version: 66.08
glider: 141
mission: 15
dive: 751
start: 6 3 111 17 3 51
data:
$ID,141
$MISSION,15
$DIVE,751
$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,-55271.02
$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,24
$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,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,3.2
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,161,0.00,0.35,-139.50,0.000,6,0.000,0.170,3105,2496,3625,0,0,0,0,0,0
$GC,165,-0.62,-146.0,1.9,0.1,25,173,1.45,2.33,0.00,0.000,4,0.174,0.069,2680,1079,3626,0,0,0,0,0,0
$GC,237,-0.58,-146.0,9.0,-14.7,37,244,0.00,2.30,0.00,0.000,6,0.000,0.067,2680,2484,3627,0,0,0,0,0,0
$GC,584,-0.53,-146.0,59.1,-13.3,98,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2484,3626,0,0,0,0,0,0
$GC,929,-0.50,-146.0,105.5,-12.3,155,933,0.00,2.38,0.00,0.000,4,0.000,0.082,2680,3903,3624,0,0,0,0,0,0
$GC,981,-0.53,-146.0,111.6,-11.1,159,985,0.00,2.25,0.00,0.000,6,0.000,0.054,2680,2483,3624,0,0,0,0,0,0
$GC,1313,-0.53,-146.0,147.6,-10.6,190,1317,0.00,2.28,0.00,0.000,4,0.000,0.070,2680,1083,3623,0,0,0,0,0,0
$GC,1346,-0.53,-146.0,151.5,-10.8,192,1353,0.00,2.30,0.00,0.000,6,0.000,0.066,2680,2497,3622,0,0,0,0,0,0
$GC,1673,-0.53,-146.0,185.9,-10.7,223,1677,0.00,2.35,0.00,0.000,4,0.000,0.080,2680,3906,3622,0,0,0,0,0,0
$GC,1718,-0.57,-146.0,190.7,-9.8,226,1725,0.00,2.25,0.00,0.000,6,0.000,0.052,2680,2480,3622,0,0,0,0,0,0
$STATE,1990,end dive,NO_VERTICAL_VELOCITY
$STATE,1990,begin apogee
$GC,1997,-0.12,0.0,201.4,0.0,252,2122,0.40,0.00,118.60,1.031,6,0.121,0.000,2818,2270,3030,0,0,0,0,0,0
$STATE,2123,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2126,0.62,146.0,201.5,0.0,263,2259,0.77,2.45,121.38,0.981,4,0.152,0.069,3062,866,2432,0,0,0,0,0,0
$GC,2351,0.65,172.5,193.4,8.8,283,2385,0.00,2.35,23.20,0.913,6,0.000,0.058,3061,2281,2325,0,0,0,0,0,0
$GC,2703,0.66,183.3,158.5,9.5,316,2718,0.00,2.35,9.88,0.832,4,0.000,0.073,3062,3685,2282,0,0,0,0,0,0
$GC,2749,0.63,183.3,153.6,11.8,320,2754,0.00,2.25,0.00,0.000,6,0.000,0.057,3072,2271,2282,0,0,0,0,0,0
$GC,3075,0.63,183.3,118.3,10.6,350,3079,0.00,2.30,0.00,0.000,4,0.000,0.070,3083,858,2281,0,0,0,0,0,0
$GC,3109,0.63,183.3,114.7,10.2,352,3116,0.00,2.28,0.00,0.000,6,0.000,0.057,3083,2278,2279,0,0,0,0,0,0
$GC,3446,0.66,202.9,81.8,9.1,400,3471,0.00,2.33,18.30,0.877,4,0.000,0.070,3083,3690,2201,0,0,0,0,0,0
$GC,3564,0.61,202.9,69.6,11.3,420,3571,0.12,2.25,0.00,0.000,6,0.182,0.064,3062,2275,2200,0,0,0,0,0,0
$GC,3912,0.79,296.6,44.1,5.7,481,3982,0.17,0.00,62.25,0.962,6,0.086,0.000,3137,2275,1820,0,0,0,0,0,0
$FREEZE,8.56,-0.913,-1.817,3,114,0
$FREEZE,7.79,-0.919,-1.816,3,114,0
$STATE,4192,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4193,begin subsurface finish
$FINISH1,7.8,1.026567,46
$GC,4203,0.06,45.7,7.8,-15.7,530,4250,0.80,2.33,-39.55,0.000,4,0.151,0.084,2891,3681,2844,0,0,0,0,0,0
$FINISH2,6.3
$STATE,4251,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4251,begin surface
$RAFOS_CLK,235
$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,47.00
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.7,16.8
$24V_AH,22.7,100.651
$10V_AH,9.8,51.896
$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,3.725,39.975,353.600,0.000,0.000,0.000,0.000,0.000,10.250,0.000,0.000,1169.723,1713.066,450.219,864.615,108.544,0.000,965.851,0.000,861.781,0.000,2.618,0.000
$DEVICE_MAMPS,182.070,169.830,1031.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.052,388.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,538
$CAP_FILE_SIZE,53501,0
$CFSIZE,260165632,204398592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6