version: 66.08
glider: 141
mission: 15
dive: 842
start: 6 8 111 3 39 32
data:
$ID,141
$MISSION,15
$DIVE,842
$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,-69708.383
$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,26
$R_STBD_OVSHOOT,27
$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,-5654.551,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-76.8
$GPS2,070611,223528,6703.953,-5654.551,181,99.0,181,-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,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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,176,0.00,0.00,-154.40,0.000,2,0.000,0.000,104,2495,3241,0,0,0,0,0,0
$GC,180,-0.62,-146.0,5.5,-8.3,27,212,13.62,2.40,-8.12,0.000,4,0.330,0.092,2657,3893,3630,0,0,0,0,0,0
$GC,311,-0.55,-146.0,37.4,-17.6,49,317,0.00,2.28,0.00,0.000,6,0.000,0.060,2657,2487,3632,0,0,0,0,0,0
$GC,658,-0.43,-146.0,98.1,-16.6,110,665,0.25,2.33,0.00,0.000,4,0.213,0.068,2724,1078,3631,0,0,0,0,0,0
$GC,674,-0.33,-146.0,100.8,-16.3,112,679,0.12,2.30,0.00,0.000,6,0.225,0.067,2753,2487,3631,0,0,0,0,0,0
$GC,1001,-0.45,-146.0,126.3,-6.7,142,1006,0.12,2.40,0.00,0.000,4,0.119,0.082,2707,3908,3630,0,0,0,0,0,0
$GC,1021,-0.55,-146.0,127.8,-6.8,143,1025,0.00,2.28,0.00,0.000,6,0.000,0.053,2707,2488,3630,0,0,0,0,0,0
$GC,1348,-0.57,-146.0,159.4,-9.4,173,1352,0.00,2.28,0.00,0.000,4,0.000,0.067,2707,1083,3629,0,0,0,0,0,0
$GC,1361,-0.60,-146.0,160.7,-9.3,174,1366,0.10,2.33,0.00,0.000,6,0.135,0.066,2671,2490,3629,0,0,0,0,0,0
$GC,1688,-0.56,-146.0,200.6,-12.3,204,1692,0.00,2.38,0.00,0.000,4,0.000,0.080,2671,3899,3629,0,0,0,0,0,0
$GC,1808,-0.86,-146.0,206.5,0.1,214,1815,0.25,2.22,0.00,0.000,6,0.096,0.044,2583,2475,3629,0,0,0,0,0,0
$STATE,1876,end dive,NO_VERTICAL_VELOCITY
$STATE,1876,begin apogee
$GC,1884,-0.12,0.0,206.4,0.0,221,2015,0.73,0.00,120.75,1.044,6,0.139,0.000,2812,2272,3029,0,0,0,0,0,0
$STATE,2016,end apogee,CONTROL_FINISHED_OK
$STATE,2016,begin climb
$GC,2019,0.62,146.0,206.5,0.0,233,2152,0.80,2.53,122.57,0.993,4,0.145,0.070,3054,3687,2432,0,0,0,0,0,0
$GC,2268,0.60,151.9,192.7,9.7,255,2281,0.00,2.33,5.78,0.731,6,0.000,0.057,3064,2278,2410,0,0,0,0,0,0
$GC,2599,0.61,163.9,163.1,9.4,286,2616,0.00,2.33,11.52,0.870,4,0.000,0.070,3075,862,2361,0,0,0,0,0,0
$GC,2700,0.64,166.3,153.9,9.9,294,2704,0.00,2.28,0.00,0.000,6,0.000,0.057,3075,2280,2360,0,0,0,0,0,0
$GC,3031,0.67,191.2,122.0,8.9,325,3065,0.00,2.40,24.23,0.916,4,0.000,0.071,3075,3696,2250,0,0,0,0,0,0
$GC,3162,0.65,191.2,108.4,10.6,336,3169,0.00,2.30,0.00,0.000,6,0.000,0.054,3085,2267,2249,0,0,0,0,0,0
$GC,3503,0.65,195.4,75.8,9.8,389,3516,0.00,2.30,5.05,0.684,4,0.000,0.070,3096,857,2232,0,0,0,0,0,0
$GC,3610,0.68,201.2,65.9,9.7,407,3625,0.00,2.28,6.55,0.759,6,0.000,0.056,3095,2277,2209,0,0,0,0,0,0
$GC,3967,0.76,248.6,33.0,7.8,469,4002,0.00,0.00,28.33,0.936,6,0.000,0.000,3096,2276,2015,0,0,0,0,0,0
$STATE,4231,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4231,begin subsurface finish
$FINISH1,9.6,1.026578,45
$GC,4239,0.06,45.2,9.6,-8.8,516,4275,0.68,2.38,-25.55,0.000,4,0.165,0.078,2890,866,2848,0,0,0,0,0,0
$FINISH2,8.7
$STATE,4275,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4275,begin surface
$RAFOS_CLK,280
$RAFOS,5,1307508063,4.700000,4.684166,60,59,53,52,52,52,212,140,181,119,159,222
$RAFOS,4,1307507591,4.566667,4.553056,61,57,54,52,51,50,211,168,1038,157,134,114
$RAFOS,3,1307507103,4.433333,4.417500,62,59,59,55,52,52,211,195,131,230,168,118
$RAFOS,2,1307506624,4.300000,4.284444,65,63,62,55,52,49,208,167,221,184,145,126
$RAFOS,1,1307506142,4.166667,4.150556,68,60,59,58,52,50,198,170,156,212,131,140
$RAFOS,0,1307505662,4.033333,4.017222,65,56,52,47,47,47,146,170,210,199,111,231
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6703.95,-5649.83,080611,030349
$TT8_MAMPS,0.029211
$HUMID,48.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.80
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.6,15.0
$24V_AH,22.5,110.918
$10V_AH,9.8,55.105
$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,16.675,44.575,324.775,0.000,0.000,90.746,53.067,0.000,13.750,0.000,185.309,1197.623,1840.589,448.966,1195.484,577.778,0.000,975.585,0.000,861.538,2520.000,2.614,0.000
$DEVICE_MAMPS,330.480,91.800,1044.225,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.825,383.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20143,522
$CAP_FILE_SIZE,64530,0
$CFSIZE,260165632,201539584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,080611,032949,6703.953,-5649.833,0,10000.0,0,-37.6