version: 66.08
glider: 141
mission: 15
dive: 829
start: 6 7 111 9 50 21
data:
$ID,141
$MISSION,15
$DIVE,829
$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,-67112.445
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-76.1
$GPS2,070611,040122,6709.499,-5648.380,181,99.0,181,-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,216.3,12038,-17.5,-10.000
$D_GRID,373
$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,16,-0.62,-146.0,0.0,0.0,0,180,0.00,0.00,-158.68,0.000,2,0.000,0.000,109,2502,3242,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.5,-8.2,28,215,13.65,2.42,-8.27,0.000,4,0.329,0.090,2656,1080,3631,0,0,0,0,0,0
$GC,298,-0.53,-146.0,33.3,-17.0,47,306,0.12,2.38,0.00,0.000,6,0.229,0.080,2685,2487,3632,0,0,0,0,0,0
$GC,645,-0.47,-146.0,85.0,-13.0,108,652,0.00,2.42,0.00,0.000,4,0.000,0.086,2685,3907,3631,0,0,0,0,0,0
$GC,706,-0.47,-146.0,93.1,-13.3,118,713,0.00,2.33,0.00,0.000,6,0.000,0.063,2685,2486,3631,0,0,0,0,0,0
$GC,1036,-0.45,-146.0,135.5,-11.6,153,1041,0.12,2.35,0.00,0.000,4,0.217,0.074,2715,1081,3631,0,0,0,0,0,0
$GC,1067,-0.47,-146.0,138.9,-11.2,155,1071,0.00,2.35,0.00,0.000,6,0.000,0.070,2715,2489,3631,0,0,0,0,0,0
$GC,1395,-0.53,-146.0,169.7,-9.4,185,1399,0.00,2.40,0.00,0.000,4,0.000,0.085,2715,3903,3630,0,0,0,0,0,0
$GC,1437,-0.61,-146.0,173.8,-9.4,188,1442,0.15,2.28,0.00,0.000,6,0.109,0.054,2664,2488,3630,0,0,0,0,0,0
$GC,1764,-0.84,-146.0,208.4,0.2,218,1769,0.20,2.30,0.00,0.000,4,0.100,0.067,2588,1077,3630,0,0,0,0,0,0
$GC,1794,-1.08,-146.0,208.4,0.2,220,1799,0.20,2.33,0.00,0.000,6,0.098,0.065,2516,2499,3630,0,0,0,0,0,0
$STATE,1873,end dive,NO_VERTICAL_VELOCITY
$STATE,1873,begin apogee
$GC,1880,-0.12,0.0,208.4,0.0,227,2013,0.98,0.00,121.25,1.050,6,0.139,0.000,2817,2267,3029,0,0,0,0,0,0
$STATE,2014,end apogee,CONTROL_FINISHED_OK
$STATE,2014,begin climb
$GC,2017,0.62,146.0,208.4,0.0,239,2153,0.77,2.58,123.30,1.000,4,0.145,0.072,3052,3693,2432,0,0,0,0,0,0
$GC,2257,0.75,203.5,198.9,7.3,260,2313,0.12,2.38,49.95,0.956,6,0.103,0.060,3110,2280,2199,0,0,0,0,0,0
$GC,2630,0.75,203.5,160.9,11.0,295,2634,0.00,2.35,0.00,0.000,4,0.000,0.074,3121,861,2193,0,0,0,0,0,0
$GC,2682,0.75,203.5,155.3,10.9,299,2687,0.00,2.33,0.00,0.000,6,0.000,0.060,3121,2289,2191,0,0,0,0,0,0
$GC,3009,0.75,203.5,116.6,11.4,329,3013,0.00,2.30,0.00,0.000,4,0.000,0.073,3121,3687,2191,0,0,0,0,0,0
$GC,3088,0.70,203.5,106.2,13.2,335,3095,0.15,2.30,0.00,0.000,6,0.190,0.057,3094,2267,2191,0,0,0,0,0,0
$GC,3430,0.82,253.7,76.7,7.7,390,3484,0.10,2.42,43.20,0.911,4,0.119,0.072,3150,857,1994,0,0,0,0,0,0
$GC,3525,0.82,253.7,67.2,10.5,405,3531,0.00,2.33,0.00,0.000,6,0.000,0.058,3150,2279,1990,0,0,0,0,0,0
$GC,3871,0.82,253.7,29.8,10.7,466,3878,0.00,2.30,0.00,0.000,4,0.000,0.077,3150,3689,1988,0,0,0,0,0,0
$GC,3919,0.78,253.7,23.7,12.9,474,3927,0.17,2.28,0.00,0.000,6,0.187,0.056,3115,2274,1987,0,0,0,0,0,0
$FREEZE,8.67,-0.895,-1.814,1,192,0
$FREEZE,8.23,-0.892,-1.814,1,192,0
$FREEZE,7.91,-0.889,-1.814,1,192,0
$FREEZE,7.43,-0.886,-1.814,1,192,0
$FREEZE,6.99,-0.882,-1.814,1,192,0
$STATE,4111,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4111,begin subsurface finish
$FINISH1,7.0,1.026536,47
$GC,4119,0.06,47.2,7.0,-8.0,508,4161,0.75,2.35,-32.45,0.000,4,0.165,0.081,2887,866,2839,0,0,0,0,0,0
$FINISH2,6.6
$STATE,4162,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4162,begin surface
$RAFOS_CLK,271
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5648.38,070611,040422
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.80
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.8,17.7
$24V_AH,22.3,109.617
$10V_AH,9.8,54.562
$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,17.500,49.825,337.700,0.000,0.000,101.138,16.927,0.000,12.000,0.000,185.282,1166.744,1767.840,473.389,1140.501,554.977,0.000,987.769,0.000,838.450,0.000,2.616,0.000
$DEVICE_MAMPS,328.950,90.270,1049.580,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.842,374.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20133,515
$CAP_FILE_SIZE,63169,0
$CFSIZE,260165632,201990144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,070611,040122,6709.499,-5648.380,181,99.0,181,-37.6