version: 66.08
glider: 141
mission: 15
dive: 886
start: 6 10 111 17 53 53
data:
$ID,141
$MISSION,15
$DIVE,886
$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,-80776.625
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-77.2
$GPS2,100611,043555,6709.499,-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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,191,0.00,0.00,-171.80,0.000,2,0.000,0.000,112,2503,3448,0,0,0,0,0,0
$GC,194,-0.62,-146.0,5.4,-4.5,30,214,13.50,0.00,-3.80,0.000,6,0.330,0.000,2656,2503,3627,0,0,0,0,0,0
$GC,554,-0.54,-146.0,77.3,-14.9,93,561,0.12,2.38,0.00,0.000,4,0.225,0.080,2686,3888,3629,0,0,0,0,0,0
$GC,597,-0.54,-146.0,83.1,-12.2,100,604,0.00,2.25,0.00,0.000,6,0.000,0.050,2686,2482,3629,0,0,0,0,0,0
$GC,932,-0.54,-146.0,122.4,-11.1,143,937,0.00,2.30,0.00,0.000,4,0.000,0.070,2686,1075,3629,0,0,0,0,0,0
$GC,962,-0.54,-146.0,125.8,-11.6,145,966,0.00,2.33,0.00,0.000,6,0.000,0.065,2686,2478,3629,0,0,0,0,0,0
$GC,1288,-0.54,-146.0,160.8,-11.2,175,1292,0.00,2.42,0.00,0.000,4,0.000,0.080,2686,3909,3628,0,0,0,0,0,0
$GC,1309,-0.54,-146.0,163.3,-10.6,176,1316,0.00,2.28,0.00,0.000,6,0.000,0.050,2686,2483,3628,0,0,0,0,0,0
$GC,1635,-0.54,-146.0,195.9,-10.3,207,1639,0.00,2.28,0.00,0.000,4,0.000,0.067,2686,1081,3628,0,0,0,0,0,0
$GC,1658,-0.54,-146.0,198.5,-10.9,209,1663,0.00,2.30,0.00,0.000,6,0.000,0.064,2686,2492,3628,0,0,0,0,0,0
$STATE,1950,end dive,NO_VERTICAL_VELOCITY
$STATE,1950,begin apogee
$GC,1958,-0.12,0.0,210.1,0.0,236,2085,0.40,0.00,120.12,1.028,6,0.148,0.000,2813,2262,3030,0,0,0,0,0,0
$STATE,2085,end apogee,CONTROL_FINISHED_OK
$STATE,2085,begin climb
$GC,2088,0.62,146.0,209.6,0.0,247,2223,0.77,2.65,122.65,0.980,4,0.126,0.070,3057,3693,2433,0,0,0,0,0,0
$GC,2477,0.57,146.0,187.9,10.8,281,2484,0.00,2.30,0.00,0.000,6,0.000,0.054,3067,2270,2429,0,0,0,0,0,0
$GC,2805,0.57,164.4,157.8,9.2,312,2828,0.00,2.30,16.10,0.892,4,0.000,0.067,3078,862,2358,0,0,0,0,0,0
$GC,2924,0.58,173.6,146.5,9.6,322,2939,0.00,2.28,9.18,0.825,6,0.000,0.054,3078,2290,2322,0,0,0,0,0,0
$GC,3266,0.58,173.6,109.9,10.3,354,3270,0.00,2.25,0.00,0.000,4,0.000,0.068,3078,3682,2321,0,0,0,0,0,0
$GC,3323,0.52,173.6,103.1,12.3,358,3330,0.20,2.25,0.00,0.000,6,0.173,0.052,3035,2274,2321,0,0,0,0,0,0
$GC,3667,0.69,245.8,77.2,6.7,416,3738,0.15,2.33,62.72,0.898,4,0.092,0.066,3113,869,2026,0,0,0,0,0,0
$GC,3825,0.69,245.8,60.3,11.2,443,3831,0.00,2.28,0.00,0.000,6,0.000,0.054,3112,2276,2021,0,0,0,0,0,0
$GC,4173,0.75,270.8,21.5,8.8,504,4194,0.00,0.00,12.27,0.835,6,0.000,0.000,3112,2276,1925,0,0,0,0,0,0
$FREEZE,8.65,-1.341,-1.801,0,249,0
$FREEZE,8.18,-1.348,-1.801,0,249,0
$FREEZE,7.65,-1.347,-1.800,0,249,0
$STATE,4336,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4337,begin subsurface finish
$FINISH1,7.7,1.026351,56
$GC,4344,0.07,56.3,7.7,-8.7,532,4386,0.73,2.38,-31.00,0.000,4,0.185,0.083,2896,3686,2803,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4387,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4387,begin surface
$RAFOS_CLK,284
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026215
$HUMID,78.74
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.20
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.7,17.0
$24V_AH,22.5,115.442
$10V_AH,9.8,57.040
$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,15.875,39.900,343.050,0.000,0.000,98.406,17.423,0.000,10.000,0.000,183.288,1197.110,1911.921,467.750,1194.434,553.525,0.000,1000.407,0.000,885.843,0.000,2.611,0.000
$DEVICE_MAMPS,329.715,83.385,1028.160,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.065,391.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20169,539
$CAP_FILE_SIZE,60199,0
$CFSIZE,260165632,200028160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6