version: 66.08
glider: 141
mission: 15
dive: 989
start: 6 16 111 13 24 16
data:
$ID,141
$MISSION,15
$DIVE,989
$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,-102209.29
$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,58
$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
$GPS1,160611,113654,6715.065,-5710.441,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.9
$GPS2,160611,113654,6715.065,-5710.441,181,99.0,181,-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,181.6,27603,-17.5,-10.000
$D_GRID,344
$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,-146.0,0.0,0.0,0,131,0.00,0.00,-112.30,0.000,2,0.000,0.000,113,2509,2620,0,0,0,0,0,0
$GC,136,-0.62,-146.0,5.8,-7.8,20,173,12.93,0.00,-20.38,0.000,6,0.321,0.000,2654,2510,3630,0,0,0,0,0,0
$GC,517,-1.00,-146.0,61.7,-14.3,86,524,0.32,2.22,0.00,0.000,4,0.151,0.051,2554,3882,3631,0,0,0,0,0,0
$GC,781,-1.41,-146.0,96.1,-12.6,132,788,0.50,2.33,0.00,0.000,6,0.155,0.061,2414,2491,3630,0,0,0,0,0,0
$GC,1112,-1.32,-146.0,156.7,-18.5,165,1116,0.00,2.40,0.00,0.000,4,0.000,0.078,2414,1080,3629,0,0,0,0,0,0
$GC,1126,-1.18,-146.0,159.4,-18.7,166,1131,0.28,2.17,0.00,0.000,6,0.236,0.037,2475,2478,3628,0,0,0,0,0,0
$GC,1453,-1.16,-146.0,213.1,-16.8,196,1457,0.00,2.28,0.00,0.000,4,0.000,0.051,2475,3897,3629,0,0,0,0,0,0
$GC,1591,-1.41,-146.0,217.9,0.2,207,1599,0.20,2.28,0.00,0.000,6,0.091,0.047,2404,2473,3629,0,0,0,0,0,0
$STATE,1628,end dive,NO_VERTICAL_VELOCITY
$STATE,1628,begin apogee
$GC,1635,-0.12,0.0,217.9,0.0,211,1769,1.35,0.00,120.35,1.039,6,0.137,0.000,2815,2262,3029,0,0,0,0,0,0
$STATE,1770,end apogee,CONTROL_FINISHED_OK
$STATE,1770,begin climb
$GC,1773,0.62,146.0,218.0,0.0,223,1911,0.75,2.62,125.82,0.995,4,0.114,0.049,3050,3667,2434,0,0,0,0,0,0
$GC,2168,1.09,361.0,217.6,0.1,258,2367,0.47,2.35,190.45,0.966,6,0.075,0.055,3221,2277,1558,0,0,0,0,0,0
$GC,2687,0.88,361.0,156.9,16.0,306,2691,0.28,2.33,0.00,0.000,4,0.213,0.045,3149,3673,1549,0,0,0,0,0,0
$GC,2698,0.68,361.0,154.4,16.3,306,2705,0.25,2.38,0.00,0.000,6,0.155,0.050,3088,2272,1547,0,0,0,0,0,0
$GC,3024,0.68,361.0,120.1,11.0,337,3028,0.00,2.25,0.00,0.000,4,0.000,0.048,3087,3676,1547,0,0,0,0,0,0
$GC,3037,0.66,361.0,118.7,11.3,338,3041,0.00,2.28,0.00,0.000,6,0.000,0.052,3094,2274,1546,0,0,0,0,0,0
$GC,3374,0.65,369.0,84.0,9.6,382,3387,0.00,2.30,6.35,0.734,4,0.000,0.064,3106,866,1526,0,0,0,0,0,0
$GC,3473,0.55,369.0,72.8,12.0,399,3481,0.22,2.20,0.00,0.000,6,0.190,0.047,3049,2278,1525,0,0,0,0,0,0
$GC,3824,0.79,407.4,44.0,8.2,460,3866,0.20,2.22,33.85,0.897,4,0.086,0.056,3129,3676,1368,0,0,0,0,0,0
$GC,3876,0.87,407.4,38.7,10.4,468,3882,0.00,2.30,0.00,0.000,6,0.000,0.050,3138,2273,1368,0,0,0,0,0,0
$FREEZE,8.72,-0.750,-1.792,0,352,0
$FREEZE,8.14,-0.748,-1.791,0,352,0
$FREEZE,7.70,-0.746,-1.791,0,352,0
$FREEZE,7.13,-0.747,-1.790,0,352,0
$STATE,4208,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4208,begin subsurface finish
$FINISH1,7.1,1.026198,64
$GC,4220,0.08,63.8,7.1,-9.6,527,4285,0.82,2.35,-55.53,0.000,4,0.160,0.083,2896,867,2771,0,0,0,0,0,0
$FINISH2,6.1
$STATE,4286,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4286,begin surface
$RAFOS_CLK,281
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5710.44,160611,111154
$TT8_MAMPS,0.026215
$HUMID,74.25
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,21.5,129.563
$10V_AH,9.8,61.837
$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,18.575,39.575,476.825,0.000,0.000,106.257,29.796,0.000,9.500,0.000,185.606,1193.562,1713.547,550.149,1225.481,664.944,0.000,1115.161,0.000,898.326,0.000,2.618,0.000
$DEVICE_MAMPS,321.300,83.385,1038.870,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.888,392.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20126,538
$CAP_FILE_SIZE,64829,0
$CFSIZE,260165632,196366336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,160611,113654,6715.065,-5710.441,181,99.0,181,-37.6