version: 66.08
glider: 141
mission: 15
dive: 900
start: 6 11 111 12 33 20
data:
$ID,141
$MISSION,15
$DIVE,900
$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,-83357.641
$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,63
$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,2.66
$_SM_ANGLEo,-69.4
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,130,0.00,0.00,-108.15,0.000,2,0.000,0.000,106,2516,2483,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.0,-7.1,22,180,13.00,2.25,-25.92,0.000,4,0.319,0.079,2659,3862,3629,0,0,0,0,0,0
$GC,238,-0.98,-146.0,23.9,-13.4,41,243,0.35,2.30,0.00,0.000,6,0.116,0.068,2549,2492,3631,0,0,0,0,0,0
$GC,585,-1.30,-146.0,63.0,-9.2,102,590,0.28,0.00,0.00,0.000,6,0.107,0.000,2448,2492,3630,0,0,0,0,0,0
$GC,923,-1.26,-146.0,120.4,-17.7,152,928,0.00,2.40,0.00,0.000,4,0.000,0.086,2447,1079,3629,0,0,0,0,0,0
$GC,958,-1.03,-146.0,127.9,-23.8,154,964,0.32,2.20,0.00,0.000,6,0.227,0.043,2524,2469,3628,0,0,0,0,0,0
$GC,1284,-1.13,-146.0,171.4,-12.8,185,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2470,3628,0,0,0,0,0,0
$GC,1606,-1.27,-146.0,210.6,-10.3,215,1611,0.20,2.30,0.00,0.000,4,0.101,0.060,2451,3884,3628,0,0,0,0,0,0
$STATE,1744,end dive,NO_VERTICAL_VELOCITY
$STATE,1744,begin apogee
$GC,1755,-0.12,0.0,210.6,0.0,227,1882,1.15,0.00,120.03,1.040,6,0.134,0.000,2812,2264,3030,0,0,0,0,0,0
$STATE,1882,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1886,0.62,146.0,210.6,0.0,239,2020,0.75,2.55,123.60,0.988,4,0.142,0.080,3051,875,2432,0,0,0,0,0,0
$GC,2275,0.97,359.3,210.1,0.2,275,2464,0.35,2.20,180.57,0.952,6,0.073,0.041,3187,2286,1565,0,0,0,0,0,0
$GC,2784,0.78,359.3,148.9,15.2,323,2789,0.25,2.35,0.00,0.000,4,0.202,0.068,3127,864,1556,0,0,0,0,0,0
$GC,2835,0.69,359.3,141.1,15.3,327,2840,0.15,2.20,0.00,0.000,6,0.217,0.044,3093,2268,1554,0,0,0,0,0,0
$GC,3167,0.51,359.3,80.3,15.6,366,3173,0.22,2.28,0.00,0.000,4,0.210,0.066,3035,3687,1553,0,0,0,0,0,0
$GC,3187,0.42,359.3,77.6,14.7,369,3193,0.12,2.28,0.00,0.000,6,0.158,0.064,2998,2267,1552,0,0,0,0,0,0
$GC,3535,0.81,450.1,58.0,5.8,430,3624,0.32,2.35,77.45,0.891,4,0.101,0.060,3117,3678,1194,0,0,0,0,0,0
$GC,3665,1.02,524.9,48.2,6.5,454,3732,0.20,2.28,59.97,0.881,6,0.103,0.061,3195,2272,889,0,0,0,0,0,0
$FREEZE,8.52,NaN,-0.006,0,263,0
$FREEZE,8.06,NaN,-0.006,0,263,0
$FREEZE,7.82,NaN,-0.006,0,263,0
$FREEZE,7.48,NaN,-0.006,0,263,0
$STATE,3968,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3968,begin subsurface finish
$FINISH1,7.5,1.027500,0
$GC,3976,0.00,0.0,7.5,-7.5,509,4075,1.20,2.30,-87.32,0.000,4,0.221,0.067,2871,3694,3032,0,0,0,0,0,0
$FINISH2,4.6
$STATE,4076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4076,begin surface
$RAFOS_CLK,260
$RAFOS,6,1307796544,12.833333,12.817778,68,61,60,57,55,48,166,147,193,214,134,224
$RAFOS,5,1307796062,12.700000,12.683888,66,57,55,54,50,50,223,118,200,136,154,186
$RAFOS,4,1307795626,12.566667,12.562778,70,62,61,60,58,56,214,189,167,135,158,201
$RAFOS,1,1307794143,12.166667,12.150833,65,64,60,50,50,49,162,113,213,127,153,177
$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,78.23
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.00
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.4,16.9
$24V_AH,22.4,117.163
$10V_AH,9.8,57.664
$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,18.875,34.925,561.625,0.000,0.000,98.927,17.404,0.000,10.250,0.000,183.286,544.594,1829.160,516.775,1564.879,569.727,0.000,1185.725,0.000,894.457,1080.000,2.616,0.000
$DEVICE_MAMPS,319.005,86.445,1039.635,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.700,364.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,20119,528
$CAP_FILE_SIZE,63829,0
$CFSIZE,260165632,199536640
$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