version: 66.08
glider: 141
mission: 15
dive: 976
start: 6 15 111 19 20 38
data:
$ID,141
$MISSION,15
$DIVE,976
$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,-99240.258
$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,50
$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
$GPS1,150611,173508,6715.065,-5654.765,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-74.1
$GPS2,150611,173508,6715.065,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,131,0.00,0.00,-112.28,0.000,2,0.000,0.000,112,2516,2604,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.6,-9.0,20,178,12.90,2.50,-20.80,0.000,4,0.319,0.095,2653,1083,3629,0,0,0,0,0,0
$GC,186,-0.83,-146.0,19.2,-13.1,28,194,0.17,2.20,0.00,0.000,6,0.111,0.042,2597,2481,3630,0,0,0,0,0,0
$GC,535,-1.34,-146.0,55.1,-6.7,89,543,0.43,2.30,0.00,0.000,4,0.081,0.053,2433,3898,3629,0,0,0,0,0,0
$GC,614,-1.58,-146.0,64.3,-11.6,102,622,0.22,2.28,0.00,0.000,6,0.095,0.056,2353,2497,3629,0,0,0,0,0,0
$GC,959,-1.42,-146.0,137.4,-21.7,148,964,0.20,2.45,0.00,0.000,4,0.234,0.075,2399,1073,3629,0,0,0,0,0,0
$GC,982,-1.17,-146.0,143.5,-24.2,149,989,0.35,2.17,0.00,0.000,6,0.234,0.036,2480,2495,3628,0,0,0,0,0,0
$GC,1309,-1.17,-146.0,194.5,-15.2,180,1313,0.00,2.25,0.00,0.000,4,0.000,0.053,2479,3895,3628,0,0,0,0,0,0
$GC,1321,-1.21,-146.0,196.5,-15.3,180,1327,0.00,2.33,0.00,0.000,6,0.000,0.057,2479,2487,3628,0,0,0,0,0,0
$STATE,1593,end dive,NO_VERTICAL_VELOCITY
$STATE,1593,begin apogee
$GC,1601,-0.12,0.0,211.0,0.0,206,1734,1.05,0.00,120.03,1.035,6,0.119,0.000,2816,2271,3030,0,0,0,0,0,0
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1738,0.62,146.0,211.2,0.0,218,1874,0.75,2.58,125.32,0.991,4,0.118,0.049,3051,3671,2433,0,0,0,0,0,0
$GC,2130,1.10,371.4,211.2,-0.4,253,2339,0.47,2.33,195.85,0.960,6,0.081,0.056,3222,2265,1515,0,0,0,0,0,0
$GC,2657,0.89,371.4,146.4,16.1,302,2662,0.25,2.38,0.00,0.000,4,0.215,0.067,3166,859,1507,0,0,0,0,0,0
$GC,2699,0.60,371.4,139.2,18.4,305,2704,0.43,2.30,0.00,0.000,6,0.229,0.050,3065,2267,1505,0,0,0,0,0,0
$GC,3025,0.64,391.0,107.0,9.1,335,3049,0.00,2.33,16.75,0.861,4,0.000,0.065,3072,868,1435,0,0,0,0,0,0
$GC,3128,0.75,402.3,97.6,9.5,345,3147,0.10,2.22,11.55,0.826,6,0.117,0.050,3117,2296,1389,0,0,0,0,0,0
$GC,3489,0.65,402.3,42.6,11.7,408,3497,0.15,2.25,0.00,0.000,4,0.190,0.066,3080,3674,1385,0,0,0,0,0,0
$GC,3522,0.83,432.3,39.6,8.6,413,3552,0.12,2.30,20.55,0.926,6,0.106,0.054,3135,2263,1265,0,0,0,0,0,0
$FREEZE,8.60,-0.691,-1.808,0,339,0
$FREEZE,8.27,-0.442,-1.798,0,339,0
$FREEZE,7.83,-0.602,-1.802,0,339,0
$FREEZE,7.38,-0.870,-1.805,0,339,0
$FREEZE,7.00,-0.767,-1.800,0,339,0
$STATE,3860,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3860,begin subsurface finish
$FINISH1,7.0,1.026339,57
$GC,3868,0.07,56.9,7.0,-8.2,473,3940,0.82,2.33,-62.70,0.000,4,0.193,0.086,2901,871,2800,0,0,0,0,0,0
$FINISH2,6.1
$STATE,3941,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3941,begin surface
$RAFOS_CLK,267
$RAFOS,2,1308169027,20.299999,20.285278,75,56,55,55,55,48,203,187,122,147,224,170
$RAFOS,1,1308168543,20.166666,20.150833,57,55,55,54,54,52,201,114,213,170,192,136
$RAFOS,0,1308168069,20.033333,20.019167,64,64,62,55,54,50,171,217,195,122,145,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.029211
$HUMID,75.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.50
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,17.5
$24V_AH,21.7,127.738
$10V_AH,9.8,61.260
$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,18.425,39.825,490.050,0.000,0.000,90.829,29.533,0.000,8.750,0.000,184.599,1061.148,1566.369,571.985,1134.677,641.368,0.000,1104.121,0.000,822.749,1440.000,2.619,0.000
$DEVICE_MAMPS,319.005,94.860,1035.045,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.971,349.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,485
$CAP_FILE_SIZE,62813,0
$CFSIZE,260165632,196837376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6