version: 66.08
glider: 141
mission: 15
dive: 942
start: 6 13 111 19 16 2
data:
$ID,141
$MISSION,15
$DIVE,942
$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,-90365.539
$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,67
$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,2.86
$_SM_ANGLEo,-77.4
$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,16,-0.62,-146.0,0.0,0.0,0,123,0.00,0.00,-103.80,0.000,2,0.000,0.000,109,2517,2496,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.2,-7.6,21,171,12.70,0.00,-25.05,0.000,6,0.316,0.000,2656,2519,3628,0,0,0,0,0,0
$GC,513,-1.05,-146.0,57.9,-12.7,89,518,0.35,2.17,0.00,0.000,4,0.104,0.052,2531,3868,3630,0,0,0,0,0,0
$GC,683,-1.40,-146.0,77.0,-12.3,119,689,0.40,2.25,0.00,0.000,6,0.138,0.066,2418,2499,3630,0,0,0,0,0,0
$GC,1018,-1.33,-146.0,135.8,-18.4,162,1022,0.00,2.40,0.00,0.000,4,0.000,0.080,2418,1078,3628,0,0,0,0,0,0
$GC,1035,-1.18,-146.0,139.5,-19.6,163,1040,0.25,2.15,0.00,0.000,6,0.241,0.037,2474,2471,3628,0,0,0,0,0,0
$GC,1366,-1.18,-146.0,193.9,-15.9,194,1370,0.00,2.25,0.00,0.000,4,0.000,0.052,2474,3885,3628,0,0,0,0,0,0
$GC,1417,-1.49,-146.0,200.9,-12.1,198,1422,0.28,2.28,0.00,0.000,6,0.099,0.056,2382,2488,3628,0,0,0,0,0,0
$STATE,1664,end dive,NO_VERTICAL_VELOCITY
$STATE,1664,begin apogee
$GC,1671,-0.12,0.0,214.5,0.0,221,1800,1.38,0.00,119.62,1.039,6,0.129,0.000,2815,2267,3029,0,0,0,0,0,0
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,0.62,146.0,214.5,0.0,233,1937,0.77,2.40,123.50,0.988,4,0.155,0.050,3053,3662,2434,0,0,0,0,0,0
$GC,2192,1.20,351.7,214.5,0.5,269,2377,0.57,2.28,173.80,0.956,6,0.106,0.065,3244,2269,1595,0,0,0,0,0,0
$GC,2698,1.02,351.7,160.2,14.4,317,2704,0.20,2.25,0.00,0.000,4,0.230,0.048,3198,3672,1587,0,0,0,0,0,0
$GC,2713,0.85,351.7,158.1,15.0,318,2718,0.25,2.30,0.00,0.000,6,0.194,0.057,3143,2264,1585,0,0,0,0,0,0
$GC,3039,0.78,351.7,124.1,10.6,348,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2264,1585,0,0,0,0,0,0
$GC,3362,0.73,357.6,90.5,9.7,386,3372,0.15,0.00,4.75,0.642,6,0.214,0.000,3105,2264,1572,0,0,0,0,0,0
$GC,3714,0.78,399.2,60.7,8.1,448,3760,0.00,2.38,38.25,0.894,4,0.000,0.076,3111,869,1402,0,0,0,0,0,0
$GC,3816,0.92,425.9,51.8,8.8,466,3847,0.15,2.22,24.50,0.867,6,0.096,0.039,3174,2275,1293,0,0,0,0,0,0
$GC,4186,0.86,425.9,11.7,10.2,532,4192,0.12,2.35,0.00,0.000,4,0.203,0.074,3153,859,1288,0,0,0,0,0,0
$FREEZE,8.75,NaN,-0.007,0,305,1
$FREEZE,8.22,NaN,-0.006,0,305,1
$STATE,4218,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4219,begin subsurface finish
$FINISH1,8.2,1.027500,0
$GC,4229,0.00,0.0,8.2,-10.1,538,4300,0.95,2.20,-60.67,0.000,4,0.177,0.055,2873,3691,3032,0,0,0,0,0,0
$FINISH2,8.3
$STATE,4303,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4303,begin surface
$RAFOS_CLK,272
$RAFOS,2,1307996221,20.299999,20.283611,72,61,58,55,54,53,201,213,157,122,144,169
$RAFOS,1,1307995746,20.166666,20.151667,56,52,51,50,49,49,181,160,199,226,170,190
$RAFOS,0,1307995264,20.033333,20.017778,65,60,56,53,53,51,168,204,193,147,126,157
$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,78.11
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.50
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.7,16.3
$24V_AH,22.1,122.949
$10V_AH,9.9,59.588
$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,18.525,34.450,484.425,0.000,0.000,98.442,17.184,0.000,13.000,0.000,183.287,580.686,2043.318,455.656,1594.729,589.711,0.000,1098.444,0.000,908.417,1440.000,2.616,0.000
$DEVICE_MAMPS,315.945,80.325,1038.870,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.142,383.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20129,552
$CAP_FILE_SIZE,64133,0
$CFSIZE,260165632,198066176
$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