version: 66.08
glider: 141
mission: 15
dive: 847
start: 6 8 111 9 59 21
data:
$ID,141
$MISSION,15
$DIVE,847
$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,27
$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
$GPS1,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.94
$_SM_ANGLEo,-5.5
$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,12,begin dive
$GC,17,-0.65,-102.9,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2890,3682,3045,0,0,0,0,0,0
$GC,28,-0.71,-146.0,10.0,-0.0,1,53,0.73,4.28,-14.65,0.000,4,0.106,0.066,2637,1083,3629,0,0,0,0,0,0
$GC,208,-0.63,-146.0,43.1,-19.6,32,215,0.00,2.33,0.00,0.000,6,0.000,0.073,2637,2491,3629,0,0,0,0,0,0
$GC,558,-0.52,-146.0,110.8,-18.5,89,565,0.22,0.00,0.00,0.000,6,0.229,0.000,2690,2492,3629,0,0,0,0,0,0
$GC,887,-0.57,-146.0,152.1,-12.0,120,891,0.00,2.38,0.00,0.000,4,0.000,0.079,2690,3903,3627,0,0,0,0,0,0
$GC,951,-0.66,-146.0,159.7,-11.8,125,956,0.12,2.22,0.00,0.000,6,0.123,0.050,2648,2489,3627,0,0,0,0,0,0
$GC,1278,-1.04,-146.0,201.3,-0.1,155,1282,0.32,2.28,0.00,0.000,4,0.106,0.064,2531,1084,3627,0,0,0,0,0,0
$STATE,1375,end dive,NO_VERTICAL_VELOCITY
$STATE,1375,begin apogee
$GC,1387,-0.12,0.0,201.4,0.0,163,1514,0.93,0.00,119.07,1.027,6,0.143,0.000,2816,2282,3029,0,0,0,0,0,0
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1519,0.71,146.0,201.4,0.0,175,1652,0.82,2.47,121.55,0.979,4,0.122,0.070,3081,3689,2433,0,0,0,0,0,0
$GC,1891,0.75,155.8,172.6,9.4,208,1906,0.00,2.28,9.00,0.825,6,0.000,0.055,3091,2265,2393,0,0,0,0,0,0
$GC,2234,0.82,162.6,142.2,9.6,240,2248,0.10,2.35,7.12,0.777,4,0.118,0.070,3150,868,2367,0,0,0,0,0,0
$GC,2287,0.80,162.6,135.7,12.5,244,2294,0.00,2.25,0.00,0.000,6,0.000,0.056,3149,2278,2365,0,0,0,0,0,0
$GC,2617,0.77,162.6,93.4,12.8,279,2624,0.15,2.33,0.00,0.000,4,0.200,0.070,3110,3692,2365,0,0,0,0,0,0
$GC,2671,0.77,162.6,86.8,11.9,288,2678,0.00,2.25,0.00,0.000,6,0.000,0.053,3119,2267,2365,0,0,0,0,0,0
$GC,3018,0.82,171.7,52.3,9.4,349,3037,0.00,2.35,9.27,0.819,4,0.000,0.069,3128,868,2329,0,0,0,0,0,0
$GC,3133,0.89,180.5,41.7,9.4,368,3146,0.00,2.25,4.97,0.774,6,0.000,0.065,3128,2278,2293,0,0,0,0,0,0
$GC,3488,0.98,204.2,12.1,8.5,430,3508,0.15,2.30,11.55,0.824,4,0.097,0.069,3189,3692,2196,0,0,0,0,0,0
$FREEZE,8.76,-0.663,-1.814,0,210,2
$FREEZE,8.17,-0.671,-1.813,0,210,2
$FREEZE,7.54,-0.667,-1.812,0,210,2
$FREEZE,6.95,-0.646,-1.810,0,210,2
$FREEZE,6.40,-0.635,-1.809,0,210,2
$FREEZE,5.76,-0.661,-1.807,0,210,2
$FREEZE,5.20,-0.671,-1.807,0,210,2
$FREEZE,4.59,-0.677,-1.806,0,210,2
$FREEZE,4.03,-0.683,-1.804,0,210,2
$FREEZE,3.20,-0.682,-1.803,0,210,2
$FREEZE,2.60,-0.671,-1.802,0,210,2
$STATE,3572,end climb,SURFACE_DEPTH_REACHED
$STATE,3572,begin surface coast
$FREEZE,2.09,-0.661,-1.801,0,210,2
$FREEZE,2.05,-0.652,-0.237,0,210,2
$FREEZE,2.02,-0.703,-0.862,0,210,2
$FREEZE,2.07,-0.649,-0.845,0,210,2
$FREEZE,2.08,-0.661,-0.770,0,210,2
$FINISH,2.1,1.011322
$STATE,3599,end surface coast,CONTROL_FINISHED_OK
$STATE,3600,begin surface
$SM_CCo,3743,155.52,0.064,0,0,750,559.04
$SM_GC,2.93,0.00,0.00,155.52,0.000,0.000,0.064,115,2480,750,-8.59,-0.28,559.04
$RAFOS_CLK,216
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.025466
$HUMID,46.29
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.70
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.7,16.5
$24V_AH,22.8,111.340
$10V_AH,9.9,55.290
$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,12.500,38.250,282.550,155.525,0.000,0.000,0.000,0.000,9.000,0.000,0.000,1103.655,1547.594,447.095,749.073,113.703,0.000,879.194,0.000,749.807,0.000,2.616,0.000
$DEVICE_MAMPS,228.735,78.795,1026.630,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.914,329.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,16803,450
$CAP_FILE_SIZE,52303,0
$CFSIZE,260165632,201383936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6