version: 66.08
glider: 141
mission: 15
dive: 998
start: 6 17 111 1 42 48
data:
$ID,141
$MISSION,15
$DIVE,998
$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,-104058.2
$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,34
$R_STBD_OVSHOOT,66
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-75.0
$GPS2,160611,173016,6715.065,-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,17,-0.62,-146.0,0.0,0.0,0,128,0.00,0.00,-108.10,0.000,2,0.000,0.000,116,2525,2567,0,0,0,0,0,0
$GC,132,-0.62,-146.0,5.1,-6.4,19,175,12.73,2.15,-23.02,0.000,4,0.319,0.062,2652,3867,3628,0,0,0,0,0,0
$GC,432,-0.95,-146.0,54.6,-15.0,71,440,0.30,2.28,0.00,0.000,6,0.121,0.067,2560,2504,3630,0,0,0,0,0,0
$GC,782,-1.40,-146.0,94.8,-11.0,132,789,0.40,2.40,0.00,0.000,4,0.093,0.072,2411,1078,3629,0,0,0,0,0,0
$GC,810,-1.45,-146.0,99.8,-16.8,136,816,0.00,2.17,0.00,0.000,6,0.000,0.036,2411,2477,3628,0,0,0,0,0,0
$GC,1136,-1.35,-146.0,165.4,-19.1,167,1140,0.00,2.38,0.00,0.000,4,0.000,0.075,2411,1077,3628,0,0,0,0,0,0
$GC,1160,-1.14,-146.0,170.5,-21.6,169,1165,0.35,2.17,0.00,0.000,6,0.238,0.036,2491,2488,3627,0,0,0,0,0,0
$GC,1487,-1.30,-146.0,217.1,-9.3,199,1492,0.15,2.38,0.00,0.000,4,0.116,0.066,2442,1071,3627,0,0,0,0,0,0
$STATE,1625,end dive,NO_VERTICAL_VELOCITY
$STATE,1626,begin apogee
$GC,1635,-0.12,0.0,217.3,0.0,211,1768,1.17,0.00,119.68,1.034,6,0.126,0.000,2814,2276,3029,0,0,0,0,0,0
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1769,begin climb
$GC,1772,0.62,146.0,217.4,0.0,223,1911,0.75,2.75,126.18,0.988,4,0.104,0.070,3055,868,2433,0,0,0,0,0,0
$GC,2167,1.11,362.8,217.2,-0.0,258,2370,0.47,2.30,194.20,0.964,6,0.080,0.036,3219,2274,1551,0,0,0,0,0,0
$GC,2698,0.89,362.8,159.4,15.2,307,2703,0.25,2.50,0.00,0.000,4,0.216,0.061,3167,859,1542,0,0,0,0,0,0
$GC,2739,0.63,362.8,152.6,17.6,310,2745,0.43,2.35,0.00,0.000,6,0.230,0.044,3073,2270,1540,0,0,0,0,0,0
$GC,3065,0.63,362.8,118.7,10.6,340,3069,0.00,2.38,0.00,0.000,4,0.000,0.063,3082,856,1539,0,0,0,0,0,0
$GC,3133,0.63,362.8,110.8,12.1,345,3140,0.00,2.28,0.00,0.000,6,0.000,0.045,3081,2282,1539,0,0,0,0,0,0
$GC,3473,0.61,362.8,70.6,11.3,398,3480,0.00,2.22,0.00,0.000,4,0.000,0.053,3082,3677,1539,0,0,0,0,0,0
$GC,3500,0.64,362.8,67.8,10.6,402,3507,0.00,2.30,0.00,0.000,6,0.000,0.051,3090,2264,1538,0,0,0,0,0,0
$GC,3848,0.75,454.4,38.8,5.8,463,3908,0.00,2.40,55.10,0.965,4,0.000,0.062,3097,865,1176,0,0,0,0,0,0
$GC,4003,1.03,502.6,28.2,7.8,489,4034,0.28,2.20,25.02,0.889,6,0.080,0.041,3205,2289,980,0,0,0,0,0,0
$FREEZE,8.67,-0.639,-1.790,0,361,0
$FREEZE,7.51,-0.649,-1.788,0,361,0
$FREEZE,6.41,-0.650,-1.788,0,361,0
$STATE,4124,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4124,begin subsurface finish
$FINISH1,6.4,1.026161,66
$GC,4132,0.08,65.6,6.4,-21.1,510,4263,1.20,2.25,-119.70,0.000,4,0.241,0.059,2902,3677,2763,0,0,0,0,0,0
$FINISH2,1.9
$STATE,4264,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4264,begin surface
$RAFOS_CLK,286
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026964
$HUMID,72.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,21.4,130.836
$10V_AH,9.8,62.226
$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,18.475,43.775,520.175,0.000,0.000,98.342,16.958,0.000,9.500,0.000,183.290,1156.300,1648.497,631.579,1210.480,668.243,0.000,1211.006,0.000,904.355,0.000,2.621,0.000
$DEVICE_MAMPS,319.005,74.970,1034.280,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.151,385.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150536
$DATA_FILE_SIZE,20095,532
$CAP_FILE_SIZE,64691,0
$CFSIZE,260165632,196046848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6