version: 66.08
glider: 141
mission: 15
dive: 839
start: 6 7 111 23 54 5
data:
$ID,141
$MISSION,15
$DIVE,839
$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,-69337.797
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.37
$_SM_ANGLEo,-5.9
$GPS2,070611,223528,6703.953,-5654.551,0,10000.0,0,-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,148.1,5049,-17.5,-10.000
$D_GRID,541
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.55,0.000,2,0.000,0.000,2890,3686,3051,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,52,0.62,4.30,-14.90,0.000,4,0.122,0.066,2667,1071,3628,0,0,0,0,0,0
$GC,124,-0.51,-146.0,24.7,-18.3,17,132,0.12,2.33,0.00,0.000,6,0.228,0.070,2693,2491,3630,0,0,0,0,0,0
$GC,471,-0.43,-146.0,78.7,-15.2,78,478,0.12,0.00,0.00,0.000,6,0.230,0.000,2722,2491,3629,0,0,0,0,0,0
$GC,808,-0.43,-146.0,119.8,-11.4,123,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2491,3629,0,0,0,0,0,0
$GC,1129,-0.43,-146.0,156.4,-11.2,153,1133,0.00,2.35,0.00,0.000,4,0.000,0.080,2722,3899,3628,0,0,0,0,0,0
$GC,1151,-0.46,-146.0,159.5,-11.5,154,1158,0.00,2.25,0.00,0.000,6,0.000,0.051,2722,2489,3628,0,0,0,0,0,0
$GC,1477,-0.48,-146.0,192.7,-10.0,185,1481,0.00,2.28,0.00,0.000,4,0.000,0.068,2722,1081,3628,0,0,0,0,0,0
$GC,1495,-0.48,-146.0,194.8,-10.9,186,1499,0.00,2.30,0.00,0.000,6,0.000,0.064,2723,2489,3628,0,0,0,0,0,0
$STATE,1807,end dive,NO_VERTICAL_VELOCITY
$STATE,1807,begin apogee
$GC,1815,-0.12,0.0,208.8,0.0,215,1941,0.28,0.00,119.85,1.023,6,0.127,0.000,2815,2257,3030,0,0,0,0,0,0
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1945,0.62,146.0,208.9,0.0,226,2079,0.77,2.60,122.55,0.978,4,0.144,0.071,3050,3680,2433,0,0,0,0,0,0
$GC,2120,0.68,200.5,202.8,7.5,242,2175,0.00,2.38,47.95,0.939,6,0.000,0.058,3059,2280,2211,0,0,0,0,0,0
$GC,2494,0.81,239.7,173.2,8.2,277,2539,0.17,2.42,33.90,0.922,4,0.088,0.074,3144,865,2050,0,0,0,0,0,0
$GC,2645,0.79,239.7,153.4,13.7,290,2652,0.00,2.30,0.00,0.000,6,0.000,0.058,3143,2281,2046,0,0,0,0,0,0
$GC,2972,0.73,239.7,106.4,14.3,321,2974,0.15,0.00,0.00,0.000,6,0.189,0.000,3105,2282,2044,0,0,0,0,0,0
$GC,3306,0.77,239.7,69.9,10.7,375,3313,0.00,2.33,0.00,0.000,4,0.000,0.072,3111,865,2043,0,0,0,0,0,0
$GC,3372,0.82,239.7,62.9,10.1,386,3379,0.00,2.28,0.00,0.000,6,0.000,0.067,3111,2281,2042,0,0,0,0,0,0
$GC,3723,0.91,261.6,29.6,9.0,447,3743,0.12,2.40,12.90,0.872,4,0.103,0.071,3167,3696,1962,0,0,0,0,0,0
$GC,3820,0.83,261.6,16.5,14.7,463,3827,0.17,2.33,0.00,0.000,6,0.190,0.066,3132,2265,1960,0,0,0,0,0,0
$FREEZE,8.83,-1.023,-1.815,1,202,0
$FREEZE,8.39,-1.021,-1.815,1,202,0
$FREEZE,7.97,-1.020,-1.815,1,202,0
$FREEZE,7.45,-1.021,-1.815,1,202,0
$FREEZE,6.98,-1.014,-1.814,1,202,0
$STATE,3904,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3904,begin subsurface finish
$FINISH1,7.0,1.026545,47
$GC,3914,0.06,46.8,7.0,-9.3,478,3957,0.80,2.38,-36.33,0.000,4,0.158,0.081,2890,855,2841,0,0,0,0,0,0
$FINISH2,5.8
$STATE,3958,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3958,begin surface
$RAFOS_CLK,222
$RAFOS,6,1307494146,0.833333,0.818333,63,59,56,54,53,50,185,211,141,223,125,166
$RAFOS,5,1307493665,0.700000,0.684722,61,58,53,51,50,50,189,152,217,89,130,177
$RAFOS,4,1307493187,0.566667,0.551944,66,57,56,54,54,52,187,199,116,171,228,209
$RAFOS,3,1307492703,0.433333,0.417500,62,60,57,51,49,48,115,198,134,215,1108,227
$RAFOS,2,1307492223,0.300000,0.284167,59,58,56,55,53,52,189,173,150,206,129,164
$RAFOS,1,1307491745,0.166667,0.151389,63,61,60,59,55,55,185,131,159,140,206,217
$RAFOS,0,1307491263,0.033333,0.017500,68,58,58,57,54,52,210,178,159,198,139,233
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5654.55,070611,222228
$TT8_MAMPS,0.026964
$HUMID,47.95
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.50
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,22.5,110.624
$10V_AH,9.8,54.993
$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,3.350,37.575,337.150,0.000,0.000,0.000,0.000,0.000,13.500,0.000,0.000,1127.200,1652.243,347.474,773.348,116.272,0.000,798.822,0.000,774.900,2520.000,2.617,0.000
$DEVICE_MAMPS,230.265,81.090,1022.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.029,356.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16764,485
$CAP_FILE_SIZE,51255,0
$CFSIZE,260165632,201650176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,070611,223528,6703.953,-5654.551,0,10000.0,0,-37.6