version: 66.08
glider: 141
mission: 15
dive: 838
start: 6 7 111 22 45 4
data:
$ID,141
$MISSION,15
$DIVE,838
$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,-69337.797
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,070611,142946,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-75.5
$GPS2,070611,142946,6709.499,-5646.748,181,99.0,181,-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,221.9,12069,-17.5,-10.000
$D_GRID,364
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,178,0.00,0.00,-156.95,0.000,2,0.000,0.000,113,2505,3189,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.1,-6.6,28,212,13.77,0.00,-9.90,0.000,6,0.335,0.000,2654,2504,3627,0,0,0,0,0,0
$GC,555,-0.49,-146.0,81.3,-18.1,93,561,0.17,0.00,0.00,0.000,6,0.220,0.000,2697,2505,3630,0,0,0,0,0,0
$GC,894,-0.49,-146.0,124.5,-11.2,136,898,0.00,2.38,0.00,0.000,4,0.000,0.085,2697,3892,3628,0,0,0,0,0,0
$GC,912,-0.49,-146.0,126.4,-10.6,137,916,0.00,2.28,0.00,0.000,6,0.000,0.057,2697,2493,3628,0,0,0,0,0,0
$GC,1238,-0.51,-146.0,160.7,-10.8,167,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2493,3627,0,0,0,0,0,0
$GC,1561,-0.54,-146.0,193.4,-9.5,197,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2493,3628,0,0,0,0,0,0
$STATE,1820,end dive,NO_VERTICAL_VELOCITY
$STATE,1820,begin apogee
$GC,1828,-0.12,0.0,202.7,0.0,222,1960,0.35,0.00,120.72,1.045,6,0.111,0.000,2819,2266,3030,0,0,0,0,0,0
$STATE,1960,end apogee,CONTROL_FINISHED_OK
$STATE,1960,begin climb
$GC,1964,0.62,146.0,202.8,0.0,234,2092,0.77,0.00,123.72,0.994,6,0.134,0.000,3058,2265,2433,0,0,0,0,0,0
$GC,2411,0.84,237.8,183.3,5.8,276,2499,0.20,2.42,78.18,0.952,4,0.083,0.071,3141,3683,2058,0,0,0,0,0,0
$GC,2586,0.77,237.8,161.1,15.2,291,2594,0.15,2.30,0.00,0.000,6,0.189,0.061,3115,2282,2054,0,0,0,0,0,0
$GC,2912,0.77,237.8,122.4,12.0,322,2916,0.00,2.33,0.00,0.000,4,0.000,0.074,3123,859,2050,0,0,0,0,0,0
$GC,2986,0.81,237.8,114.1,10.2,328,2991,0.00,2.30,0.00,0.000,6,0.000,0.058,3123,2281,2048,0,0,0,0,0,0
$GC,3325,0.81,237.8,76.1,10.5,376,3331,0.00,2.28,0.00,0.000,4,0.000,0.071,3123,3686,2047,0,0,0,0,0,0
$GC,3384,0.81,237.8,69.1,12.9,386,3390,0.00,2.28,0.00,0.000,6,0.000,0.057,3133,2274,2047,0,0,0,0,0,0
$GC,3730,0.82,242.3,32.1,9.8,447,3736,0.00,2.35,0.00,0.000,4,0.000,0.082,3142,858,2048,0,0,0,0,0,0
$GC,3835,0.84,242.3,21.3,10.3,465,3842,0.00,2.33,0.00,0.000,6,0.000,0.067,3142,2285,2047,0,0,0,0,0,0
$FREEZE,8.77,-1.338,-1.819,1,201,0
$FREEZE,8.25,-1.321,-1.819,1,201,0
$FREEZE,7.68,-1.303,-1.819,1,201,0
$FREEZE,7.08,-1.244,-1.817,1,201,0
$FREEZE,6.57,-1.177,-1.815,1,201,0
$STATE,3977,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3977,begin subsurface finish
$FINISH1,6.6,1.026575,45
$GC,3986,0.06,45.3,6.6,-10.1,490,4028,0.85,2.40,-34.38,0.000,4,0.168,0.087,2891,3686,2847,0,0,0,0,0,0
$FINISH2,5.6
$STATE,4029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4029,begin surface
$RAFOS_CLK,268
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5654.55,070611,222228
$TT8_MAMPS,0.026964
$HUMID,48.34
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.80
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,22.5,110.530
$10V_AH,9.8,54.962
$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,16.275,25.975,322.625,0.000,0.000,96.436,52.187,0.000,12.250,0.000,185.277,1097.129,1799.287,454.011,1121.311,542.673,0.000,926.890,0.000,783.799,0.000,2.616,0.000
$DEVICE_MAMPS,335.070,87.210,1044.990,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.408,361.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,16813,497
$CAP_FILE_SIZE,53574,0
$CFSIZE,260165632,201678848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6