0.40,2.42,196.18,0.949,6,0.063,0.064,3205,2280,1541,0,0,0,0,0,0
$GC,2247,0.85,364.6,154.4,14.7,256,2252,0.25,2.28,0.00,0.000,4,0.205,0.052,3144,3673,1535,0,0,0,0,0,0
$GC,2259,0.68,364.6,152.4,14.7,256,2265,0.22,2.28,0.00,0.000,6,0.162,0.057,3088,2269,1533,0,0,0,0,0,0
$GC,2585,0.70,375.6,121.5,9.5,287,2599,0.00,2.25,9.48,0.799,4,0.000,0.050,3087,3678,1498,0,0,0,0,0,0
$GC,2608,0.71,382.0,119.4,9.7,289,2622,0.00,2.28,7.38,0.752,6,0.000,0.054,3095,2269,1472,0,0,0,0,0,0
$GC,2951,0.71,382.0,84.4,10.5,334,2956,0.00,2.28,0.00,0.000,4,0.000,0.074,3106,868,1471,0,0,0,0,0,0
$GC,3026,0.73,382.0,77.1,10.3,347,3031,0.00,2.20,0.00,0.000,6,0.000,0.044,3106,2266,1470,0,0,0,0,0,0
$GC,3372,0.88,423.5,46.6,8.1,408,3418,0.12,2.33,37.15,0.886,4,0.102,0.050,3161,3680,1303,0,0,0,0,0,0
$GC,3456,0.94,434.5,38.9,9.5,423,3468,0.00,2.28,6.40,0.812,6,0.000,0.062,3169,2272,1258,0,0,0,0,0,0
$FREEZE,8.66,NaN,-0.007,0,297,0
$FREEZE,8.04,NaN,-0.006,0,297,0
$FREEZE,7.58,NaN,-0.006,0,297,0
$FREEZE,7.00,NaN,-0.005,0,297,0
$STATE,3761,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3761,begin subsurface finish
$FINISH1,7.0,1.027500,0
$GC,3771,0.00,0.0,7.0,-9.7,477,3853,1.02,2.38,-72.62,0.000,4,0.194,0.086,2878,875,3032,0,0,0,0,0,0
$FINISH2,6.6
$STATE,3856,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3856,begin surface
$RAFOS_CLK,210
$RAFOS,6,1307954944,8.833333,8.817778,60,59,51,50,49,48,211,198,111,143,226,164
$RAFOS,5,1307954467,8.700000,8.685278,64,64,58,56,52,51,199,210,186,133,158,167
$RAFOS,4,1307953983,8.566667,8.550834,60,58,56,55,51,50,163,211,117,202,190,151
$RAFOS,3,1307953503,8.433333,8.417500,66,62,59,55,53,53,191,90,209,150,126,177
$RAFOS,2,1307953023,8.300000,8.284166,61,55,53,53,51,49,170,216,185,227,133,158
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,130611,000001
$TT8_MAMPS,0.026964
$HUMID,77.80
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.00
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.9,17.7
$24V_AH,21.4,121.826
$10V_AH,9.8,59.191
$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,5.575,37.325,498.225,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,528.145,1694.179,395.870,1168.214,126.044,0.000,968.599,0.000,824.814,1440.000,2.619,0.000
$DEVICE_MAMPS,233.325,143.055,1026.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.278,344.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16801,493
$CAP_FILE_SIZE,55445,0
$CFSIZE,260165632,198352896
$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