version: 66.08
glider: 141
mission: 15
dive: 840
start: 6 8 111 1 1 55
data:
$ID,141
$MISSION,15
$DIVE,840
$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,-69337.797
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.89
$_SM_ANGLEo,-7.1
$GPS2,070611,223528,6703.953,-5654.551,0,10000.0,0,-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,148.1,5049,-17.5,-10.000
$D_GRID,541
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2890,855,3052,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.2,-0.0,1,53,0.62,5.12,-14.80,0.000,4,0.116,0.080,2664,3896,3629,0,0,0,0,0,0
$GC,265,-0.54,-146.0,48.9,-17.5,42,272,0.00,2.25,0.00,0.000,6,0.000,0.050,2664,2484,3631,0,0,0,0,0,0
$GC,609,-0.42,-146.0,109.8,-16.8,98,611,0.22,0.00,0.00,0.000,6,0.218,0.000,2718,2483,3630,0,0,0,0,0,0
$GC,932,-0.44,-146.0,146.8,-10.6,128,936,0.00,2.28,0.00,0.000,4,0.000,0.066,2719,1079,3628,0,0,0,0,0,0
$GC,954,-0.44,-146.0,149.8,-10.9,129,961,0.00,2.28,0.00,0.000,6,0.000,0.062,2719,2486,3628,0,0,0,0,0,0
$GC,1281,-0.47,-146.0,182.4,-10.3,160,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2486,3628,0,0,0,0,0,0
$GC,1603,-0.63,-146.0,210.5,-3.6,190,1607,0.17,2.38,0.00,0.000,4,0.099,0.076,2654,3905,3628,0,0,0,0,0,0
$STATE,1733,end dive,NO_VERTICAL_VELOCITY
$STATE,1733,begin apogee
$GC,1742,-0.12,0.0,210.5,0.0,201,1869,0.52,0.00,119.82,1.032,6,0.147,0.000,2814,2276,3030,0,0,0,0,0,0
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1873,0.62,146.0,210.6,0.0,212,2007,0.80,2.58,122.47,0.982,4,0.147,0.068,3054,3687,2434,0,0,0,0,0,0
$GC,2024,0.71,217.9,205.6,6.7,225,2096,0.00,2.42,63.62,0.950,6,0.000,0.054,3066,2272,2140,0,0,0,0,0,0
$GC,2416,0.81,249.4,172.5,8.5,262,2451,0.17,2.33,27.15,0.915,4,0.085,0.070,3152,866,2012,0,0,0,0,0,0
$GC,2525,0.78,249.4,156.4,15.1,271,2532,0.15,2.30,0.00,0.000,6,0.194,0.064,3115,2284,2008,0,0,0,0,0,0
$GC,2850,0.78,249.4,114.3,12.3,302,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2284,2006,0,0,0,0,0,0
$GC,3181,0.78,249.4,76.2,10.7,350,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2283,2005,0,0,0,0,0,0
$GC,3528,0.83,261.8,40.9,9.4,411,3541,0.00,2.40,8.85,0.859,4,0.000,0.069,3123,867,1962,0,0,0,0,0,0
$GC,3577,0.93,283.2,36.3,9.0,419,3597,0.12,2.28,12.45,0.907,6,0.108,0.054,3178,2287,1874,0,0,0,0,0,0
$FREEZE,8.77,-0.747,-1.812,1,203,0
$FREEZE,8.22,-0.742,-1.812,1,203,0
$FREEZE,7.55,-0.738,-1.812,1,203,0
$STATE,3789,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3789,begin subsurface finish
$FINISH1,7.6,1.026502,49
$GC,3797,0.06,48.9,7.6,-12.8,456,3840,0.95,2.38,-35.50,0.000,4,0.161,0.084,2891,3686,2833,0,0,0,0,0,0
$FINISH2,6.3
$STATE,3841,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3841,begin surface
$RAFOS_CLK,215
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5654.55,070611,222228
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.0,15.9
$24V_AH,22.5,110.723
$10V_AH,9.9,55.022
$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,3.750,33.600,354.375,0.000,0.000,0.000,0.000,0.000,13.000,0.000,0.000,1077.193,1612.796,352.236,750.037,103.910,0.000,787.408,0.000,751.828,0.000,2.614,0.000
$DEVICE_MAMPS,218.025,84.150,1031.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.261,340.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16822,463
$CAP_FILE_SIZE,47223,0
$CFSIZE,260165632,201621504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6