version: 66.08
glider: 141
mission: 15
dive: 761
start: 6 4 111 4 28 40
data:
$ID,141
$MISSION,15
$DIVE,761
$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,26
$R_STBD_OVSHOOT,23
$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,10.65
$_SM_ANGLEo,-10.4
$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,-5.82,0.000,2,0.000,0.000,2886,864,3100,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.2,-0.0,1,53,0.60,5.12,-12.20,0.000,4,0.093,0.079,2668,3894,3630,0,0,0,0,0,0
$GC,254,-0.54,-146.0,46.3,-15.9,40,261,0.00,2.22,0.00,0.000,6,0.000,0.057,2668,2490,3632,0,0,0,0,0,0
$GC,599,-0.41,-146.0,103.6,-16.6,99,601,0.22,0.00,0.00,0.000,6,0.208,0.000,2724,2490,3630,0,0,0,0,0,0
$GC,917,-0.41,-146.0,138.2,-10.2,129,921,0.00,2.30,0.00,0.000,4,0.000,0.070,2724,1083,3629,0,0,0,0,0,0
$GC,962,-0.47,-146.0,142.7,-9.2,132,969,0.00,2.30,0.00,0.000,6,0.000,0.065,2724,2493,3630,0,0,0,0,0,0
$GC,1290,-0.50,-146.0,174.2,-9.6,163,1294,0.00,2.35,0.00,0.000,4,0.000,0.080,2724,3908,3629,0,0,0,0,0,0
$GC,1324,-0.56,-146.0,177.7,-9.5,165,1332,0.12,2.28,0.00,0.000,6,0.120,0.052,2682,2482,3628,0,0,0,0,0,0
$STATE,1637,end dive,NO_VERTICAL_VELOCITY
$STATE,1637,begin apogee
$GC,1644,-0.12,0.0,195.9,0.0,195,1770,0.40,0.00,119.95,1.026,6,0.135,0.000,2813,2263,3030,0,0,0,0,0,0
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1774,0.62,146.0,195.9,0.0,206,1906,0.77,2.53,122.07,0.972,4,0.136,0.070,3052,3686,2432,0,0,0,0,0,0
$GC,2014,0.71,192.2,183.8,7.9,227,2064,0.00,2.33,39.53,0.924,6,0.000,0.056,3063,2281,2245,0,0,0,0,0,0
$GC,2382,0.86,244.4,156.2,7.6,262,2438,0.20,2.40,45.33,0.924,4,0.081,0.073,3157,872,2031,0,0,0,0,0,0
$GC,2469,0.81,244.4,145.6,13.6,269,2477,0.12,2.30,0.00,0.000,6,0.197,0.059,3128,2281,2028,0,0,0,0,0,0
$GC,2795,0.81,244.4,106.5,11.8,300,2799,0.00,2.30,0.00,0.000,4,0.000,0.073,3128,3696,2024,0,0,0,0,0,0
$GC,2853,0.78,244.4,99.0,13.6,305,2860,0.00,2.28,0.00,0.000,6,0.000,0.056,3136,2272,2024,0,0,0,0,0,0
$GC,3198,0.78,244.4,55.7,11.1,366,3205,0.00,2.28,0.00,0.000,4,0.000,0.073,3147,864,2023,0,0,0,0,0,0
$GC,3264,0.78,244.4,48.7,10.8,377,3271,0.12,2.25,0.00,0.000,6,0.188,0.057,3117,2278,2022,0,0,0,0,0,0
$GC,3612,0.89,279.0,19.1,8.4,438,3638,0.10,2.33,17.27,0.864,4,0.114,0.073,3158,3694,1890,0,0,0,0,0,0
$FREEZE,8.49,-1.070,-1.819,3,124,0
$GC,3705,0.85,279.0,8.5,12.8,453,3712,0.12,2.30,0.00,0.000,6,0.201,0.067,3140,2270,1886,0,0,0,0,0,0
$FREEZE,6.43,-1.058,-1.817,3,124,0
$STATE,3718,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3718,begin subsurface finish
$FINISH1,6.4,1.026592,45
$GC,3726,0.05,44.5,6.4,-11.8,455,3774,0.82,0.00,-40.22,0.000,6,0.157,0.000,2886,2270,2850,0,0,0,0,0,0
$FINISH2,5.8
$STATE,3774,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3774,begin surface
$RAFOS_CLK,212
$RAFOS,6,1307162941,4.833333,4.816945,67,66,53,50,50,44,190,211,116,136,161,229
$RAFOS,5,1307162464,4.700000,4.684444,69,63,62,60,58,54,781,196,162,138,209,114
$RAFOS,4,1307161985,4.566667,4.551389,63,59,55,53,53,52,205,174,225,137,120,160
$RAFOS,3,1307161504,4.433333,4.417778,60,58,57,55,53,53,201,152,165,176,125,213
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.6,101.696
$10V_AH,9.8,52.205
$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,3.625,40.175,344.150,0.000,0.000,0.000,0.000,0.000,9.500,0.000,0.000,1073.990,1539.340,362.025,755.270,99.854,0.000,805.993,0.000,756.027,1080.000,2.615,0.000
$DEVICE_MAMPS,208.080,80.325,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.166,335.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16768,463
$CAP_FILE_SIZE,50330,0
$CFSIZE,260165632,204087296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6