version: 66.08
glider: 141
mission: 15
dive: 895
start: 6 11 111 5 48 39
data:
$ID,141
$MISSION,15
$DIVE,895
$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,28
$R_STBD_OVSHOOT,36
$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,15.39
$_SM_ANGLEo,11.0
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.62,0.000,2,0.000,0.000,2873,3680,3249,0,0,0,0,0,0
$GC,26,-0.62,-146.0,19.8,-0.0,1,37,0.62,0.32,-6.10,0.000,4,0.171,0.147,2674,3906,3628,0,0,0,0,0,0
$GC,101,-0.98,-146.0,30.4,-16.7,14,107,0.38,2.28,0.00,0.000,6,0.095,0.065,2544,2488,3629,0,0,0,0,0,0
$GC,447,-1.27,-146.0,62.2,-8.1,75,452,0.25,2.33,0.00,0.000,4,0.095,0.076,2445,1074,3627,0,0,0,0,0,0
$GC,490,-1.06,-146.0,69.1,-21.6,82,496,0.30,2.22,0.00,0.000,6,0.243,0.047,2514,2498,3627,0,0,0,0,0,0
$GC,829,-1.18,-146.0,114.5,-13.2,133,833,0.00,2.17,0.00,0.000,4,0.000,0.053,2514,3893,3626,0,0,0,0,0,0
$GC,1010,-1.56,-146.0,133.6,-12.3,148,1016,0.47,2.30,0.00,0.000,6,0.122,0.064,2365,2492,3627,0,0,0,0,0,0
$GC,1335,-1.44,-146.0,197.2,-20.0,179,1340,0.15,2.40,0.00,0.000,4,0.230,0.080,2398,1080,3625,0,0,0,0,0,0
$GC,1358,-1.22,-146.0,202.6,-23.5,180,1364,0.22,2.20,0.00,0.000,6,0.226,0.039,2465,2482,3625,0,0,0,0,0,0
$STATE,1598,end dive,NO_VERTICAL_VELOCITY
$STATE,1598,begin apogee
$GC,1606,-0.12,0.0,213.4,0.0,203,1734,1.10,0.00,118.70,1.016,6,0.131,0.000,2819,2256,3029,0,0,0,0,0,0
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1737,0.62,146.0,213.3,0.0,215,1870,0.68,2.53,121.72,0.967,4,0.105,0.079,3063,876,2433,0,0,0,0,0,0
$GC,2126,1.04,370.3,213.1,-0.4,251,2324,0.38,2.15,189.23,0.941,6,0.063,0.039,3212,2282,1518,0,0,0,0,0,0
$GC,2651,0.82,370.3,145.2,15.4,301,2656,0.28,2.35,0.00,0.000,4,0.210,0.069,3146,858,1509,0,0,0,0,0,0
$GC,2681,0.65,370.3,140.7,14.1,303,2686,0.28,2.22,0.00,0.000,6,0.218,0.049,3079,2264,1508,0,0,0,0,0,0
$GC,3007,0.69,407.9,111.0,8.3,333,3047,0.00,2.40,31.65,0.882,4,0.000,0.067,3086,858,1367,0,0,0,0,0,0
$GC,3101,0.72,411.8,102.6,9.8,341,3110,0.00,2.28,4.93,0.637,6,0.000,0.053,3086,2297,1351,0,0,0,0,0,0
$GC,3451,0.68,411.8,58.2,12.3,400,3456,0.00,2.35,0.00,0.000,4,0.000,0.067,3097,858,1348,0,0,0,0,0,0
$GC,3468,0.68,411.8,55.7,12.3,403,3474,0.00,2.28,0.00,0.000,6,0.000,0.054,3097,2282,1348,0,0,0,0,0,0
$GC,3813,0.69,420.9,14.6,9.6,464,3823,0.00,2.28,4.15,0.595,4,0.000,0.059,3097,3677,1313,0,0,0,0,0,0
$FREEZE,8.78,NaN,-0.007,0,258,0
$FREEZE,8.28,NaN,-0.006,0,258,0
$FREEZE,7.90,NaN,-0.006,0,258,0
$FREEZE,7.17,NaN,-0.005,0,258,0
$GC,3894,0.90,488.9,7.9,6.9,478,3902,0.15,2.25,1.92,0.074,2,0.096,0.057,3159,2271,1296,0,0,0,0,0,0
$STATE,3903,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3903,begin subsurface finish
$FINISH1,7.2,1.027500,0
$GC,3910,0.00,0.0,7.2,-7.6,479,3986,0.98,2.35,-69.53,0.000,4,0.192,0.090,2883,862,3031,0,0,0,0,0,0
$FINISH2,6.8
$STATE,3990,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3990,begin surface
$RAFOS_CLK,216
$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,79.69
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.30
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,22.7,116.490
$10V_AH,9.9,57.421
$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,6.225,42.025,472.300,0.000,0.000,0.000,0.000,0.000,6.750,0.000,0.000,552.071,1777.724,384.190,1208.314,124.573,0.000,967.094,0.000,861.767,0.000,2.621,0.000
$DEVICE_MAMPS,243.270,146.880,1015.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.190,345.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,16819,494
$CAP_FILE_SIZE,58379,0
$CFSIZE,260165632,199712768
$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