version: 66.08
glider: 141
mission: 15
dive: 906
start: 6 11 111 19 2 49
data:
$ID,141
$MISSION,15
$DIVE,906
$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,28
$R_STBD_OVSHOOT,39
$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,14.25
$_SM_ANGLEo,7.4
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-3.55,0.000,2,0.000,0.000,2871,3699,3233,0,0,0,0,0,0
$GC,27,-0.62,-146.0,18.5,-0.0,1,43,0.60,4.40,-6.65,0.000,4,0.145,0.073,2674,1079,3630,0,0,0,0,0,0
$GC,118,-1.07,-146.0,28.3,-10.3,17,124,0.40,2.20,0.00,0.000,6,0.093,0.044,2518,2510,3630,0,0,0,0,0,0
$GC,463,-1.22,-146.0,70.3,-12.7,78,469,0.12,2.40,0.00,0.000,4,0.112,0.080,2467,1079,3630,0,0,0,0,0,0
$GC,489,-1.15,-146.0,74.6,-16.7,82,495,0.00,2.17,0.00,0.000,6,0.000,0.047,2466,2476,3629,0,0,0,0,0,0
$GC,828,-1.15,-146.0,132.2,-16.9,126,831,0.00,2.22,0.00,0.000,4,0.000,0.053,2466,3883,3628,0,0,0,0,0,0
$GC,851,-1.27,-146.0,135.6,-14.4,127,857,0.00,2.28,0.00,0.000,6,0.000,0.060,2466,2491,3628,0,0,0,0,0,0
$GC,1177,-1.27,-146.0,188.1,-16.6,158,1181,0.00,2.22,0.00,0.000,4,0.000,0.052,2466,3892,3627,0,0,0,0,0,0
$GC,1189,-1.30,-146.0,190.0,-16.2,158,1194,0.00,2.30,0.00,0.000,6,0.000,0.070,2466,2492,3627,0,0,0,0,0,0
$STATE,1501,end dive,NO_VERTICAL_VELOCITY
$STATE,1501,begin apogee
$GC,1508,-0.12,0.0,212.6,0.0,188,1637,1.12,0.00,118.62,1.026,6,0.139,0.000,2815,2253,3030,0,0,0,0,0,0
$STATE,1637,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1641,0.62,146.0,212.6,0.0,200,1774,0.75,2.47,122.18,0.976,4,0.122,0.053,3053,3660,2433,0,0,0,0,0,0
$GC,1793,1.15,368.4,212.6,-0.3,215,1998,0.52,2.38,195.68,0.943,6,0.079,0.057,3234,2281,1528,0,0,0,0,0,0
$GC,2316,0.91,368.4,149.7,17.1,265,2321,0.28,2.22,0.00,0.000,4,0.221,0.052,3160,3667,1519,0,0,0,0,0,0
$GC,2328,0.68,368.4,147.7,16.9,265,2334,0.30,2.28,0.00,0.000,6,0.161,0.065,3083,2267,1518,0,0,0,0,0,0
$GC,2653,0.68,368.4,111.8,10.9,296,2657,0.00,2.22,0.00,0.000,4,0.000,0.053,3082,3668,1517,0,0,0,0,0,0
$GC,2712,0.76,368.4,105.8,10.2,301,2716,0.00,2.28,0.00,0.000,6,0.000,0.057,3088,2264,1517,0,0,0,0,0,0
$GC,3053,0.78,385.5,71.1,9.2,356,3074,0.00,2.28,14.88,0.848,4,0.000,0.062,3088,3674,1457,0,0,0,0,0,0
$GC,3081,0.79,393.7,68.5,9.6,361,3097,0.00,2.28,8.98,0.780,6,0.000,0.065,3097,2268,1425,0,0,0,0,0,0
$GC,3438,0.85,443.5,37.6,7.7,424,3475,0.12,2.28,31.23,0.943,4,0.103,0.062,3149,3672,1220,0,0,0,0,0,0
$GC,3502,0.85,443.5,31.2,10.3,435,3507,0.00,2.28,0.00,0.000,6,0.000,0.059,3157,2273,1218,0,0,0,0,0,0
$STATE,3686,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3686,begin subsurface finish
$FINISH1,10.2,1.027500,0
$GC,3693,0.00,0.0,10.2,-11.7,468,3759,1.00,2.28,-56.03,0.000,4,0.188,0.060,2872,3679,3032,0,0,0,0,0,0
$FINISH2,8.4
$STATE,3760,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3763,begin surface
$RAFOS_CLK,205
$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,79.92
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.10
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.6,14.0
$24V_AH,21.7,117.950
$10V_AH,10.0,57.875
$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,5.225,45.800,491.550,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,501.328,1694.292,385.470,1114.056,123.562,0.000,942.482,0.000,784.289,360.000,2.617,0.000
$DEVICE_MAMPS,221.085,79.560,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.939,335.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16773,481
$CAP_FILE_SIZE,54060,0
$CFSIZE,260165632,199344128
$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