version: 66.08
glider: 141
mission: 15
dive: 746
start: 6 3 111 10 29 17
data:
$ID,141
$MISSION,15
$DIVE,746
$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,-54900.625
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.40
$_SM_ANGLEo,-4.0
$GPS2,030611,004656,6639.497,-5814.677,0,2087.0,0,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.00,0.000,2,0.000,0.000,2890,2271,3043,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.5,-0.0,1,53,0.60,2.72,-17.02,0.000,4,0.075,0.086,2661,3902,3627,0,0,0,0,0,0
$GC,180,-0.60,-146.0,27.6,-13.1,27,186,0.00,2.25,0.00,0.000,6,0.000,0.052,2661,2483,3629,0,0,0,0,0,0
$GC,526,-0.52,-146.0,75.9,-14.1,88,534,0.12,2.28,0.00,0.000,4,0.216,0.068,2689,1083,3628,0,0,0,0,0,0
$GC,612,-0.54,-146.0,85.2,-9.8,102,619,0.00,2.28,0.00,0.000,6,0.000,0.064,2689,2487,3628,0,0,0,0,0,0
$GC,953,-0.56,-146.0,119.1,-10.2,146,957,0.00,2.38,0.00,0.000,4,0.000,0.080,2689,3907,3626,0,0,0,0,0,0
$GC,1006,-0.62,-146.0,124.5,-9.7,150,1010,0.00,2.28,0.00,0.000,6,0.000,0.052,2689,2478,3626,0,0,0,0,0,0
$GC,1337,-0.65,-146.0,158.1,-9.8,181,1341,0.00,2.25,0.00,0.000,4,0.000,0.069,2689,1080,3625,0,0,0,0,0,0
$GC,1378,-0.69,-146.0,162.2,-9.7,184,1384,0.15,2.30,0.00,0.000,6,0.114,0.065,2638,2497,3624,0,0,0,0,0,0
$GC,1705,-0.61,-146.0,205.3,-13.2,214,1710,0.10,2.38,0.00,0.000,4,0.221,0.080,2660,3909,3624,0,0,0,0,0,0
$GC,1760,-0.61,-146.0,211.8,-10.6,218,1767,0.00,2.25,0.00,0.000,6,0.000,0.050,2660,2488,3624,0,0,0,0,0,0
$STATE,2054,end dive,NO_VERTICAL_VELOCITY
$STATE,2054,begin apogee
$GC,2061,-0.12,0.0,224.6,0.0,246,2186,0.47,0.00,119.07,1.040,6,0.132,0.000,2814,2260,3030,0,0,0,0,0,0
$STATE,2187,end apogee,CONTROL_FINISHED_OK
$STATE,2187,begin climb
$GC,2190,0.62,146.0,224.7,0.0,257,2324,0.77,2.53,122.00,0.988,4,0.140,0.068,3053,3690,2433,0,0,0,0,0,0
$GC,2359,0.53,146.0,218.3,10.2,272,2364,0.00,2.38,0.00,0.000,6,0.000,0.054,3063,2273,2431,0,0,0,0,0,0
$GC,2686,0.49,146.0,183.4,10.8,302,2688,0.15,0.00,0.00,0.000,6,0.177,0.000,3025,2272,2427,0,0,0,0,0,0
$GC,3004,0.57,177.8,156.3,8.5,332,3037,0.00,0.00,26.50,0.920,6,0.000,0.000,3025,2272,2306,0,0,0,0,0,0
$GC,3356,0.69,216.1,124.9,8.2,365,3401,0.17,2.42,34.15,0.914,4,0.082,0.069,3100,3696,2148,0,0,0,0,0,0
$GC,3432,0.60,216.1,115.1,14.9,371,3440,0.20,2.28,0.00,0.000,6,0.177,0.054,3058,2270,2146,0,0,0,0,0,0
$GC,3771,0.65,220.1,79.1,9.8,420,3784,0.00,2.33,4.35,0.609,4,0.000,0.069,3067,870,2132,0,0,0,0,0,0
$GC,3831,0.71,226.1,73.2,9.7,430,3845,0.00,2.28,6.82,0.747,6,0.000,0.055,3067,2291,2107,0,0,0,0,0,0
$GC,4187,0.82,263.3,38.8,8.3,492,4219,0.17,2.28,24.17,0.941,4,0.085,0.068,3143,3685,1954,0,0,0,0,0,0
$GC,4269,0.73,263.3,27.7,16.5,505,4276,0.20,2.28,0.00,0.000,6,0.189,0.057,3102,2279,1950,0,0,0,0,0,0
$FREEZE,9.00,-1.091,-1.816,3,109,0
$FREEZE,8.40,-1.105,-1.816,3,109,0
$FREEZE,7.84,-1.107,-1.815,3,109,0
$STATE,4449,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4449,begin subsurface finish
$FINISH1,7.8,1.026557,46
$GC,4457,0.06,46.2,7.8,-12.0,537,4500,0.70,2.38,-31.48,0.000,4,0.168,0.084,2892,861,2845,0,0,0,0,0,0
$FINISH2,6.8
$STATE,4501,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4501,begin surface
$RAFOS_CLK,247
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,47.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.40
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.9,16.7
$24V_AH,22.8,100.157
$10V_AH,9.9,51.713
$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,3.825,44.825,337.075,0.000,0.000,0.000,0.000,0.000,12.750,0.000,0.000,1264.994,1955.020,355.436,864.221,116.453,0.000,851.583,0.000,864.933,0.000,2.619,0.000
$DEVICE_MAMPS,221.085,85.680,1040.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.961,398.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20154,544
$CAP_FILE_SIZE,57642,0
$CFSIZE,260165632,204562432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6