version: 66.08
glider: 141
mission: 15
dive: 1032
start: 6 19 111 3 47 24
data:
$ID,141
$MISSION,15
$DIVE,1032
$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,-113682.66
$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,44
$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
$GPS1,190611,002721,6715.065,-5704.283,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-76.1
$GPS2,190611,002721,6715.065,-5704.283,181,99.0,181,-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,189.8,25250,-17.5,-10.000
$D_GRID,299
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-103.18,0.000,2,0.000,0.000,118,2505,2517,0,0,0,0,0,0
$GC,127,-0.62,-146.0,5.2,-6.6,18,171,15.02,2.53,-23.42,0.000,4,0.311,0.060,2656,3890,3629,0,0,0,0,0,0
$GC,429,-0.96,-146.0,50.4,-13.8,70,437,0.35,2.50,0.00,0.000,6,0.100,0.056,2554,2498,3631,0,0,0,0,0,0
$GC,778,-1.33,-146.0,84.6,-10.5,131,785,0.38,2.45,0.00,0.000,4,0.134,0.047,2441,3886,3630,0,0,0,0,0,0
$GC,862,-1.60,-146.0,95.4,-13.6,145,869,0.28,2.47,0.00,0.000,6,0.091,0.052,2353,2490,3629,0,0,0,0,0,0
$GC,1193,-1.45,-146.0,164.2,-20.5,178,1198,0.20,2.58,0.00,0.000,4,0.219,0.071,2395,1078,3628,0,0,0,0,0,0
$GC,1216,-1.21,-146.0,170.2,-23.0,179,1224,0.32,2.33,0.00,0.000,6,0.234,0.035,2466,2482,3628,0,0,0,0,0,0
$GC,1543,-1.19,-146.0,221.8,-15.6,210,1547,0.00,2.42,0.00,0.000,4,0.000,0.050,2466,3899,3628,0,0,0,0,0,0
$STATE,1727,end dive,NO_VERTICAL_VELOCITY
$STATE,1727,begin apogee
$GC,1739,-0.12,0.0,226.8,0.0,226,1878,1.30,0.00,131.43,1.036,6,0.168,0.000,2813,2267,3030,0,0,0,0,0,0
$STATE,1879,end apogee,CONTROL_FINISHED_OK
$STATE,1879,begin climb
$GC,1882,0.62,146.0,226.6,0.0,238,2029,0.77,2.80,137.75,0.983,4,0.060,0.044,3059,3674,2433,0,0,0,0,0,0
$GC,2285,0.80,359.6,226.1,0.1,274,2503,0.17,2.62,206.50,0.955,6,0.081,0.054,3127,2275,1564,0,0,0,0,0,0
$GC,2822,0.71,359.6,175.5,12.0,324,2827,0.15,2.72,0.00,0.000,4,0.185,0.062,3107,867,1555,0,0,0,0,0,0
$GC,2902,0.57,359.6,164.8,14.1,330,2909,0.25,2.55,0.00,0.000,6,0.188,0.044,3054,2274,1554,0,0,0,0,0,0
$GC,3231,0.57,359.6,127.7,10.6,361,3235,0.00,2.58,0.00,0.000,4,0.000,0.050,3054,3683,1553,0,0,0,0,0,0
$GC,3254,0.57,359.6,124.7,11.4,362,3261,0.00,2.60,0.00,0.000,6,0.000,0.053,3055,2267,1551,0,0,0,0,0,0
$GC,3580,0.68,422.6,99.7,7.1,393,3647,0.00,2.83,61.12,0.897,4,0.000,0.057,3065,863,1307,0,0,0,0,0,0
$GC,3708,0.96,483.1,90.1,7.2,414,3778,0.32,2.60,60.88,0.877,6,0.060,0.041,3174,2283,1060,0,0,0,0,0,0
$FREEZE,8.96,0.309,-1.785,0,395,1
$FREEZE,8.08,0.283,-1.784,0,395,1
$STATE,4086,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4086,begin subsurface finish
$FINISH1,8.1,1.026050,71
$GC,4094,0.09,71.1,8.1,-18.0,480,4172,1.23,2.80,-66.35,0.000,4,0.210,0.081,2908,869,2742,0,0,0,0,0,0
$FINISH2,6.0
$STATE,4172,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4176,begin surface
$RAFOS_CLK,272
$RAFOS,6,1308458943,4.833333,4.817500,64,55,54,53,52,51,196,170,221,137,147,113
$RAFOS,5,1308458469,4.700000,4.685833,65,60,59,57,56,53,201,152,131,171,222,113
$RAFOS,4,1308457989,4.566667,4.552500,67,64,60,60,57,55,189,211,153,232,135,170
$RAFOS,3,1308457502,4.433333,4.417222,55,55,53,50,49,49,168,200,214,147,122,224
$RAFOS,2,1308457025,4.300000,4.284722,62,61,59,51,50,49,198,222,166,144,208,115
$RAFOS,1,1308456549,4.166667,4.152500,63,55,54,52,52,51,195,212,180,142,229,129
$RAFOS,0,1308456063,4.033333,4.017500,59,55,54,54,50,48,210,136,176,151,189,119
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5704.28,190611,000021
$TT8_MAMPS,0.026964
$HUMID,72.09
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.50
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.8,16.5
$24V_AH,20.4,135.827
$10V_AH,9.8,63.850
$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,20.750,44.275,597.675,0.000,0.000,102.058,17.329,0.000,8.500,0.000,183.287,1063.893,1687.348,641.645,1165.293,656.137,0.000,1205.162,0.000,857.816,2520.000,2.620,0.000
$DEVICE_MAMPS,310.590,81.090,1035.810,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.608,361.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,20139,493
$CAP_FILE_SIZE,62940,0
$CFSIZE,260165632,194781184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,190611,002721,6715.065,-5704.283,181,99.0,181,-37.6