version: 66.08
glider: 141
mission: 15
dive: 871
start: 6 9 111 20 10 5
data:
$ID,141
$MISSION,15
$DIVE,871
$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,-77086.906
$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
$GPS1,090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.62
$_SM_ANGLEo,-4.6
$GPS2,090611,173745,6709.499,-5819.472,0,10000.0,0,-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,137.9,67143,-17.5,-10.000
$D_GRID,1158
$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,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.47,0.000,2,0.000,0.000,2893,2286,2975,0,0,0,0,0,0
$GC,28,-0.62,-146.0,5.8,-0.0,1,59,0.60,2.75,-23.25,0.000,4,0.088,0.086,2663,3898,3627,0,0,0,0,0,0
$GC,112,-0.51,-146.0,18.0,-17.2,15,119,0.12,2.25,0.00,0.000,6,0.226,0.048,2689,2483,3628,0,0,0,0,0,0
$GC,460,-0.47,-146.0,69.7,-13.0,76,467,0.00,2.28,0.00,0.000,4,0.000,0.067,2689,1087,3629,0,0,0,0,0,0
$GC,476,-0.42,-146.0,71.9,-13.4,78,483,0.12,2.33,0.00,0.000,6,0.227,0.072,2718,2490,3629,0,0,0,0,0,0
$GC,820,-0.46,-146.0,107.7,-9.5,132,824,0.00,2.38,0.00,0.000,4,0.000,0.080,2718,3899,3627,0,0,0,0,0,0
$GC,855,-0.51,-146.0,111.1,-8.7,135,859,0.00,2.25,0.00,0.000,6,0.000,0.051,2718,2492,3627,0,0,0,0,0,0
$GC,1187,-0.57,-146.0,141.1,-9.4,166,1191,0.12,2.30,0.00,0.000,4,0.126,0.067,2674,1081,3626,0,0,0,0,0,0
$GC,1216,-0.57,-146.0,144.4,-12.0,168,1220,0.00,2.33,0.00,0.000,6,0.000,0.063,2673,2496,3626,0,0,0,0,0,0
$GC,1543,-0.54,-146.0,182.9,-10.7,198,1547,0.00,2.33,0.00,0.000,4,0.000,0.078,2673,3899,3624,0,0,0,0,0,0
$GC,1620,-0.54,-146.0,191.6,-11.6,204,1627,0.00,2.22,0.00,0.000,6,0.000,0.050,2673,2491,3624,0,0,0,0,0,0
$STATE,1901,end dive,NO_VERTICAL_VELOCITY
$STATE,1901,begin apogee
$GC,1908,-0.12,0.0,205.0,0.0,231,2034,0.45,0.00,119.10,1.030,6,0.134,0.000,2819,2248,3030,0,0,0,0,0,0
$STATE,2034,end apogee,CONTROL_FINISHED_OK
$STATE,2035,begin climb
$GC,2037,0.62,146.0,205.1,0.0,242,2170,0.75,2.58,122.35,0.980,4,0.134,0.067,3052,3697,2433,0,0,0,0,0,0
$GC,2222,0.58,158.2,197.8,9.4,258,2241,0.00,2.38,11.43,0.860,6,0.000,0.060,3063,2293,2384,0,0,0,0,0,0
$GC,2559,0.58,158.2,164.0,10.8,290,2563,0.00,2.33,0.00,0.000,4,0.000,0.069,3074,859,2382,0,0,0,0,0,0
$GC,2611,0.58,158.2,158.5,10.7,294,2615,0.00,2.28,0.00,0.000,6,0.000,0.054,3074,2290,2380,0,0,0,0,0,0
$GC,2937,0.58,162.4,125.4,9.8,324,2949,0.00,2.28,4.70,0.640,4,0.000,0.069,3074,3687,2368,0,0,0,0,0,0
$GC,3059,0.53,162.4,111.9,10.9,334,3067,0.17,2.28,0.00,0.000,6,0.172,0.053,3037,2266,2367,0,0,0,0,0,0
$GC,3395,0.70,246.1,88.8,6.1,380,3477,0.15,2.35,72.65,0.910,4,0.093,0.069,3116,864,2025,0,0,0,0,0,0
$GC,3516,0.72,246.1,75.7,11.8,400,3523,0.00,2.30,0.00,0.000,6,0.000,0.052,3116,2285,2021,0,0,0,0,0,0
$GC,3863,0.75,270.9,37.8,8.9,461,3888,0.00,2.33,15.68,0.904,4,0.000,0.067,3116,3676,1923,0,0,0,0,0,0
$GC,3923,0.75,270.9,31.5,11.1,471,3930,0.00,2.25,0.00,0.000,6,0.000,0.062,3125,2275,1921,0,0,0,0,0,0
$FREEZE,8.84,-1.301,-1.813,2,234,0
$FREEZE,8.10,-1.307,-1.812,2,234,0
$FREEZE,7.51,-1.305,-1.812,2,234,0
$FREEZE,6.89,-1.306,-1.811,2,234,0
$STATE,4143,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4143,begin subsurface finish
$FINISH1,6.9,1.026518,48
$GC,4151,0.06,48.1,6.9,-12.8,510,4199,0.80,2.33,-37.92,0.000,4,0.193,0.085,2891,864,2835,0,0,0,0,0,0
$FINISH2,5.4
$STATE,4199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4199,begin surface
$RAFOS_CLK,235
$RAFOS,6,1307652549,20.833334,20.819166,67,60,53,52,52,51,200,214,224,132,113,173
$RAFOS,5,1307652063,20.700001,20.684166,62,62,58,58,57,56,178,190,137,146,215,203
$RAFOS,4,1307651584,20.566668,20.551111,67,65,57,55,54,54,215,176,189,112,205,157
$RAFOS,3,1307651101,20.433332,20.416945,64,58,58,57,53,50,161,171,189,143,207,218
$RAFOS,2,1307650623,20.299999,20.284166,55,54,53,53,53,50,156,137,120,189,212,173
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5819.47,090611,171745
$TT8_MAMPS,0.026964
$HUMID,73.39
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.7,17.2
$24V_AH,22.6,113.955
$10V_AH,9.8,56.364
$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,3.300,49.400,345.900,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,1182.016,1745.465,366.537,839.101,124.686,0.000,859.300,0.000,839.072,1800.000,2.616,0.000
$DEVICE_MAMPS,227.205,85.680,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.799,380.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,518
$CAP_FILE_SIZE,58639,0
$CFSIZE,260165632,200556544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6