version: 66.08
glider: 141
mission: 15
dive: 870
start: 6 9 111 19 1 14
data:
$ID,141
$MISSION,15
$DIVE,870
$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,-77086.906
$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,24
$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
$GPS1,090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.29
$_SM_ANGLEo,-3.6
$GPS2,090611,173745,6709.499,-5819.472,0,10000.0,0,-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,137.9,67143,-17.5,-10.000
$D_GRID,1158
$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,-5.47,0.000,2,0.000,0.000,2889,3695,3011,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.2,-0.0,1,54,0.62,4.30,-17.42,0.000,4,0.096,0.066,2669,1083,3628,0,0,0,0,0,0
$GC,150,-0.53,-146.0,25.0,-15.4,21,156,0.00,2.33,0.00,0.000,6,0.000,0.069,2669,2491,3629,0,0,0,0,0,0
$GC,496,-0.44,-146.0,76.1,-14.2,82,504,0.20,2.33,0.00,0.000,4,0.215,0.066,2718,1072,3628,0,0,0,0,0,0
$GC,588,-0.49,-146.0,86.1,-10.2,97,595,0.00,2.35,0.00,0.000,6,0.000,0.070,2717,2490,3628,0,0,0,0,0,0
$GC,924,-0.53,-146.0,118.3,-9.6,140,929,0.00,2.40,0.00,0.000,4,0.000,0.081,2718,3908,3626,0,0,0,0,0,0
$GC,955,-0.59,-146.0,121.4,-9.7,142,960,0.15,2.28,0.00,0.000,6,0.112,0.053,2666,2492,3626,0,0,0,0,0,0
$GC,1282,-0.54,-146.0,164.4,-12.8,172,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2492,3624,0,0,0,0,0,0
$GC,1603,-0.50,-146.0,205.2,-13.7,202,1608,0.12,2.40,0.00,0.000,4,0.160,0.078,2702,3906,3624,0,0,0,0,0,0
$GC,1622,-0.66,-146.0,205.3,-4.1,203,1627,0.17,2.22,0.00,0.000,6,0.106,0.044,2644,2481,3624,0,0,0,0,0,0
$STATE,1749,end dive,NO_VERTICAL_VELOCITY
$STATE,1749,begin apogee
$GC,1756,-0.12,0.0,205.2,0.0,215,1883,0.52,0.00,119.18,1.032,6,0.128,0.000,2815,2255,3030,0,0,0,0,0,0
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1884,begin climb
$GC,1887,0.62,146.0,205.0,0.0,226,2016,0.77,0.00,122.80,0.980,6,0.137,0.000,3052,2255,2434,0,0,0,0,0,0
$GC,2333,0.66,180.6,173.1,8.4,268,2369,0.00,2.45,29.73,0.924,4,0.000,0.070,3053,3688,2293,0,0,0,0,0,0
$GC,2433,0.66,180.6,163.6,10.3,277,2438,0.00,2.28,0.00,0.000,6,0.000,0.056,3063,2283,2290,0,0,0,0,0,0
$GC,2760,0.72,210.4,133.9,8.6,307,2794,0.10,2.35,26.00,0.907,4,0.114,0.072,3122,870,2170,0,0,0,0,0,0
$GC,2880,0.68,210.4,119.3,12.4,317,2888,0.15,2.28,0.00,0.000,6,0.188,0.055,3085,2279,2167,0,0,0,0,0,0
$GC,3214,0.70,229.3,85.8,9.1,360,3239,0.00,2.30,17.12,0.870,4,0.000,0.068,3085,3684,2094,0,0,0,0,0,0
$GC,3303,0.70,229.3,76.8,10.6,375,3310,0.00,2.28,0.00,0.000,6,0.000,0.064,3093,2277,2093,0,0,0,0,0,0
$GC,3650,0.76,248.1,44.5,9.1,436,3674,0.00,2.33,17.25,0.863,4,0.000,0.071,3101,862,2017,0,0,0,0,0,0
$GC,3717,0.85,267.6,38.4,9.1,447,3736,0.10,2.30,11.35,0.902,6,0.122,0.065,3148,2284,1938,0,0,0,0,0,0
$FREEZE,8.98,-1.334,-1.813,2,233,0
$FREEZE,8.30,-1.332,-1.812,2,233,0
$FREEZE,7.37,-1.332,-1.811,2,233,0
$FREEZE,6.83,-1.342,-1.810,2,233,0
$STATE,3967,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3967,begin subsurface finish
$FINISH1,6.8,1.026505,49
$GC,3975,0.06,48.7,6.8,-14.1,491,4022,0.88,0.00,-40.88,0.000,6,0.174,0.000,2893,2286,2832,0,0,0,0,0,0
$FINISH2,4.1
$STATE,4023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4023,begin surface
$RAFOS_CLK,223
$RAFOS,0,1307649664,20.033333,20.017778,59,57,55,55,54,54,139,152,161,194,174,214
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5819.47,090611,171745
$TT8_MAMPS,0.026964
$HUMID,72.64
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.00
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.4,113.860
$10V_AH,9.9,56.332
$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,3.800,39.475,343.425,0.000,0.000,0.000,0.000,0.000,10.500,0.000,0.000,1142.866,1675.180,358.036,786.939,114.608,0.000,814.714,0.000,789.558,360.000,2.615,0.000
$DEVICE_MAMPS,214.965,81.090,1031.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.048,368.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,499
$CAP_FILE_SIZE,52671,0
$CFSIZE,260165632,200597504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6