version: 66.08
glider: 141
mission: 15
dive: 894
start: 6 11 111 4 41 10
data:
$ID,141
$MISSION,15
$DIVE,894
$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,-82251.922
$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,26
$R_STBD_OVSHOOT,38
$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,15.11
$_SM_ANGLEo,5.1
$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,17,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-4.90,0.000,2,0.000,0.000,2879,859,3317,0,0,0,0,0,0
$GC,27,-0.62,-146.0,19.0,-0.0,1,43,0.65,4.78,-5.15,0.000,4,0.141,0.051,2674,3895,3629,0,0,0,0,0,0
$GC,56,-1.04,-146.0,22.5,-10.9,6,62,0.43,2.28,0.00,0.000,6,0.093,0.061,2526,2484,3630,0,0,0,0,0,0
$GC,401,-1.24,-146.0,62.8,-12.9,67,406,0.17,0.00,0.00,0.000,6,0.106,0.000,2461,2483,3629,0,0,0,0,0,0
$GC,739,-1.24,-146.0,120.1,-16.7,117,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2484,3628,0,0,0,0,0,0
$GC,1061,-1.24,-146.0,172.0,-15.7,147,1065,0.00,2.22,0.00,0.000,4,0.000,0.053,2461,3893,3626,0,0,0,0,0,0
$GC,1090,-1.41,-146.0,176.4,-12.9,149,1095,0.15,2.28,0.00,0.000,6,0.104,0.059,2406,2482,3627,0,0,0,0,0,0
$GC,1417,-1.61,-146.0,212.6,-0.1,179,1422,0.17,2.33,0.00,0.000,4,0.096,0.070,2335,1081,3626,0,0,0,0,0,0
$STATE,1459,end dive,NO_VERTICAL_VELOCITY
$STATE,1459,begin apogee
$GC,1468,-0.12,0.0,212.6,0.0,182,1597,1.58,0.00,118.90,1.014,6,0.153,0.000,2820,2271,3030,0,0,0,0,0,0
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1601,0.62,146.0,212.5,0.0,195,1735,0.70,2.55,121.75,0.965,4,0.096,0.073,3061,871,2432,0,0,0,0,0,0
$GC,1988,0.97,358.3,212.3,0.2,230,2176,0.32,2.22,179.20,0.940,6,0.072,0.050,3190,2283,1568,0,0,0,0,0,0
$GC,2496,0.78,358.3,147.5,16.5,279,2501,0.25,2.22,0.00,0.000,4,0.204,0.055,3119,3678,1558,0,0,0,0,0,0
$GC,2532,0.78,358.3,142.8,11.7,282,2536,0.00,2.28,0.00,0.000,6,0.000,0.057,3126,2273,1556,0,0,0,0,0,0
$GC,2858,0.69,358.3,104.5,11.4,312,2862,0.15,2.22,0.00,0.000,4,0.194,0.053,3088,3680,1555,0,0,0,0,0,0
$GC,2903,0.75,358.5,99.8,10.0,315,2908,0.00,2.28,0.00,0.000,6,0.000,0.065,3096,2266,1556,0,0,0,0,0,0
$GC,3246,0.71,358.5,65.7,10.0,376,3251,0.00,2.28,0.00,0.000,4,0.000,0.077,3107,867,1555,0,0,0,0,0,0
$GC,3326,0.57,358.5,55.9,12.8,390,3332,0.20,2.22,0.00,0.000,6,0.189,0.051,3055,2265,1555,0,0,0,0,0,0
$GC,3673,0.78,423.2,27.5,7.0,451,3715,0.17,2.35,34.15,0.907,4,0.080,0.065,3136,3682,1302,0,0,0,0,0,0
$GC,3754,0.86,423.2,19.7,10.6,465,3759,0.00,2.28,0.00,0.000,6,0.000,0.055,3144,2269,1299,0,0,0,0,0,0
$FREEZE,8.47,NaN,-0.006,0,257,0
$FREEZE,7.96,NaN,-0.006,0,257,0
$STATE,3859,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3859,begin subsurface finish
$FINISH1,8.0,1.027500,0
$GC,3867,0.00,0.0,8.0,-10.8,484,3939,0.95,2.28,-61.62,0.000,4,0.196,0.061,2873,3680,3032,0,0,0,0,0,0
$FINISH2,7.1
$STATE,3942,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3942,begin surface
$RAFOS_CLK,213
$RAFOS,6,1307767744,4.833333,4.817778,59,57,55,54,52,48,214,197,128,168,143,152
$RAFOS,5,1307767291,4.700000,4.691945,62,58,55,54,53,52,170,218,197,127,208,151
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.026964
$HUMID,80.39
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.20
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.7,16.4
$24V_AH,22.7,116.363
$10V_AH,9.9,57.384
$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,5.900,40.950,454.000,0.000,0.000,0.000,0.000,0.000,6.250,0.000,0.000,538.902,1781.712,368.523,1191.343,117.590,0.000,936.397,0.000,842.445,720.000,5.650,0.000
$DEVICE_MAMPS,204.255,77.265,1013.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.705,348.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16822,498
$CAP_FILE_SIZE,55527,0
$CFSIZE,260165632,199749632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100611,043555,6709.499,-5646.748,181,99.0,181,-37.6