version: 66.08
glider: 141
mission: 15
dive: 964
start: 6 15 111 1 58 18
data:
$ID,141
$MISSION,15
$DIVE,964
$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,-95900.664
$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,29
$R_STBD_OVSHOOT,63
$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
$GPS1,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-75.6
$GPS2,140611,153143,6652.926,-5651.085,181,99.0,181,-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,44.4,18790,-17.5,-10.000
$D_GRID,609
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-108.88,0.000,2,0.000,0.000,116,2516,2527,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.4,-8.8,22,181,12.75,2.45,-24.05,0.000,4,0.318,0.088,2659,1084,3629,0,0,0,0,0,0
$GC,262,-1.10,-146.0,23.9,-9.2,45,268,0.40,2.20,0.00,0.000,6,0.082,0.048,2515,2479,3629,0,0,0,0,0,0
$GC,608,-1.20,-146.0,67.6,-13.1,106,613,0.10,2.28,0.00,0.000,4,0.122,0.059,2478,3876,3629,0,0,0,0,0,0
$GC,622,-1.32,-146.0,69.4,-12.9,108,627,0.12,2.30,0.00,0.000,6,0.118,0.067,2435,2487,3629,0,0,0,0,0,0
$GC,958,-1.27,-146.0,126.7,-17.6,155,963,0.00,2.40,0.00,0.000,4,0.000,0.078,2434,1084,3628,0,0,0,0,0,0
$GC,970,-1.17,-146.0,129.0,-17.6,155,976,0.22,2.22,0.00,0.000,6,0.232,0.047,2485,2511,3627,0,0,0,0,0,0
$GC,1297,-1.19,-146.0,177.3,-14.2,186,1301,0.00,2.45,0.00,0.000,4,0.000,0.076,2485,1084,3627,0,0,0,0,0,0
$GC,1315,-1.12,-146.0,180.1,-14.9,187,1319,0.00,2.17,0.00,0.000,6,0.000,0.038,2485,2490,3628,0,0,0,0,0,0
$GC,1647,-1.39,-146.0,216.8,0.1,218,1651,0.20,2.25,0.00,0.000,4,0.096,0.050,2412,3893,3628,0,0,0,0,0,0
$GC,1660,-1.64,-146.0,216.7,0.1,219,1665,0.22,2.33,0.00,0.000,6,0.102,0.057,2337,2488,3628,0,0,0,0,0,0
$STATE,1738,end dive,NO_VERTICAL_VELOCITY
$STATE,1738,begin apogee
$GC,1746,-0.12,0.0,216.8,0.0,226,1875,1.52,0.00,119.82,1.034,6,0.123,0.000,2816,2272,3030,0,0,0,0,0,0
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1879,0.62,146.0,216.7,0.0,238,2013,0.73,2.47,124.60,0.990,4,0.094,0.048,3057,3667,2433,0,0,0,0,0,0
$GC,2268,1.05,358.8,216.5,0.2,274,2458,0.40,2.30,181.70,0.959,6,0.065,0.057,3213,2271,1567,0,0,0,0,0,0
$GC,2779,0.84,358.8,155.2,16.0,322,2784,0.28,2.28,0.00,0.000,4,0.214,0.048,3141,3687,1558,0,0,0,0,0,0
$GC,2790,0.65,358.8,153.1,15.5,322,2796,0.25,2.30,0.00,0.000,6,0.164,0.057,3080,2271,1555,0,0,0,0,0,0
$GC,3116,0.66,363.3,120.7,9.8,353,3120,0.00,2.30,0.00,0.000,4,0.000,0.067,3088,860,1555,0,0,0,0,0,0
$GC,3167,0.66,363.3,115.1,10.7,357,3171,0.00,2.20,0.00,0.000,6,0.000,0.037,3088,2279,1555,0,0,0,0,0,0
$GC,3506,0.58,363.3,70.9,12.6,407,3511,0.12,2.25,0.00,0.000,4,0.193,0.059,3058,3681,1555,0,0,0,0,0,0
$GC,3542,0.70,373.5,67.0,9.5,413,3562,0.00,2.28,12.07,0.830,6,0.000,0.061,3065,2271,1507,0,0,0,0,0,0
$GC,3905,0.85,440.2,42.8,6.9,477,3962,0.20,2.33,50.12,0.926,4,0.083,0.067,3155,863,1234,0,0,0,0,0,0
$GC,4015,0.77,440.2,30.0,12.9,497,4021,0.15,2.25,0.00,0.000,6,0.200,0.041,3120,2310,1230,0,0,0,0,0,0
$FREEZE,8.86,NaN,-0.007,0,327,0
$FREEZE,8.45,NaN,-0.006,0,327,0
$FREEZE,8.02,NaN,-0.006,0,327,0
$STATE,4201,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4201,begin subsurface finish
$FINISH1,8.0,1.027500,0
$GC,4208,0.00,0.0,8.0,-8.3,530,4279,0.82,0.00,-64.68,0.000,6,0.187,0.000,2874,2310,3030,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4280,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4280,begin surface
$RAFOS_CLK,280
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6652.93,-5651.08,140611,151543
$TT8_MAMPS,0.026964
$HUMID,74.49
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.20
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.7,16.7
$24V_AH,22.0,126.059
$10V_AH,9.9,60.694
$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,18.500,46.350,488.325,0.000,0.000,98.109,29.736,0.000,10.500,0.000,185.533,602.312,1991.676,469.425,1590.024,634.201,0.000,1123.473,0.000,904.402,0.000,2.616,0.000
$DEVICE_MAMPS,318.240,87.975,1034.280,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1143.710,376.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20052,544
$CAP_FILE_SIZE,69028,0
$CFSIZE,260165632,197267456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6