version: 66.08
glider: 141
mission: 15
dive: 756
start: 6 3 111 22 50 0
data:
$ID,141
$MISSION,15
$DIVE,756
$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,26
$R_STBD_OVSHOOT,26
$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,7.03
$_SM_ANGLEo,-7.5
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2889,867,3031,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.2,-0.0,1,57,0.62,5.05,-17.30,0.000,4,0.099,0.076,2668,3897,3626,0,0,0,0,0,0
$GC,212,-0.55,-146.0,37.8,-17.1,33,219,0.00,2.20,0.00,0.000,6,0.000,0.050,2668,2488,3628,0,0,0,0,0,0
$GC,559,-0.44,-146.0,97.2,-15.9,94,566,0.20,2.38,0.00,0.000,4,0.204,0.075,2718,3903,3627,0,0,0,0,0,0
$GC,597,-0.44,-146.0,102.4,-12.5,99,601,0.00,2.22,0.00,0.000,6,0.000,0.050,2717,2484,3627,0,0,0,0,0,0
$GC,925,-0.46,-146.0,135.2,-10.0,129,929,0.00,2.28,0.00,0.000,4,0.000,0.067,2717,1079,3626,0,0,0,0,0,0
$GC,965,-0.50,-146.0,139.6,-10.7,132,970,0.00,2.28,0.00,0.000,6,0.000,0.063,2717,2486,3625,0,0,0,0,0,0
$GC,1292,-0.53,-146.0,172.3,-9.7,162,1296,0.00,2.35,0.00,0.000,4,0.000,0.079,2717,3912,3624,0,0,0,0,0,0
$GC,1370,-0.60,-146.0,180.0,-9.5,168,1377,0.15,2.22,0.00,0.000,6,0.109,0.050,2665,2488,3624,0,0,0,0,0,0
$STATE,1633,end dive,NO_VERTICAL_VELOCITY
$STATE,1633,begin apogee
$GC,1641,-0.12,0.0,191.6,0.0,193,1765,0.47,0.00,118.93,1.025,6,0.125,0.000,2819,2259,3030,0,0,0,0,0,0
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1769,0.62,146.0,191.8,0.0,204,1902,0.75,2.53,121.68,0.974,4,0.135,0.067,3053,3693,2432,0,0,0,0,0,0
$GC,1998,0.66,181.6,180.5,8.4,224,2038,0.00,2.33,30.35,0.920,6,0.000,0.054,3063,2282,2289,0,0,0,0,0,0
$GC,2357,0.79,224.8,152.5,8.0,258,2402,0.15,2.35,37.83,0.921,4,0.092,0.068,3129,3699,2112,0,0,0,0,0,0
$GC,2444,0.72,224.8,141.4,14.8,265,2452,0.15,2.28,0.00,0.000,6,0.187,0.055,3102,2277,2110,0,0,0,0,0,0
$GC,2770,0.76,224.8,106.0,10.5,296,2774,0.00,2.30,0.00,0.000,4,0.000,0.070,3111,862,2107,0,0,0,0,0,0
$GC,2840,0.80,224.8,98.9,10.3,302,2847,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2285,2105,0,0,0,0,0,0
$GC,3187,0.83,225.5,63.4,10.0,363,3194,0.00,2.28,0.00,0.000,4,0.000,0.070,3111,3686,2105,0,0,0,0,0,0
$GC,3246,0.83,225.5,56.8,11.2,373,3253,0.00,2.25,0.00,0.000,6,0.000,0.054,3121,2272,2105,0,0,0,0,0,0
$GC,3594,0.85,225.5,24.2,10.1,434,3600,0.00,2.28,0.00,0.000,4,0.000,0.072,3125,866,2104,0,0,0,0,0,0
$GC,3683,0.95,261.5,16.7,8.3,449,3708,0.12,2.25,18.15,0.855,6,0.110,0.057,3176,2278,1962,0,0,0,0,0,0
$FREEZE,8.95,-1.159,-1.819,3,119,0
$FREEZE,8.26,-1.159,-1.818,3,119,0
$STATE,3753,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3753,begin subsurface finish
$FINISH1,8.3,1.026594,44
$GC,3763,0.05,44.4,8.3,-13.1,461,3805,0.98,2.33,-33.22,0.000,4,0.184,0.086,2888,3691,2850,0,0,0,0,0,0
$FINISH2,6.3
$STATE,3806,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3806,begin surface
$RAFOS_CLK,211
$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,47.71
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.6,15.8
$24V_AH,22.8,101.116
$10V_AH,9.8,52.049
$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,3.600,46.775,326.925,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,1082.221,1559.454,346.460,774.154,100.287,0.000,798.382,0.000,772.336,0.000,2.612,0.000
$DEVICE_MAMPS,204.255,86.445,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.178,337.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16771,468
$CAP_FILE_SIZE,51324,0
$CFSIZE,260165632,204238848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6