version: 66.08
glider: 141
mission: 15
dive: 992
start: 6 16 111 17 38 38
data:
$ID,141
$MISSION,15
$DIVE,992
$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,-102949.1
$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,23
$R_STBD_OVSHOOT,62
$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,-5710.441,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.8
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,125,0.00,0.00,-106.78,0.000,2,0.000,0.000,116,2522,2523,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.5,-6.8,19,173,12.93,2.53,-24.05,0.000,4,0.322,0.088,2654,1082,3628,0,0,0,0,0,0
$GC,187,-0.81,-146.0,17.3,-9.8,28,195,0.17,2.17,0.00,0.000,6,0.106,0.046,2596,2477,3629,0,0,0,0,0,0
$GC,535,-1.19,-146.0,55.3,-12.9,89,542,0.35,2.30,0.00,0.000,4,0.162,0.052,2489,3892,3629,0,0,0,0,0,0
$GC,710,-1.55,-146.0,74.9,-10.7,119,718,0.38,2.30,0.00,0.000,6,0.102,0.054,2365,2488,3629,0,0,0,0,0,0
$GC,1047,-1.41,-146.0,142.9,-21.1,161,1052,0.17,2.28,0.00,0.000,4,0.228,0.051,2405,3886,3628,0,0,0,0,0,0
$GC,1305,-1.50,-146.0,182.1,-13.8,183,1312,0.00,2.35,0.00,0.000,6,0.000,0.060,2405,2488,3627,0,0,0,0,0,0
$GC,1632,-1.78,-146.0,215.4,-0.1,214,1637,0.30,2.40,0.00,0.000,4,0.096,0.073,2293,1074,3628,0,0,0,0,0,0
$STATE,1653,end dive,NO_VERTICAL_VELOCITY
$STATE,1653,begin apogee
$GC,1663,-0.12,0.0,215.5,0.0,215,1791,1.65,0.00,119.60,1.037,6,0.121,0.000,2818,2274,3030,0,0,0,0,0,0
$STATE,1792,end apogee,CONTROL_FINISHED_OK
$STATE,1792,begin climb
$GC,1795,0.62,146.0,215.5,0.0,227,1934,0.75,2.58,126.15,0.991,4,0.103,0.048,3058,3665,2433,0,0,0,0,0,0
$GC,2191,1.11,372.3,215.4,-0.4,262,2401,0.47,2.38,201.57,0.962,6,0.070,0.054,3227,2262,1512,0,0,0,0,0,0
$GC,2728,0.92,372.3,152.5,15.6,312,2733,0.25,2.45,0.00,0.000,4,0.217,0.065,3175,859,1504,0,0,0,0,0,0
$GC,2747,0.74,372.3,149.8,15.2,313,2753,0.30,2.33,0.00,0.000,6,0.207,0.042,3105,2266,1503,0,0,0,0,0,0
$GC,3073,0.74,372.3,113.6,10.3,343,3077,0.00,2.25,0.00,0.000,4,0.000,0.050,3105,3686,1502,0,0,0,0,0,0
$GC,3085,0.74,372.3,112.3,10.4,343,3092,0.00,2.30,0.00,0.000,6,0.000,0.050,3111,2269,1501,0,0,0,0,0,0
$GC,3424,0.74,372.3,76.8,10.6,393,3431,0.00,2.33,0.00,0.000,4,0.000,0.064,3122,868,1501,0,0,0,0,0,0
$GC,3506,0.64,372.3,67.0,12.9,407,3513,0.20,2.25,0.00,0.000,6,0.186,0.047,3072,2295,1500,0,0,0,0,0,0
$GC,3859,0.93,449.7,37.7,6.4,468,3913,0.25,2.22,45.35,0.950,4,0.077,0.050,3180,3678,1195,0,0,0,0,0,0
$GC,3946,0.99,449.7,28.3,11.8,482,3952,0.00,2.30,0.00,0.000,6,0.000,0.050,3190,2275,1191,0,0,0,0,0,0
$FREEZE,8.72,-0.605,-1.792,0,355,1
$FREEZE,8.27,-0.601,-1.792,0,355,1
$FREEZE,7.75,-0.605,-1.792,0,355,1
$STATE,4144,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4144,begin subsurface finish
$FINISH1,7.7,1.026203,64
$GC,4153,0.08,63.6,7.7,-9.1,517,4223,1.00,2.25,-60.92,0.000,4,0.162,0.055,2895,3690,2773,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4224,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4224,begin surface
$RAFOS_CLK,279
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026215
$HUMID,74.88
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.70
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,17.0
$24V_AH,21.4,129.986
$10V_AH,9.8,61.973
$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,19.175,43.850,492.675,0.000,0.000,96.078,54.687,0.000,10.000,0.000,184.641,1164.047,1659.891,568.558,1246.078,649.079,0.000,1135.264,0.000,905.410,0.000,2.620,0.000
$DEVICE_MAMPS,322.065,87.975,1037.340,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.512,383.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20142,529
$CAP_FILE_SIZE,65050,0
$CFSIZE,260165632,196259840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$GPS,160611,173016,6715.065,-5654.765,0,10000.0,0,-37.6