version: 66.08
glider: 141
mission: 15
dive: 1009
start: 6 17 111 17 33 50
data:
$ID,141
$MISSION,15
$DIVE,1009
$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,-107018.62
$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,34
$R_STBD_OVSHOOT,43
$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,12.68
$_SM_ANGLEo,9.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.55,0.000,2,0.000,0.000,2896,2264,3050,0,0,0,0,0,0
$GC,29,-0.62,-146.0,16.2,-0.0,1,48,0.73,1.98,-10.55,0.000,4,0.162,0.096,2671,1089,3630,0,0,0,0,0,0
$GC,73,-1.05,-146.0,21.2,-11.1,8,80,0.45,2.17,0.00,0.000,6,0.098,0.034,2520,2520,3630,0,0,0,0,0,0
$GC,422,-1.14,-146.0,66.4,-14.4,69,428,0.00,2.40,0.00,0.000,4,0.000,0.074,2520,1088,3630,0,0,0,0,0,0
$GC,455,-1.04,-146.0,72.4,-18.9,74,462,0.00,2.15,0.00,0.000,6,0.000,0.043,2520,2483,3630,0,0,0,0,0,0
$GC,800,-1.10,-146.0,116.7,-11.4,123,804,0.00,2.25,0.00,0.000,4,0.000,0.049,2520,3886,3629,0,0,0,0,0,0
$GC,823,-1.31,-146.0,119.2,-10.1,124,831,0.25,2.28,0.00,0.000,6,0.115,0.060,2440,2488,3628,0,0,0,0,0,0
$GC,1151,-1.26,-146.0,171.6,-17.2,155,1155,0.00,2.38,0.00,0.000,4,0.000,0.073,2440,1077,3628,0,0,0,0,0,0
$GC,1183,-1.04,-146.0,178.0,-22.6,157,1188,0.35,2.20,0.00,0.000,6,0.233,0.034,2520,2491,3627,0,0,0,0,0,0
$GC,1510,-1.30,-146.0,214.6,0.2,187,1515,0.22,2.40,0.00,0.000,4,0.096,0.067,2440,1085,3627,0,0,0,0,0,0
$STATE,1623,end dive,NO_VERTICAL_VELOCITY
$STATE,1623,begin apogee
$GC,1632,-0.12,0.0,214.7,0.0,196,1761,1.20,0.00,120.03,1.018,6,0.125,0.000,2816,2284,3030,0,0,0,0,0,0
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1765,0.62,146.0,214.6,0.0,208,1908,0.75,2.60,128.05,0.973,4,0.093,0.044,3058,3673,2433,0,0,0,0,0,0
$GC,1916,1.01,364.3,214.4,-0.1,221,2129,0.38,2.58,201.62,0.939,6,0.065,0.063,3193,2280,1544,0,0,0,0,0,0
$GC,2447,0.84,364.3,152.8,15.0,271,2449,0.25,0.00,0.00,0.000,6,0.191,0.000,3137,2280,1536,0,0,0,0,0,0
$GC,2765,0.75,364.3,112.9,11.9,301,2770,0.00,2.45,0.00,0.000,4,0.000,0.063,3145,860,1535,0,0,0,0,0,0
$GC,2811,0.56,364.3,106.3,15.0,304,2818,0.40,2.28,0.00,0.000,6,0.216,0.038,3052,2268,1533,0,0,0,0,0,0
$GC,3153,0.68,414.9,77.7,7.7,359,3206,0.00,2.42,44.30,0.881,4,0.000,0.062,3056,862,1338,0,0,0,0,0,0
$GC,3306,0.95,447.4,65.1,8.5,385,3343,0.32,2.22,29.60,0.860,6,0.082,0.041,3177,2294,1206,0,0,0,0,0,0
$FREEZE,8.08,-0.471,-1.787,0,372,0
$FREEZE,6.99,-0.457,-1.786,0,372,0
$STATE,3615,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3616,begin subsurface finish
$FINISH1,7.0,1.026129,67
$GC,3624,0.08,67.2,7.0,-17.5,439,3717,1.08,2.42,-83.30,0.000,4,0.239,0.079,2909,858,2758,0,0,0,0,0,0
$FINISH2,4.3
$STATE,3720,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3720,begin surface
$RAFOS_CLK,209
$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,73.19
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.0,16.8
$24V_AH,21.3,132.413
$10V_AH,9.8,62.735
$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,6.375,39.075,523.600,0.000,0.000,0.000,0.000,0.000,7.000,0.000,0.000,977.995,1404.562,511.438,757.626,122.954,0.000,997.151,0.000,756.043,0.000,2.619,0.000
$DEVICE_MAMPS,238.680,95.625,1018.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.139,330.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,16815,455
$CAP_FILE_SIZE,52276,0
$CFSIZE,260165632,195645440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6