version: 66.08
glider: 141
mission: 15
dive: 896
start: 6 11 111 6 56 58
data:
$ID,141
$MISSION,15
$DIVE,896
$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,30
$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,14.47
$_SM_ANGLEo,8.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,22,0.00,0.00,-3.62,0.000,2,0.000,0.000,2883,862,3234,0,0,0,0,0,0
$GC,26,-0.62,-146.0,18.0,-0.0,1,37,0.62,0.00,-6.80,0.000,6,0.138,0.000,2670,862,3629,0,0,0,0,0,0
$GC,376,-1.10,-146.0,55.7,-10.3,63,387,0.45,4.80,0.00,0.000,4,0.121,0.041,2511,3901,3631,0,0,0,0,0,0
$GC,563,-1.47,-146.0,76.3,-13.1,96,569,0.38,2.30,0.00,0.000,6,0.132,0.066,2396,2485,3630,0,0,0,0,0,0
$GC,903,-1.39,-146.0,139.4,-18.8,139,907,0.00,2.33,0.00,0.000,4,0.000,0.075,2395,1074,3629,0,0,0,0,0,0
$GC,922,-1.21,-146.0,143.4,-20.2,140,927,0.32,2.17,0.00,0.000,6,0.243,0.038,2469,2498,3628,0,0,0,0,0,0
$GC,1247,-1.21,-146.0,195.3,-15.4,170,1251,0.00,2.40,0.00,0.000,4,0.000,0.080,2470,1088,3627,0,0,0,0,0,0
$GC,1281,-1.01,-146.0,201.6,-20.6,172,1288,0.20,2.20,0.00,0.000,6,0.218,0.038,2530,2489,3627,0,0,0,0,0,0
$STATE,1521,end dive,NO_VERTICAL_VELOCITY
$STATE,1521,begin apogee
$GC,1528,-0.12,0.0,210.9,0.0,195,1656,0.85,0.00,119.32,1.014,6,0.116,0.000,2817,2263,3029,0,0,0,0,0,0
$STATE,1657,end apogee,CONTROL_FINISHED_OK
$STATE,1657,begin climb
$GC,1660,0.62,146.0,211.0,0.0,207,1794,0.68,2.55,121.53,0.968,4,0.078,0.079,3059,869,2432,0,0,0,0,0,0
$GC,2049,1.05,363.5,210.8,-0.0,243,2243,0.38,2.20,183.15,0.942,6,0.063,0.041,3212,2282,1546,0,0,0,0,0,0
$GC,2564,0.83,363.5,148.5,17.5,292,2569,0.28,2.35,0.00,0.000,4,0.216,0.069,3147,859,1537,0,0,0,0,0,0
$GC,2575,0.64,363.5,146.3,17.0,292,2581,0.30,2.25,0.00,0.000,6,0.216,0.053,3073,2305,1535,0,0,0,0,0,0
$GC,2900,0.64,363.5,111.0,10.1,323,2904,0.00,2.17,0.00,0.000,4,0.000,0.054,3073,3687,1535,0,0,0,0,0,0
$GC,2935,0.73,377.7,107.7,9.3,326,2952,0.00,2.28,11.45,0.816,6,0.000,0.054,3081,2266,1490,0,0,0,0,0,0
$GC,3286,0.74,378.8,74.3,9.9,381,3291,0.00,2.25,0.00,0.000,4,0.000,0.075,3091,868,1489,0,0,0,0,0,0
$GC,3309,0.74,379.5,71.9,10.0,385,3314,0.00,2.22,0.00,0.000,6,0.000,0.051,3091,2274,1488,0,0,0,0,0,0
$GC,3654,0.71,407.1,29.0,8.7,446,3680,0.00,2.28,18.17,0.880,4,0.000,0.054,3091,3675,1369,0,0,0,0,0,0
$GC,3733,0.93,459.3,23.3,7.6,460,3770,0.17,2.25,27.55,0.877,6,0.087,0.055,3170,2270,1155,0,0,0,0,0,0
$FREEZE,8.79,NaN,-0.007,0,259,0
$FREEZE,8.14,NaN,-0.006,0,259,0
$FREEZE,7.46,NaN,-0.006,0,259,0
$FREEZE,6.68,NaN,-0.005,0,259,0
$STATE,3902,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3902,begin subsurface finish
$FINISH1,6.7,1.027500,0
$GC,3910,0.00,0.0,6.7,-12.5,491,3999,1.02,2.25,-77.32,0.000,4,0.186,0.067,2871,3682,3033,0,0,0,0,0,0
$FINISH2,6.8
$STATE,4000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4000,begin surface
$RAFOS_CLK,213
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5646.75,100611,040455
$TT8_MAMPS,0.029211
$HUMID,79.57
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.20
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.8,17.7
$24V_AH,22.7,116.620
$10V_AH,9.9,57.458
$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,5.650,41.625,481.175,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,543.975,1793.055,394.613,1203.841,121.023,0.000,981.977,0.000,851.531,360.000,2.622,0.000
$DEVICE_MAMPS,243.270,79.560,1014.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.179,354.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16848,508
$CAP_FILE_SIZE,55973,0
$CFSIZE,260165632,199684096
$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