version: 66.08
glider: 141
mission: 15
dive: 911
start: 6 12 111 1 34 21
data:
$ID,141
$MISSION,15
$DIVE,911
$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,-84095.781
$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,25
$R_STBD_OVSHOOT,30
$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,14.23
$_SM_ANGLEo,3.0
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-3.65,0.000,2,0.000,0.000,2873,3694,3239,0,0,0,0,0,0
$GC,26,-0.62,-146.0,18.5,-0.0,1,37,0.60,0.35,-6.55,0.000,4,0.124,0.155,2667,3915,3630,0,0,0,0,0,0
$GC,107,-0.92,-146.0,29.7,-15.9,15,112,0.30,2.30,0.00,0.000,6,0.122,0.058,2572,2487,3631,0,0,0,0,0,0
$GC,452,-1.37,-146.0,68.9,-9.1,76,458,0.38,2.35,0.00,0.000,4,0.093,0.072,2429,1080,3630,0,0,0,0,0,0
$GC,484,-1.28,-146.0,73.5,-16.0,81,489,0.00,2.25,0.00,0.000,6,0.000,0.048,2429,2540,3629,0,0,0,0,0,0
$GC,819,-1.21,-146.0,130.6,-17.3,125,824,0.17,2.50,0.00,0.000,4,0.224,0.079,2470,1086,3628,0,0,0,0,0,0
$GC,848,-1.05,-146.0,136.4,-19.6,127,853,0.22,2.15,0.00,0.000,6,0.241,0.037,2521,2498,3628,0,0,0,0,0,0
$GC,1175,-1.16,-146.0,176.5,-12.6,157,1179,0.00,2.20,0.00,0.000,4,0.000,0.053,2521,3889,3627,0,0,0,0,0,0
$GC,1199,-1.42,-146.0,179.4,-11.2,159,1204,0.35,2.28,0.00,0.000,6,0.115,0.055,2408,2481,3628,0,0,0,0,0,0
$GC,1526,-1.71,-146.0,208.8,0.2,189,1531,0.25,2.33,0.00,0.000,4,0.096,0.073,2310,1083,3627,0,0,0,0,0,0
$STATE,1536,end dive,NO_VERTICAL_VELOCITY
$STATE,1536,begin apogee
$GC,1545,-0.12,0.0,208.9,0.0,189,1673,1.62,0.00,118.88,1.021,6,0.137,0.000,2814,2266,3029,0,0,0,0,0,0
$STATE,1674,end apogee,CONTROL_FINISHED_OK
$STATE,1674,begin climb
$GC,1678,0.62,146.0,208.9,0.0,202,1813,0.73,2.58,121.60,0.973,4,0.105,0.075,3055,874,2432,0,0,0,0,0,0
$GC,2066,1.10,368.7,208.7,-0.3,237,2265,0.45,2.22,187.93,0.945,6,0.076,0.049,3225,2280,1525,0,0,0,0,0,0
$GC,2584,0.87,368.7,143.6,16.2,287,2588,0.28,2.22,0.00,0.000,4,0.216,0.053,3149,3674,1515,0,0,0,0,0,0
$GC,2614,0.81,368.7,139.5,13.2,289,2619,0.12,2.28,0.00,0.000,6,0.190,0.058,3126,2273,1514,0,0,0,0,0,0
$GC,2946,0.74,368.7,102.1,11.5,320,2950,0.00,2.30,0.00,0.000,4,0.000,0.070,3135,860,1514,0,0,0,0,0,0
$GC,2992,0.56,368.7,95.6,15.9,326,2998,0.32,2.25,0.00,0.000,6,0.207,0.051,3052,2288,1513,0,0,0,0,0,0
$GC,3340,0.68,413.9,66.8,7.9,387,3386,0.00,2.42,38.50,0.887,4,0.000,0.065,3055,864,1342,0,0,0,0,0,0
$GC,3480,1.00,483.6,56.6,6.8,412,3546,0.38,2.25,60.25,0.881,6,0.083,0.041,3196,2329,1057,0,0,0,0,0,0
$FREEZE,8.81,NaN,-0.007,0,274,0
$FREEZE,7.55,NaN,-0.006,0,274,0
$FREEZE,6.48,NaN,-0.005,0,274,0
$STATE,3724,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3724,begin subsurface finish
$FINISH1,6.5,1.027500,0
$GC,3735,0.00,0.0,6.5,-20.7,457,3824,0.98,2.38,-77.45,0.000,4,0.112,0.088,2870,869,3033,0,0,0,0,0,0
$FINISH2,6.9
$STATE,3825,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3825,begin surface
$RAFOS_CLK,204
$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,77.44
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.30
$XPDR_PINGS,25
$ALTIM_TOP_PING,18.9,16.7
$24V_AH,22.6,118.650
$10V_AH,9.8,58.103
$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,7.150,41.600,527.150,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,512.936,1686.899,420.509,1133.732,125.014,0.000,996.382,0.000,804.551,0.000,2.622,0.000
$DEVICE_MAMPS,240.975,155.295,1021.275,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.002,329.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,16859,474
$CAP_FILE_SIZE,56061,0
$CFSIZE,260165632,199163904
$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