version: 66.08
glider: 141
mission: 15
dive: 978
start: 6 15 111 21 53 29
data:
$ID,141
$MISSION,15
$DIVE,978
$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,-99612.133
$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,28
$R_STBD_OVSHOOT,65
$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
$GPS1,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-34.0
$GPS2,150611,173508,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-94.85,0.000,2,0.000,0.000,112,2522,2438,0,0,0,0,0,0
$GC,118,-0.62,-146.0,5.1,-7.0,17,167,12.85,2.42,-27.98,0.000,4,0.319,0.085,2655,1086,3627,0,0,0,0,0,0
$GC,194,-0.91,-146.0,17.3,-9.9,29,202,0.28,2.15,0.00,0.000,6,0.113,0.037,2569,2485,3628,0,0,0,0,0,0
$GC,543,-1.30,-146.0,52.0,-9.0,90,550,0.35,2.38,0.00,0.000,4,0.129,0.071,2452,1084,3628,0,0,0,0,0,0
$GC,587,-1.15,-146.0,59.0,-19.8,97,595,0.15,2.20,0.00,0.000,6,0.234,0.045,2483,2491,3628,0,0,0,0,0,0
$GC,929,-1.15,-146.0,116.7,-16.3,149,933,0.00,2.22,0.00,0.000,4,0.000,0.051,2483,3885,3627,0,0,0,0,0,0
$GC,958,-1.34,-146.0,120.8,-12.7,151,965,0.15,2.25,0.00,0.000,6,0.109,0.054,2434,2492,3628,0,0,0,0,0,0
$GC,1284,-1.28,-146.0,176.2,-17.0,182,1288,0.00,2.38,0.00,0.000,4,0.000,0.076,2434,1082,3627,0,0,0,0,0,0
$GC,1299,-1.16,-146.0,178.7,-17.6,183,1304,0.22,2.17,0.00,0.000,6,0.239,0.038,2484,2492,3627,0,0,0,0,0,0
$GC,1626,-1.38,-146.0,211.4,-0.2,213,1631,0.17,2.25,0.00,0.000,4,0.103,0.049,2420,3892,3627,0,0,0,0,0,0
$STATE,1656,end dive,NO_VERTICAL_VELOCITY
$STATE,1657,begin apogee
$GC,1667,-0.12,0.0,211.4,0.0,215,1795,1.30,0.00,119.50,1.033,6,0.142,0.000,2813,2274,3030,0,0,0,0,0,0
$STATE,1795,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1800,0.62,146.0,211.4,0.0,227,1937,0.77,2.58,125.15,0.984,4,0.131,0.050,3048,3661,2433,0,0,0,0,0,0
$GC,2194,0.88,356.0,210.7,0.3,262,2383,0.25,2.30,181.20,0.959,6,0.075,0.048,3154,2262,1579,0,0,0,0,0,0
$GC,2705,0.75,356.0,167.9,13.2,309,2710,0.17,2.35,0.00,0.000,4,0.204,0.050,3114,3686,1570,0,0,0,0,0,0
$GC,2758,0.75,356.0,162.0,10.4,313,2762,0.00,2.30,0.00,0.000,6,0.000,0.054,3121,2276,1568,0,0,0,0,0,0
$GC,3085,0.68,356.0,127.6,10.4,343,3090,0.15,2.22,0.00,0.000,4,0.195,0.049,3084,3678,1568,0,0,0,0,0,0
$GC,3097,0.62,356.0,126.1,10.2,343,3104,0.00,2.30,0.00,0.000,6,0.000,0.062,3087,2270,1567,0,0,0,0,0,0
$GC,3426,0.62,356.6,95.2,10.0,378,3433,0.00,2.28,0.00,0.000,4,0.000,0.058,3087,3680,1567,0,0,0,0,0,0
$GC,3492,0.70,364.2,88.7,9.7,389,3505,0.00,2.28,6.82,0.750,6,0.000,0.052,3097,2270,1545,0,0,0,0,0,0
$GC,3849,0.71,396.0,54.2,8.5,451,3886,0.00,2.33,29.73,0.887,4,0.000,0.063,3107,868,1414,0,0,0,0,0,0
$GC,3938,0.71,396.0,45.2,11.0,466,3945,0.00,2.20,0.00,0.000,6,0.000,0.043,3108,2278,1412,0,0,0,0,0,0
$FREEZE,8.51,-0.785,-1.799,0,341,0
$GC,4286,0.71,396.0,8.5,10.7,527,4293,0.00,2.33,0.00,0.000,4,0.000,0.068,3117,868,1411,0,0,0,0,0,0
$FREEZE,6.85,-0.757,-1.797,0,341,0
$STATE,4300,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4300,begin subsurface finish
$FINISH1,6.9,1.026298,59
$GC,4310,0.07,58.9,6.9,-10.7,529,4381,0.80,2.28,-63.58,0.000,4,0.203,0.058,2893,3691,2791,0,0,0,0,0,0
$FINISH2,5.2
$STATE,4382,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4382,begin surface
$RAFOS_CLK,280
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.026964
$HUMID,75.32
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.50
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.7,17.7
$24V_AH,21.8,128.009
$10V_AH,9.8,61.342
$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,17.625,53.100,462.400,0.000,0.000,101.001,17.349,0.000,12.500,0.000,185.583,1194.777,1815.470,546.520,1207.168,637.074,0.000,1108.942,0.000,897.840,0.000,2.621,0.000
$DEVICE_MAMPS,319.005,84.915,1032.750,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.864,393.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20062,541
$CAP_FILE_SIZE,67457,0
$CFSIZE,260165632,196763648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6