version: 66.08
glider: 141
mission: 15
dive: 1026
start: 6 18 111 18 29 34
data:
$ID,141
$MISSION,15
$DIVE,1026
$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,-111829.2
$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,23
$R_STBD_OVSHOOT,48
$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
$GPS1,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-75.1
$GPS2,180611,081642,6715.065,-5701.191,181,99.0,181,-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,194.5,24291,-17.5,-10.000
$D_GRID,274
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.15,0.000,2,0.000,0.000,109,2513,2604,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.8,-9.2,19,173,13.40,2.28,-20.42,0.000,4,0.319,0.063,2653,3888,3630,0,0,0,0,0,0
$GC,430,-0.98,-146.0,53.8,-14.4,71,438,0.32,2.38,0.00,0.000,6,0.115,0.063,2552,2483,3631,0,0,0,0,0,0
$GC,780,-1.42,-146.0,89.0,-10.9,132,787,0.40,2.42,0.00,0.000,4,0.119,0.078,2418,1072,3629,0,0,0,0,0,0
$GC,813,-1.42,-146.0,94.1,-15.2,137,819,0.00,2.25,0.00,0.000,6,0.000,0.041,2417,2495,3629,0,0,0,0,0,0
$GC,1142,-1.34,-146.0,158.5,-18.7,170,1146,0.00,2.45,0.00,0.000,4,0.000,0.071,2418,1077,3628,0,0,0,0,0,0
$GC,1171,-1.11,-146.0,165.1,-22.9,172,1176,0.38,2.20,0.00,0.000,6,0.229,0.035,2503,2490,3628,0,0,0,0,0,0
$GC,1499,-1.15,-146.0,213.2,-14.3,202,1504,0.00,2.40,0.00,0.000,4,0.000,0.072,2504,1083,3628,0,0,0,0,0,0
$GC,1518,-1.11,-146.0,216.5,-15.2,203,1523,0.00,2.20,0.00,0.000,6,0.000,0.034,2504,2502,3627,0,0,0,0,0,0
$STATE,1709,end dive,NO_VERTICAL_VELOCITY
$STATE,1709,begin apogee
$GC,1718,-0.12,0.0,220.6,0.0,221,1853,0.90,0.00,126.40,1.028,6,0.086,0.000,2819,2257,3029,0,0,0,0,0,0
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1857,0.62,146.0,220.7,0.0,233,2001,0.75,2.70,133.50,0.981,4,0.069,0.068,3069,880,2433,0,0,0,0,0,0
$GC,2259,1.01,350.8,220.4,0.5,269,2459,0.38,2.40,191.93,0.956,6,0.062,0.032,3206,2278,1600,0,0,0,0,0,0
$GC,2786,0.80,350.8,159.5,14.3,318,2791,0.32,2.60,0.00,0.000,4,0.194,0.058,3137,872,1591,0,0,0,0,0,0
$GC,2820,0.59,350.8,154.2,15.0,320,2827,0.35,2.45,0.00,0.000,6,0.210,0.039,3061,2264,1589,0,0,0,0,0,0
$GC,3146,0.61,372.1,123.8,9.0,351,3172,0.00,2.58,19.70,0.868,4,0.000,0.049,3061,3676,1512,0,0,0,0,0,0
$GC,3185,0.69,382.3,120.0,9.5,354,3203,0.00,2.55,11.50,0.816,6,0.000,0.047,3069,2278,1471,0,0,0,0,0,0
$GC,3532,0.73,400.2,87.0,9.2,398,3558,0.00,2.60,18.38,0.857,4,0.000,0.067,3079,869,1398,0,0,0,0,0,0
$GC,3632,0.84,415.3,78.0,9.3,414,3657,0.17,2.50,16.10,0.843,6,0.083,0.037,3140,2288,1336,0,0,0,0,0,0
$GC,4000,0.68,415.3,19.4,14.4,478,4007,0.22,0.00,0.00,0.000,6,0.193,0.000,3091,2288,1333,0,0,0,0,0,0
$FREEZE,8.92,-0.328,-1.788,0,389,0
$FREEZE,8.53,-0.285,-1.786,0,389,0
$FREEZE,8.14,-0.322,-1.788,0,389,0
$FREEZE,7.53,-0.433,-1.788,0,389,0
$FREEZE,7.07,-0.426,-1.786,0,389,0
$FREEZE,6.61,-0.416,-1.785,0,389,0
$STATE,4131,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4131,begin subsurface finish
$FINISH1,6.6,1.026109,68
$GC,4140,0.08,68.2,6.6,-9.3,501,4206,0.68,2.47,-58.83,0.000,4,0.178,0.051,2899,3691,2753,0,0,0,0,0,0
$FINISH2,5.4
$STATE,4207,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4207,begin surface
$RAFOS_CLK,279
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.026964
$HUMID,73.78
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,20.9,134.906
$10V_AH,9.8,63.549
$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,18.275,41.825,517.500,0.000,0.000,91.915,28.582,0.000,8.000,0.000,185.750,1120.633,1724.895,575.362,1168.775,661.151,0.000,1128.775,0.000,859.064,0.000,2.622,0.000
$DEVICE_MAMPS,319.005,78.030,1028.160,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.113,375.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20189,512
$CAP_FILE_SIZE,63876,0
$CFSIZE,260165632,195010560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6