version: 66.08
glider: 141
mission: 15
dive: 979
start: 6 15 111 23 8 26
data:
$ID,141
$MISSION,15
$DIVE,979
$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,-99612.133
$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,33
$R_STBD_OVSHOOT,36
$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,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.47
$_SM_ANGLEo,11.7
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2893,3691,3076,0,0,0,0,0,0
$GC,27,-0.62,-146.0,15.7,-0.0,1,41,0.70,0.00,-10.30,0.000,6,0.158,0.000,2670,3692,3628,0,0,0,0,0,0
$GC,382,-0.99,-146.0,64.8,-14.5,63,389,0.35,0.30,0.00,0.000,4,0.106,0.120,2545,3896,3631,0,0,0,0,0,0
$GC,448,-1.34,-146.0,73.5,-12.8,74,455,0.40,2.33,0.00,0.000,6,0.147,0.064,2436,2487,3632,0,0,0,0,0,0
$GC,792,-1.28,-146.0,133.9,-18.2,119,796,0.00,2.33,0.00,0.000,4,0.000,0.070,2436,1082,3630,0,0,0,0,0,0
$GC,805,-1.17,-146.0,136.3,-18.3,120,810,0.20,2.20,0.00,0.000,6,0.238,0.033,2480,2514,3629,0,0,0,0,0,0
$GC,1131,-1.17,-146.0,189.3,-16.4,150,1135,0.00,2.42,0.00,0.000,4,0.000,0.072,2480,1078,3629,0,0,0,0,0,0
$GC,1161,-1.01,-146.0,194.9,-20.2,152,1166,0.22,2.17,0.00,0.000,6,0.235,0.034,2533,2487,3629,0,0,0,0,0,0
$STATE,1484,end dive,NO_VERTICAL_VELOCITY
$STATE,1484,begin apogee
$GC,1492,-0.12,0.0,214.3,0.0,182,1619,0.95,0.00,118.82,1.017,6,0.149,0.000,2816,2268,3030,0,0,0,0,0,0
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1623,0.62,146.0,214.5,0.0,193,1758,0.75,2.55,123.70,0.975,4,0.121,0.048,3050,3660,2434,0,0,0,0,0,0
$GC,1768,1.12,359.5,214.2,0.1,206,1975,0.50,2.53,195.38,0.949,6,0.063,0.054,3226,2273,1563,0,0,0,0,0,0
$GC,2294,0.89,359.5,153.0,15.6,255,2299,0.28,2.35,0.00,0.000,4,0.224,0.047,3159,3669,1555,0,0,0,0,0,0
$GC,2305,0.68,359.5,151.1,15.5,255,2312,0.30,2.38,0.00,0.000,6,0.162,0.050,3086,2260,1554,0,0,0,0,0,0
$GC,2631,0.69,366.2,119.7,9.7,286,2644,0.00,2.28,5.68,0.689,4,0.000,0.048,3086,3676,1536,0,0,0,0,0,0
$GC,2650,0.71,377.7,117.7,9.5,287,2669,0.00,2.33,11.82,0.826,6,0.000,0.057,3094,2268,1490,0,0,0,0,0,0
$GC,2997,0.76,422.4,86.8,7.9,332,3044,0.00,2.30,40.40,0.887,4,0.000,0.050,3094,3675,1307,0,0,0,0,0,0
$GC,3095,0.94,463.0,78.4,8.1,348,3138,0.20,2.30,36.12,0.866,6,0.081,0.060,3181,2265,1142,0,0,0,0,0,0
$GC,3479,0.89,463.0,27.7,12.2,415,3486,0.12,2.30,0.00,0.000,4,0.203,0.060,3151,3680,1135,0,0,0,0,0,0
$GC,3500,0.89,463.0,25.1,12.3,418,3507,0.00,2.28,0.00,0.000,6,0.000,0.060,3155,2273,1134,0,0,0,0,0,0
$FREEZE,8.95,-0.787,-1.797,0,342,0
$FREEZE,8.29,-0.789,-1.797,0,342,0
$FREEZE,7.74,-0.792,-1.797,0,342,0
$FREEZE,7.12,-0.784,-1.796,0,342,0
$STATE,3662,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3662,begin subsurface finish
$FINISH1,7.1,1.026279,60
$GC,3670,0.07,59.8,7.1,-11.8,447,3757,0.90,2.35,-77.80,0.000,4,0.184,0.083,2894,867,2788,0,0,0,0,0,0
$FINISH2,4.5
$STATE,3761,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3761,begin surface
$RAFOS_CLK,208
$RAFOS,0,1308182466,0.033333,0.018333,57,57,57,55,54,52,148,166,217,130,207,233
$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,74.96
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.50
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,21.1,128.152
$10V_AH,10.0,61.373
$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,5.875,38.050,531.925,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,995.608,1437.604,509.677,746.729,126.987,0.000,993.738,0.000,749.077,720.000,2.621,0.000
$DEVICE_MAMPS,237.915,120.105,1017.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.478,338.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,16778,462
$CAP_FILE_SIZE,53473,0
$CFSIZE,260165632,196734976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6