version: 66.08
glider: 141
mission: 15
dive: 845
start: 6 8 111 7 50 20
data:
$ID,141
$MISSION,15
$DIVE,845
$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,-70447.562
$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,26
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-76.6
$GPS2,080611,032949,6703.953,-5649.833,181,99.0,181,-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,180.7,2206,-21.1,-10.000
$D_GRID,499
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-102.9,0.0,0.0,0,175,0.00,0.00,-153.38,0.000,2,0.000,0.000,112,2504,3219,0,0,0,0,0,0
$GC,178,-0.71,-146.0,5.3,-5.9,27,210,13.45,2.40,-8.77,0.000,4,0.330,0.081,2624,1083,3629,0,0,0,0,0,0
$GC,466,-0.66,-146.0,69.4,-18.1,77,473,0.00,2.30,0.00,0.000,6,0.000,0.067,2624,2482,3632,0,0,0,0,0,0
$GC,808,-0.57,-146.0,134.3,-18.1,122,813,0.20,2.33,0.00,0.000,4,0.223,0.068,2674,1078,3629,0,0,0,0,0,0
$GC,965,-0.64,-146.0,154.9,-11.2,135,972,0.00,2.33,0.00,0.000,6,0.000,0.076,2674,2490,3630,0,0,0,0,0,0
$GC,1292,-0.68,-146.0,194.2,-12.6,166,1296,0.00,2.40,0.00,0.000,4,0.000,0.080,2674,3906,3630,0,0,0,0,0,0
$GC,1336,-0.76,-146.0,199.8,-10.9,169,1344,0.17,2.25,0.00,0.000,6,0.107,0.051,2615,2490,3630,0,0,0,0,0,0
$STATE,1546,end dive,NO_VERTICAL_VELOCITY
$STATE,1546,begin apogee
$GC,1553,-0.12,0.0,204.9,0.0,189,1681,0.65,0.00,120.65,1.047,6,0.139,0.000,2817,2260,3030,0,0,0,0,0,0
$STATE,1682,end apogee,CONTROL_FINISHED_OK
$STATE,1682,begin climb
$GC,1685,0.71,146.0,204.8,0.0,200,1820,0.88,2.53,123.10,0.995,4,0.142,0.071,3093,876,2432,0,0,0,0,0,0
$GC,1944,0.76,149.9,191.7,9.7,223,1956,0.00,2.33,4.00,0.590,6,0.000,0.058,3093,2281,2418,0,0,0,0,0,0
$GC,2276,0.78,149.9,159.0,10.0,254,2280,0.00,2.30,0.00,0.000,4,0.000,0.073,3093,3694,2417,0,0,0,0,0,0
$GC,2388,0.78,149.9,145.7,12.1,263,2395,0.00,2.25,0.00,0.000,6,0.000,0.055,3104,2281,2417,0,0,0,0,0,0
$GC,2713,0.78,149.9,109.9,10.1,294,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2281,2417,0,0,0,0,0,0
$GC,3050,0.82,158.9,77.7,9.4,344,3069,0.00,2.38,9.25,0.826,4,0.000,0.068,3103,3683,2382,0,0,0,0,0,0
$GC,3115,0.82,158.9,70.6,10.9,355,3122,0.00,2.28,0.00,0.000,6,0.000,0.065,3113,2263,2382,0,0,0,0,0,0
$GC,3462,0.84,175.5,39.8,8.9,416,3481,0.00,2.30,11.70,0.926,4,0.000,0.070,3124,864,2313,0,0,0,0,0,0
$GC,3625,0.93,209.5,25.7,7.8,444,3650,0.10,2.28,17.75,0.897,6,0.123,0.065,3167,2279,2174,0,0,0,0,0,0
$FREEZE,8.92,-0.463,-1.823,0,208,0
$FREEZE,8.29,-0.540,-1.821,0,208,0
$FREEZE,7.71,-0.680,-1.820,0,208,0
$FREEZE,7.07,-0.706,-1.818,0,208,0
$STATE,3782,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3782,begin subsurface finish
$FINISH1,7.1,1.026585,45
$GC,3790,0.06,44.8,7.1,-12.1,472,3826,0.95,2.33,-28.25,0.000,4,0.193,0.083,2891,3693,2849,0,0,0,0,0,0
$FINISH2,5.7
$STATE,3827,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3827,begin surface
$RAFOS_CLK,259
$RAFOS,5,1307522462,8.700000,8.683888,62,58,58,55,55,51,209,189,152,135,231,170
$RAFOS,4,1307521982,8.566667,8.550555,64,63,56,56,55,52,206,145,128,224,97,215
$RAFOS,3,1307521511,8.433333,8.419723,64,61,61,59,55,55,207,192,166,221,137,151
$RAFOS,2,1307521026,8.300000,8.285000,62,59,56,52,50,49,208,196,154,175,141,1391
$RAFOS,1,1307520549,8.166667,8.152500,62,57,57,57,56,55,189,149,118,205,135,216
$RAFOS,0,1307520065,8.033334,8.018056,68,66,66,65,59,56,213,133,230,195,158,181
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.029211
$HUMID,48.07
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.70
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,22.4,111.176
$10V_AH,9.8,55.232
$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,16.400,35.300,286.450,0.000,0.000,92.284,30.545,0.000,12.250,0.000,183.287,1090.858,1628.298,414.671,1094.446,594.013,0.000,893.134,0.000,788.904,2520.000,2.622,0.000
$DEVICE_MAMPS,330.480,83.385,1046.520,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.311,352.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,16817,478
$CAP_FILE_SIZE,56945,0
$CFSIZE,260165632,201445376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6