version: 66.08
glider: 141
mission: 15
dive: 971
start: 6 15 111 11 54 33
data:
$ID,141
$MISSION,15
$DIVE,971
$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,-97755.734
$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,31
$R_STBD_OVSHOOT,70
$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
$GPS1,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.6
$GPS2,150611,060412,6715.065,-5705.686,181,99.0,181,-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,187.8,25737,-17.5,-10.000
$D_GRID,322
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-113.50,0.000,2,0.000,0.000,109,2519,2657,0,0,0,0,0,0
$GC,137,-0.62,-146.0,5.8,-7.7,20,175,12.82,2.22,-19.48,0.000,4,0.317,0.063,2654,3859,3630,0,0,0,0,0,0
$GC,432,-0.97,-146.0,54.1,-14.7,71,439,0.32,2.28,0.00,0.000,6,0.112,0.067,2551,2498,3631,0,0,0,0,0,0
$GC,779,-1.37,-146.0,90.7,-11.0,132,787,0.35,2.42,0.00,0.000,4,0.166,0.074,2434,1081,3629,0,0,0,0,0,0
$GC,836,-1.15,-146.0,101.1,-23.1,141,843,0.25,2.15,0.00,0.000,6,0.239,0.037,2489,2470,3629,0,0,0,0,0,0
$GC,1162,-1.15,-146.0,151.4,-15.0,172,1166,0.00,2.28,0.00,0.000,4,0.000,0.052,2489,3889,3629,0,0,0,0,0,0
$GC,1263,-1.49,-146.0,162.5,-10.3,180,1271,0.30,2.28,0.00,0.000,6,0.096,0.051,2388,2481,3629,0,0,0,0,0,0
$GC,1590,-1.68,-146.0,213.0,-0.0,211,1595,0.17,2.38,0.00,0.000,4,0.094,0.073,2316,1079,3629,0,0,0,0,0,0
$GC,1620,-1.88,-146.0,213.0,0.1,213,1625,0.17,2.20,0.00,0.000,6,0.097,0.041,2246,2486,3629,0,0,0,0,0,0
$STATE,1699,end dive,NO_VERTICAL_VELOCITY
$STATE,1699,begin apogee
$GC,1708,-0.12,0.0,213.0,0.0,220,1840,1.83,0.00,119.88,1.034,6,0.131,0.000,2812,2272,3028,0,0,0,0,0,0
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1845,0.62,146.0,213.0,0.0,232,1979,0.73,2.58,124.10,0.987,4,0.094,0.047,3053,3677,2434,0,0,0,0,0,0
$GC,1986,1.12,356.3,212.9,0.3,244,2187,0.50,2.53,192.48,0.956,6,0.060,0.064,3226,2277,1577,0,0,0,0,0,0
$GC,2506,0.90,356.3,150.4,16.3,293,2511,0.28,2.35,0.00,0.000,4,0.212,0.047,3158,3686,1569,0,0,0,0,0,0
$GC,2518,0.69,356.3,148.1,16.4,293,2525,0.28,2.40,0.00,0.000,6,0.154,0.050,3092,2269,1567,0,0,0,0,0,0
$GC,2844,0.69,356.3,114.1,10.0,324,2848,0.00,2.28,0.00,0.000,4,0.000,0.050,3091,3682,1567,0,0,0,0,0,0
$GC,2854,0.69,356.3,112.6,10.1,324,2862,0.00,2.30,0.00,0.000,6,0.000,0.052,3097,2269,1567,0,0,0,0,0,0
$GC,3193,0.68,371.7,79.8,9.3,373,3213,0.00,2.38,13.27,0.842,4,0.000,0.066,3109,865,1514,0,0,0,0,0,0
$GC,3288,0.61,371.7,69.9,11.5,389,3295,0.17,2.22,0.00,0.000,6,0.195,0.040,3065,2289,1513,0,0,0,0,0,0
$GC,3639,0.84,412.9,39.0,8.1,450,3676,0.20,2.25,26.62,0.952,4,0.082,0.050,3149,3675,1345,0,0,0,0,0,0
$GC,3704,0.88,412.9,32.1,11.5,460,3711,0.00,2.28,0.00,0.000,6,0.000,0.058,3159,2262,1343,0,0,0,0,0,0
$FREEZE,8.97,-0.868,-1.802,0,334,0
$FREEZE,8.38,-0.896,-1.802,0,334,0
$FREEZE,7.74,-0.912,-1.800,0,334,0
$FREEZE,7.31,-0.917,-1.799,0,334,0
$FREEZE,6.64,-0.915,-1.798,0,334,0
$STATE,3940,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3940,begin subsurface finish
$FINISH1,6.6,1.026321,58
$GC,3949,0.07,57.8,6.6,-10.9,502,4019,0.93,0.00,-62.67,0.000,6,0.178,0.000,2896,2262,2795,0,0,0,0,0,0
$FINISH2,5.3
$STATE,4020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4020,begin surface
$RAFOS_CLK,266
$RAFOS,6,1308142146,12.833333,12.818334,58,55,54,53,52,51,194,205,116,180,167,144
$RAFOS,5,1308141671,12.700000,12.686389,67,63,59,56,55,54,214,115,202,169,153,189
$RAFOS,4,1308141183,12.566667,12.550834,63,55,54,53,51,50,206,170,191,156,219,107
$RAFOS,3,1308140702,12.433333,12.417222,66,58,55,55,53,51,211,120,191,159,147,230
$RAFOS,2,1308140225,12.300000,12.284722,66,57,55,55,55,50,215,203,177,158,167,145
$RAFOS,1,1308139745,12.166667,12.151389,59,57,57,52,51,47,170,195,209,130,140,218
$RAFOS,0,1308139262,12.033333,12.017222,63,60,56,55,51,49,216,184,204,133,923,142
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5705.69,150611,060612
$TT8_MAMPS,0.026215
$HUMID,75.35
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,21.1,127.035
$10V_AH,9.8,61.021
$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,19.300,42.100,476.350,0.000,0.000,92.397,33.944,0.000,8.750,0.000,185.617,1130.105,1576.945,560.177,1146.891,620.614,0.000,1096.128,0.000,830.998,2520.000,2.620,0.000
$DEVICE_MAMPS,316.710,74.205,1034.280,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.551,374.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20104,514
$CAP_FILE_SIZE,65194,0
$CFSIZE,260165632,197021696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6