version: 66.08
glider: 141
mission: 15
dive: 1001
start: 6 17 111 5 56 31
data:
$ID,141
$MISSION,15
$DIVE,1001
$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,-104795.35
$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,26
$R_STBD_OVSHOOT,66
$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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-75.1
$GPS2,160611,173016,6715.065,-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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-107.32,0.000,2,0.000,0.000,115,2527,2530,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.4,-7.8,19,174,12.93,2.55,-23.55,0.000,4,0.322,0.087,2655,1080,3630,0,0,0,0,0,0
$GC,256,-0.92,-146.0,24.3,-12.3,40,264,0.30,2.17,0.00,0.000,6,0.181,0.038,2577,2488,3630,0,0,0,0,0,0
$GC,605,-1.34,-146.0,61.7,-9.2,101,613,0.40,2.40,0.00,0.000,4,0.151,0.072,2440,1083,3629,0,0,0,0,0,0
$GC,634,-1.44,-146.0,65.8,-14.3,105,642,0.12,2.17,0.00,0.000,6,0.144,0.046,2401,2489,3629,0,0,0,0,0,0
$GC,979,-1.34,-146.0,134.1,-19.1,151,984,0.12,2.28,0.00,0.000,4,0.231,0.052,2428,3879,3629,0,0,0,0,0,0
$GC,1238,-1.44,-146.0,172.1,-14.3,173,1245,0.00,2.30,0.00,0.000,6,0.000,0.057,2428,2494,3628,0,0,0,0,0,0
$GC,1565,-1.70,-146.0,215.8,-0.1,204,1570,0.30,2.40,0.00,0.000,4,0.096,0.073,2316,1081,3629,0,0,0,0,0,0
$STATE,1652,end dive,NO_VERTICAL_VELOCITY
$STATE,1652,begin apogee
$GC,1663,-0.12,0.0,215.8,0.0,211,1791,1.60,0.00,120.15,1.039,6,0.126,0.000,2816,2275,3030,0,0,0,0,0,0
$STATE,1792,end apogee,CONTROL_FINISHED_OK
$STATE,1792,begin climb
$GC,1795,0.62,146.0,215.7,0.0,223,1928,0.75,0.00,127.85,0.991,6,0.094,0.000,3058,2275,2433,0,0,0,0,0,0
$GC,2248,1.09,359.1,215.5,0.2,266,2448,0.43,2.67,191.25,0.967,4,0.079,0.052,3217,3670,1565,0,0,0,0,0,0
$GC,2468,0.96,359.1,203.5,16.5,285,2476,0.25,2.62,0.00,0.000,6,0.204,0.054,3175,2274,1563,0,0,0,0,0,0
$GC,2795,0.80,359.1,157.6,14.2,316,2799,0.20,2.40,0.00,0.000,4,0.194,0.046,3124,3680,1558,0,0,0,0,0,0
$GC,2806,0.66,359.1,155.7,14.1,316,2814,0.17,2.45,0.00,0.000,6,0.158,0.054,3081,2264,1556,0,0,0,0,0,0
$GC,3132,0.67,368.1,124.1,9.6,347,3145,0.00,2.40,7.62,0.767,4,0.000,0.065,3089,858,1529,0,0,0,0,0,0
$GC,3204,0.64,368.1,116.5,11.3,353,3208,0.00,2.22,0.00,0.000,6,0.000,0.037,3089,2278,1528,0,0,0,0,0,0
$GC,3543,0.55,368.1,75.7,10.7,401,3550,0.17,2.28,0.00,0.000,4,0.176,0.053,3043,3674,1528,0,0,0,0,0,0
$GC,3582,0.78,422.9,72.1,7.5,407,3642,0.20,2.30,49.70,0.890,6,0.083,0.057,3124,2267,1305,0,0,0,0,0,0
$GC,3984,0.78,423.0,32.3,10.0,477,3991,0.00,2.30,0.00,0.000,4,0.000,0.072,3134,870,1301,0,0,0,0,0,0
$GC,4067,0.78,423.0,24.0,10.7,491,4074,0.00,2.20,0.00,0.000,6,0.000,0.045,3134,2279,1300,0,0,0,0,0,0
$FREEZE,8.33,-0.609,-1.791,0,364,0
$FREEZE,7.30,-0.634,-1.790,0,364,0
$FREEZE,6.60,-0.639,-1.790,0,364,0
$STATE,4216,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4216,begin subsurface finish
$FINISH1,6.6,1.026189,64
$GC,4224,0.08,64.2,6.6,-13.3,517,4301,0.88,2.42,-66.15,0.000,4,0.202,0.081,2897,875,2771,0,0,0,0,0,0
$FINISH2,5.1
$STATE,4302,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4304,begin surface
$RAFOS_CLK,283
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026964
$HUMID,73.98
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.30
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.3,17.3
$24V_AH,21.3,131.260
$10V_AH,9.7,62.362
$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,18.825,44.450,496.575,0.000,0.000,98.348,17.394,0.000,8.000,0.000,183.291,1170.753,1733.905,597.975,1180.116,683.537,0.000,1140.091,0.000,873.789,0.000,2.621,0.000
$DEVICE_MAMPS,322.065,87.210,1038.870,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.187,385.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20099,530
$CAP_FILE_SIZE,65200,0
$CFSIZE,260165632,195936256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6