version: 66.08
glider: 141
mission: 15
dive: 766
start: 6 4 111 9 50 33
data:
$ID,141
$MISSION,15
$DIVE,766
$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,-55640.59
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.63
$_SM_ANGLEo,-8.8
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-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,92.8,76241,-17.5,-10.000
$D_GRID,653
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.68,0.000,2,0.000,0.000,2890,2283,3091,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.9,-0.0,1,47,0.60,0.00,-12.50,0.000,6,0.071,0.000,2657,2283,3629,0,0,0,0,0,0
$GC,387,-0.44,-146.0,86.3,-21.4,64,394,0.25,2.70,0.00,0.000,4,0.227,0.080,2722,3903,3632,0,0,0,0,0,0
$GC,507,-0.44,-146.0,103.8,-12.6,82,513,0.00,2.25,0.00,0.000,6,0.000,0.054,2722,2479,3631,0,0,0,0,0,0
$GC,835,-0.44,-146.0,147.3,-12.9,113,839,0.00,2.28,0.00,0.000,4,0.000,0.070,2722,1077,3629,0,0,0,0,0,0
$GC,909,-0.44,-146.0,156.7,-11.3,119,913,0.00,2.30,0.00,0.000,6,0.000,0.067,2722,2489,3630,0,0,0,0,0,0
$GC,1235,-0.58,-146.0,191.7,-3.3,149,1240,0.15,2.33,0.00,0.000,4,0.109,0.068,2665,1079,3629,0,0,0,0,0,0
$STATE,1364,end dive,NO_VERTICAL_VELOCITY
$STATE,1364,begin apogee
$GC,1373,-0.12,0.0,191.7,0.0,160,1501,0.47,0.00,119.57,1.030,6,0.148,0.000,2813,2282,3030,0,0,0,0,0,0
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1505,0.62,146.0,191.6,0.0,172,1638,0.80,2.53,121.20,0.978,4,0.149,0.070,3055,863,2434,0,0,0,0,0,0
$GC,1741,0.95,256.2,185.0,4.9,193,1846,0.32,2.35,95.05,0.940,6,0.074,0.057,3181,2275,1985,0,0,0,0,0,0
$GC,2167,0.89,256.2,129.7,13.5,232,2172,0.12,2.35,0.00,0.000,4,0.203,0.074,3151,3693,1974,0,0,0,0,0,0
$GC,2242,0.89,256.2,120.0,11.9,238,2247,0.00,2.28,0.00,0.000,6,0.000,0.059,3158,2273,1972,0,0,0,0,0,0
$GC,2578,0.89,256.2,81.6,10.8,283,2585,0.00,2.28,0.00,0.000,4,0.000,0.073,3169,867,1971,0,0,0,0,0,0
$GC,2637,0.89,256.2,74.8,11.1,293,2644,0.00,2.25,0.00,0.000,6,0.000,0.058,3169,2278,1970,0,0,0,0,0,0
$GC,2984,0.90,264.6,36.8,9.6,354,2992,0.00,2.38,2.90,0.509,4,0.000,0.073,3170,3689,1951,0,0,0,0,0,0
$GC,3039,0.86,264.6,30.5,11.7,363,3046,0.15,2.30,0.00,0.000,6,0.187,0.067,3142,2264,1950,0,0,0,0,0,0
$FREEZE,8.69,-1.279,-1.820,3,129,0
$FREEZE,8.41,-1.275,-1.820,3,129,0
$FREEZE,7.95,-1.275,-1.819,3,129,0
$FREEZE,7.46,-1.278,-1.819,3,129,0
$FREEZE,6.81,-1.279,-1.818,3,129,0
$STATE,3316,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3316,begin subsurface finish
$FINISH1,6.8,1.026619,43
$GC,3324,0.05,43.2,6.8,-8.5,412,3372,0.80,2.35,-36.78,0.000,4,0.145,0.081,2888,862,2856,0,0,0,0,0,0
$FINISH2,6.3
$STATE,3373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3373,begin surface
$RAFOS_CLK,189
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.50
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.6,102.197
$10V_AH,9.8,52.349
$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,3.675,34.900,338.725,0.000,0.000,0.000,0.000,0.000,7.750,0.000,0.000,981.023,1305.327,336.562,713.848,91.149,0.000,756.586,0.000,713.730,0.000,5.513,0.000
$DEVICE_MAMPS,227.205,81.090,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.105,303.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16822,420
$CAP_FILE_SIZE,44295,0
$CFSIZE,260165632,203935744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6