version: 66.08
glider: 141
mission: 15
dive: 851
start: 6 8 111 15 23 45
data:
$ID,141
$MISSION,15
$DIVE,851
$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,-71553.297
$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,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,10.08
$_SM_ANGLEo,-8.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.65,-102.9,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2897,3683,3035,0,0,0,0,0,0
$GC,28,-0.71,-146.0,11.6,-0.0,1,53,0.73,4.30,-13.82,0.000,4,0.112,0.067,2634,1074,3629,0,0,0,0,0,0
$GC,179,-0.56,-146.0,44.7,-23.3,27,187,0.20,2.30,0.00,0.000,6,0.243,0.063,2677,2490,3630,0,0,0,0,0,0
$GC,524,-0.48,-146.0,110.6,-18.9,83,529,0.12,2.38,0.00,0.000,4,0.257,0.077,2705,3899,3630,0,0,0,0,0,0
$GC,569,-0.51,-146.0,118.3,-15.2,86,576,0.00,2.22,0.00,0.000,6,0.000,0.049,2705,2483,3630,0,0,0,0,0,0
$GC,896,-0.51,-146.0,167.5,-15.0,117,900,0.00,2.25,0.00,0.000,4,0.000,0.066,2704,1083,3629,0,0,0,0,0,0
$GC,908,-0.51,-146.0,169.6,-15.0,117,915,0.00,2.28,0.00,0.000,6,0.000,0.063,2704,2488,3629,0,0,0,0,0,0
$GC,1236,-0.83,-146.0,193.7,0.1,148,1241,0.28,2.17,0.00,0.000,3,0.089,0.076,2594,3801,3629,0,0,0,0,0,0
$STATE,1242,end dive,NO_VERTICAL_VELOCITY
$STATE,1242,begin apogee
$GC,1252,-0.12,0.0,193.7,0.0,148,1379,0.73,0.00,119.95,1.021,6,0.147,0.000,2815,2270,3030,0,0,0,0,0,0
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1383,0.71,146.0,193.8,0.0,160,1518,0.88,2.47,122.25,0.974,4,0.146,0.070,3086,865,2433,0,0,0,0,0,0
$GC,1636,0.96,203.4,184.1,6.3,182,1692,0.25,2.33,49.53,0.937,6,0.076,0.058,3185,2289,2200,0,0,0,0,0,0
$GC,2010,0.93,203.4,136.2,13.4,217,2014,0.00,2.30,0.00,0.000,4,0.000,0.072,3185,3694,2193,0,0,0,0,0,0
$GC,2067,0.86,203.4,127.5,15.0,221,2074,0.20,2.30,0.00,0.000,6,0.203,0.057,3147,2266,2192,0,0,0,0,0,0
$GC,2397,0.92,203.4,92.5,10.0,258,2403,0.00,2.30,0.00,0.000,4,0.000,0.071,3155,868,2192,0,0,0,0,0,0
$GC,2519,1.00,203.4,80.1,10.4,279,2526,0.00,2.28,0.00,0.000,6,0.000,0.061,3155,2280,2190,0,0,0,0,0,0
$GC,2865,1.05,203.4,46.0,10.7,340,2872,0.12,2.33,0.00,0.000,4,0.109,0.073,3204,3683,2189,0,0,0,0,0,0
$GC,2948,0.96,203.4,34.5,14.4,354,2955,0.17,2.30,0.00,0.000,6,0.216,0.066,3174,2269,2189,0,0,0,0,0,0
$FREEZE,8.68,-0.767,-1.807,0,214,0
$FREEZE,8.27,-0.732,-1.804,0,214,0
$FREEZE,7.86,-0.715,-1.803,0,214,0
$STATE,3214,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3214,begin subsurface finish
$FINISH1,7.9,1.026372,55
$GC,3222,0.07,55.3,7.9,-8.3,401,3252,0.95,2.30,-21.62,0.000,4,0.187,0.079,2893,861,2807,0,0,0,0,0,0
$FINISH2,7.3
$STATE,3253,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3253,begin surface
$RAFOS_CLK,189
$RAFOS,1,1307549346,16.166666,16.151667,58,55,53,52,51,51,1619,175,203,387,146,214
$RAFOS,0,1307548866,16.033333,16.018333,63,57,56,55,54,54,198,162,136,178,124,1692
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.028462
$HUMID,49.48
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.50
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.7,16.7
$24V_AH,22.6,111.705
$10V_AH,9.8,55.459
$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,4.625,41.275,291.725,0.000,0.000,0.000,0.000,0.000,9.750,0.000,0.000,956.016,1292.537,302.387,661.456,95.647,0.000,696.122,0.000,665.170,1080.000,5.596,0.000
$DEVICE_MAMPS,257.040,78.795,1020.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,286.611,298.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13466,406
$CAP_FILE_SIZE,44719,0
$CFSIZE,260165632,201265152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,080611,032949,6703.953,-5649.833,181,99.0,181,-37.6