version: 66.08
glider: 141
mission: 15
dive: 815
start: 6 6 111 14 23 11
data:
$ID,141
$MISSION,15
$DIVE,815
$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,-62671.746
$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,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
$GPS1,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-75.7
$GPS2,060611,041820,6709.499,-5632.717,181,99.0,181,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-157.93,0.000,2,0.000,0.000,113,2502,3276,0,0,0,0,0,0
$GC,183,-0.62,-146.0,5.8,-9.4,28,214,13.73,2.45,-7.22,0.000,4,0.330,0.083,2657,1069,3630,0,0,0,0,0,0
$GC,298,-0.52,-146.0,34.6,-17.2,47,305,0.15,2.38,0.00,0.000,6,0.225,0.080,2691,2483,3631,0,0,0,0,0,0
$GC,645,-0.48,-146.0,84.2,-14.1,108,652,0.00,2.45,0.00,0.000,4,0.000,0.095,2692,3910,3630,0,0,0,0,0,0
$GC,750,-0.48,-146.0,97.7,-12.1,126,757,0.00,2.28,0.00,0.000,6,0.000,0.058,2692,2490,3630,0,0,0,0,0,0
$GC,1079,-0.48,-146.0,140.1,-12.2,158,1083,0.00,2.33,0.00,0.000,4,0.000,0.075,2692,1080,3630,0,0,0,0,0,0
$GC,1100,-0.48,-146.0,143.1,-12.5,159,1107,0.00,2.35,0.00,0.000,6,0.000,0.071,2691,2490,3630,0,0,0,0,0,0
$GC,1426,-0.48,-146.0,180.5,-11.1,190,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2490,3629,0,0,0,0,0,0
$STATE,1745,end dive,NO_VERTICAL_VELOCITY
$STATE,1745,begin apogee
$GC,1752,-0.12,0.0,196.7,0.0,220,1885,0.38,0.00,120.88,1.045,6,0.129,0.000,2816,2262,3030,0,0,0,0,0,0
$STATE,1886,end apogee,CONTROL_FINISHED_OK
$STATE,1886,begin climb
$GC,1888,0.62,146.0,196.7,0.0,232,2023,0.80,2.58,123.45,0.994,4,0.147,0.072,3055,3689,2433,0,0,0,0,0,0
$GC,2030,0.84,331.0,196.2,1.5,244,2208,0.20,2.47,165.60,0.952,6,0.080,0.067,3137,2281,1679,0,0,0,0,0,0
$GC,2526,0.82,331.0,120.5,15.1,291,2530,0.00,2.38,0.00,0.000,4,0.000,0.073,3137,3698,1669,0,0,0,0,0,0
$GC,2694,0.82,331.0,94.6,15.8,308,2701,0.00,2.33,0.00,0.000,6,0.000,0.060,3148,2273,1666,0,0,0,0,0,0
$GC,3041,0.82,331.0,43.3,13.0,369,3047,0.00,2.33,0.00,0.000,4,0.000,0.083,3157,861,1666,0,0,0,0,0,0
$GC,3084,0.85,331.0,37.7,13.0,376,3091,0.00,2.33,0.00,0.000,6,0.000,0.060,3157,2285,1666,0,0,0,0,0,0
$FREEZE,8.78,-0.631,-1.813,0,178,0
$STATE,3299,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3299,begin subsurface finish
$FINISH1,8.8,1.026501,49
$GC,3307,0.06,49.0,8.8,-12.9,414,3355,0.93,2.40,-40.17,0.000,4,0.161,0.088,2882,3687,2833,0,0,0,0,0,0
$FINISH2,7.2
$STATE,3356,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3356,begin surface
$RAFOS_CLK,234
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026215
$HUMID,46.81
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.20
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.4,15.5
$24V_AH,21.7,107.978
$10V_AH,9.8,53.933
$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,16.175,31.400,409.925,0.000,0.000,98.937,17.371,0.000,8.500,0.000,185.237,905.575,1354.836,512.591,997.628,536.671,0.000,966.832,0.000,694.698,0.000,2.611,0.000
$DEVICE_MAMPS,330.480,94.860,1044.990,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.075,304.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,16759,422
$CAP_FILE_SIZE,50911,0
$CFSIZE,260165632,202473472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6