version: 66.08
glider: 141
mission: 15
dive: 902
start: 6 11 111 14 51 10
data:
$ID,141
$MISSION,15
$DIVE,902
$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,30
$R_STBD_OVSHOOT,35
$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,17.84
$_SM_ANGLEo,15.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.58,0.000,2,0.000,0.000,2871,3693,3264,0,0,0,0,0,0
$GC,26,-0.62,-146.0,22.8,-0.0,1,38,0.62,0.30,-5.40,0.000,4,0.149,0.153,2675,3906,3628,0,0,0,0,0,0
$GC,68,-0.92,-146.0,28.2,-14.3,8,73,0.35,2.28,0.00,0.000,6,0.138,0.065,2570,2494,3630,0,0,0,0,0,0
$GC,413,-1.30,-146.0,66.6,-10.6,69,419,0.35,2.35,0.00,0.000,4,0.137,0.078,2457,1080,3629,0,0,0,0,0,0
$GC,462,-1.14,-146.0,74.4,-20.9,77,468,0.15,2.22,0.00,0.000,6,0.246,0.041,2490,2500,3628,0,0,0,0,0,0
$GC,797,-1.17,-146.0,126.7,-15.1,122,801,0.00,2.20,0.00,0.000,4,0.000,0.054,2490,3888,3628,0,0,0,0,0,0
$GC,849,-1.53,-146.0,132.9,-10.1,126,854,0.35,2.25,0.00,0.000,6,0.104,0.057,2373,2495,3627,0,0,0,0,0,0
$GC,1176,-1.41,-146.0,195.4,-19.7,156,1181,0.15,2.40,0.00,0.000,4,0.239,0.081,2406,1080,3626,0,0,0,0,0,0
$GC,1205,-1.16,-146.0,202.2,-23.6,158,1210,0.32,2.15,0.00,0.000,6,0.241,0.038,2483,2488,3626,0,0,0,0,0,0
$STATE,1413,end dive,NO_VERTICAL_VELOCITY
$STATE,1413,begin apogee
$GC,1421,-0.12,0.0,209.4,0.0,177,1548,1.02,0.00,118.88,1.023,6,0.128,0.000,2816,2261,3030,0,0,0,0,0,0
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1552,0.62,146.0,209.3,0.0,189,1685,0.73,2.58,122.38,0.975,4,0.104,0.080,3063,868,2432,0,0,0,0,0,0
$GC,1728,0.88,376.5,209.0,-0.6,206,1938,0.25,2.30,201.25,0.941,6,0.073,0.037,3157,2285,1495,0,0,0,0,0,0
$GC,2260,0.75,376.5,150.0,13.1,256,2265,0.20,2.35,0.00,0.000,4,0.194,0.068,3115,867,1487,0,0,0,0,0,0
$GC,2293,0.69,376.5,145.4,12.2,258,2299,0.00,2.22,0.00,0.000,6,0.000,0.052,3115,2261,1485,0,0,0,0,0,0
$GC,2623,0.42,376.5,89.2,16.9,294,2628,0.40,2.28,0.00,0.000,4,0.207,0.057,3015,863,1484,0,0,0,0,0,0
$GC,2681,0.72,443.1,84.2,6.9,304,2748,0.22,2.22,56.95,0.880,6,0.096,0.041,3099,2285,1223,0,0,0,0,0,0
$GC,3087,0.91,449.6,46.6,9.7,377,3098,0.15,2.20,6.07,0.698,4,0.095,0.051,3167,3683,1196,0,0,0,0,0,0
$GC,3129,0.97,449.6,42.0,11.4,384,3134,0.00,2.28,0.00,0.000,6,0.000,0.066,3177,2264,1195,0,0,0,0,0,0
$FREEZE,8.66,NaN,-0.007,0,265,1
$FREEZE,7.88,NaN,-0.006,0,265,1
$FREEZE,7.18,NaN,-0.005,0,265,1
$STATE,3408,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3408,begin subsurface finish
$FINISH1,7.2,1.027500,0
$GC,3416,0.00,0.0,7.2,-11.8,434,3498,1.05,2.28,-71.50,0.000,4,0.171,0.059,2870,3679,3033,0,0,0,0,0,0
$FINISH2,7.2
$STATE,3501,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3501,begin surface
$RAFOS_CLK,191
$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,79.69
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.10
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.4,16.7
$24V_AH,21.8,117.431
$10V_AH,9.8,57.734
$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,6.325,37.225,505.525,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,476.745,1513.304,400.225,1054.292,112.272,0.000,939.172,0.000,745.584,0.000,2.617,0.000
$DEVICE_MAMPS,245.565,153.000,1022.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.721,313.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,16834,450
$CAP_FILE_SIZE,52717,0
$CFSIZE,260165632,199479296
$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