version: 66.08
glider: 141
mission: 15
dive: 791
start: 6 5 111 11 3 50
data:
$ID,141
$MISSION,15
$DIVE,791
$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,-56751.078
$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,21
$R_STBD_OVSHOOT,20
$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,2.02
$_SM_ANGLEo,4.3
$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,-146.0,0.0,0.0,0,146,0.00,0.35,-121.78,0.000,6,0.000,0.175,3177,2494,3627,0,0,0,0,0,0
$GC,149,-0.62,-146.0,4.6,-8.4,22,156,1.38,0.00,0.00,0.000,6,0.061,0.000,2655,2494,3626,0,0,0,0,0,0
$GC,496,-0.44,-146.0,76.0,-19.9,83,504,0.25,2.35,0.00,0.000,4,0.220,0.081,2719,3899,3626,0,0,0,0,0,0
$GC,529,-0.36,-146.0,81.1,-15.7,88,536,0.00,2.28,0.00,0.000,6,0.000,0.063,2720,2487,3627,0,0,0,0,0,0
$GC,866,-0.36,-146.0,121.8,-11.7,132,870,0.00,2.28,0.00,0.000,4,0.000,0.070,2720,1078,3625,0,0,0,0,0,0
$GC,979,-0.40,-146.0,135.0,-11.4,141,986,0.00,2.28,0.00,0.000,6,0.000,0.066,2720,2485,3625,0,0,0,0,0,0
$GC,1305,-0.56,-146.0,169.6,-4.3,172,1310,0.12,2.38,0.00,0.000,4,0.120,0.080,2674,3910,3624,0,0,0,0,0,0
$STATE,1441,end dive,NO_VERTICAL_VELOCITY
$STATE,1441,begin apogee
$GC,1450,-0.12,0.0,169.5,0.0,184,1577,0.45,0.00,119.38,1.025,6,0.134,0.000,2818,2265,3030,0,0,0,0,0,0
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,0.62,146.0,169.6,0.0,195,1712,0.77,2.50,122.18,0.974,4,0.148,0.074,3055,867,2435,0,0,0,0,0,0
$GC,1805,0.82,246.5,163.2,5.4,215,1906,0.20,2.38,87.28,0.941,6,0.082,0.060,3137,2282,2023,0,0,0,0,0,0
$GC,2223,0.80,246.5,115.1,11.8,254,2227,0.00,2.30,0.00,0.000,4,0.000,0.075,3137,3683,2014,0,0,0,0,0,0
$GC,2284,0.74,246.5,107.2,12.1,259,2291,0.17,2.30,0.00,0.000,6,0.182,0.060,3103,2268,2012,0,0,0,0,0,0
$GC,2626,0.83,264.8,77.7,9.2,313,2650,0.00,2.40,15.00,0.877,4,0.000,0.076,3111,854,1950,0,0,0,0,0,0
$GC,2739,0.95,284.4,67.7,9.1,332,2765,0.17,2.30,19.27,0.887,6,0.090,0.060,3183,2275,1870,0,0,0,0,0,0
$GC,3107,0.92,284.4,17.7,12.3,396,3114,0.00,2.35,0.00,0.000,4,0.000,0.073,3193,858,1865,0,0,0,0,0,0
$GC,3139,0.89,284.4,13.9,12.0,401,3146,0.17,2.30,0.00,0.000,6,0.190,0.060,3149,2275,1864,0,0,0,0,0,0
$FREEZE,8.82,-0.795,-1.816,3,154,0
$FREEZE,8.35,-0.785,-1.815,3,154,0
$FREEZE,7.80,-0.787,-1.815,3,154,0
$FREEZE,7.43,-0.765,-1.815,3,154,0
$FREEZE,6.93,-0.763,-1.814,3,154,0
$STATE,3205,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3205,begin subsurface finish
$FINISH1,6.9,1.026540,47
$GC,3213,0.06,47.0,6.9,-9.5,413,3261,0.85,2.33,-39.08,0.000,4,0.177,0.089,2887,3683,2839,0,0,0,0,0,0
$FINISH2,6.2
$STATE,3262,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3262,begin surface
$RAFOS_CLK,190
$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,48.34
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,22.4,105.090
$10V_AH,9.8,53.049
$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,4.550,35.750,363.100,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,929.488,1141.492,443.484,709.591,93.911,0.000,881.007,0.000,710.758,0.000,2.613,0.000
$DEVICE_MAMPS,220.320,175.185,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.479,303.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16777,421
$CAP_FILE_SIZE,45950,0
$CFSIZE,260165632,203186176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6