version: 66.08
glider: 141
mission: 15
dive: 760
start: 6 4 111 3 23 7
data:
$ID,141
$MISSION,15
$DIVE,760
$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,-55640.59
$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,19
$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,6.05
$_SM_ANGLEo,-7.4
$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,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,-5.68,0.000,2,0.000,0.000,2867,867,3190,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.0,-0.0,1,47,0.55,0.38,-13.38,0.000,4,0.086,0.145,2664,1095,3627,0,0,0,0,0,0
$GC,131,-0.51,-146.0,23.1,-17.7,18,138,0.12,2.28,0.00,0.000,6,0.231,0.075,2691,2501,3629,0,0,0,0,0,0
$GC,478,-0.44,-146.0,80.3,-15.9,79,486,0.12,2.35,0.00,0.000,4,0.240,0.080,2719,3899,3629,0,0,0,0,0,0
$GC,557,-0.48,-146.0,90.3,-11.7,92,564,0.00,2.22,0.00,0.000,6,0.000,0.050,2720,2481,3629,0,0,0,0,0,0
$GC,889,-0.48,-146.0,128.6,-11.2,130,893,0.00,2.28,0.00,0.000,4,0.000,0.070,2720,1081,3628,0,0,0,0,0,0
$GC,940,-0.52,-146.0,134.5,-11.4,134,947,0.00,2.30,0.00,0.000,6,0.000,0.063,2720,2494,3628,0,0,0,0,0,0
$GC,1266,-0.56,-146.0,167.7,-10.0,165,1270,0.12,2.38,0.00,0.000,4,0.120,0.080,2674,3906,3627,0,0,0,0,0,0
$GC,1347,-0.54,-146.0,178.0,-13.1,172,1351,0.00,2.22,0.00,0.000,6,0.000,0.050,2674,2491,3627,0,0,0,0,0,0
$STATE,1624,end dive,NO_VERTICAL_VELOCITY
$STATE,1624,begin apogee
$GC,1632,-0.12,0.0,193.4,0.0,198,1757,0.45,0.00,119.80,1.027,6,0.143,0.000,2818,2258,3030,0,0,0,0,0,0
$STATE,1758,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1761,0.62,146.0,193.4,0.0,209,1896,0.75,2.55,122.32,0.975,4,0.132,0.069,3053,3683,2432,0,0,0,0,0,0
$GC,1999,0.67,189.9,185.1,8.0,230,2044,0.00,2.30,37.58,0.928,6,0.000,0.057,3063,2285,2255,0,0,0,0,0,0
$GC,2362,0.78,231.1,156.1,8.1,264,2407,0.15,2.40,35.70,0.920,4,0.091,0.074,3142,861,2085,0,0,0,0,0,0
$GC,2425,0.74,231.1,148.7,12.6,269,2432,0.15,2.30,0.00,0.000,6,0.190,0.057,3106,2285,2083,0,0,0,0,0,0
$GC,2751,0.74,238.3,113.7,9.7,300,2763,0.00,2.28,6.12,0.724,4,0.000,0.070,3106,3687,2059,0,0,0,0,0,0
$GC,2822,0.74,238.3,105.9,11.6,306,2826,0.00,2.28,0.00,0.000,6,0.000,0.057,3114,2269,2058,0,0,0,0,0,0
$GC,3163,0.74,238.3,70.2,10.4,361,3170,0.00,2.30,0.00,0.000,4,0.000,0.073,3124,862,2058,0,0,0,0,0,0
$GC,3223,0.77,238.3,63.8,10.6,371,3230,0.00,2.28,0.00,0.000,6,0.000,0.057,3125,2280,2057,0,0,0,0,0,0
$GC,3569,0.83,261.5,29.0,8.9,432,3588,0.00,2.33,12.65,0.883,4,0.000,0.070,3124,3685,1962,0,0,0,0,0,0
$GC,3661,0.83,261.5,19.4,11.7,447,3668,0.00,2.28,0.00,0.000,6,0.000,0.057,3135,2273,1959,0,0,0,0,0,0
$FREEZE,8.86,-1.055,-1.819,3,123,0
$FREEZE,8.35,-1.057,-1.819,3,123,0
$FREEZE,7.96,-1.060,-1.819,3,123,0
$STATE,3773,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3773,begin subsurface finish
$FINISH1,8.0,1.026601,44
$GC,3783,0.05,44.0,8.0,-9.0,467,3825,0.82,2.38,-31.75,0.000,4,0.186,0.086,2887,864,2853,0,0,0,0,0,0
$FINISH2,7.0
$STATE,3825,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3826,begin surface
$RAFOS_CLK,209
$RAFOS,2,1307161021,4.300000,4.283611,57,56,54,54,53,47,188,218,111,171,120,152
$RAFOS,1,1307160542,4.166667,4.150556,62,62,61,60,59,56,175,209,119,197,186,154
$RAFOS,0,1307160061,4.033333,4.016944,65,61,60,55,55,52,201,171,189,147,212,135
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.029211
$HUMID,47.55
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.4,16.3
$24V_AH,22.6,101.601
$10V_AH,9.9,52.176
$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,3.250,42.400,334.175,0.000,0.000,0.000,0.000,0.000,12.500,0.000,0.000,1111.044,1543.214,344.325,779.395,101.678,0.000,800.568,0.000,776.762,1440.000,2.612,0.000
$DEVICE_MAMPS,240.210,144.585,1027.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.610,343.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16782,474
$CAP_FILE_SIZE,51288,0
$CFSIZE,260165632,204120064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6