version: 66.08
glider: 141
mission: 15
dive: 1033
start: 6 19 111 4 58 56
data:
$ID,141
$MISSION,15
$DIVE,1033
$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,-113682.66
$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,40
$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
$GPS1,190611,002721,6715.065,-5704.283,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.38
$_SM_ANGLEo,6.9
$GPS2,190611,002721,6715.065,-5704.283,181,99.0,181,-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,189.8,25250,-17.5,-10.000
$D_GRID,299
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2907,870,2752,0,0,0,0,1,0
$GC,28,-0.62,-146.0,16.5,-0.0,1,48,0.90,0.38,-15.62,0.000,4,0.165,0.115,2676,1079,3629,0,0,0,0,0,0
$GC,139,-0.95,-146.0,28.8,-14.0,19,146,0.47,2.45,0.00,0.000,6,0.171,0.034,2567,2511,3631,0,0,0,0,0,0
$GC,486,-1.41,-146.0,65.2,-10.8,80,494,0.47,2.70,0.00,0.000,4,0.120,0.062,2415,1078,3630,0,0,0,0,0,0
$GC,515,-1.44,-146.0,69.1,-13.4,84,522,0.00,2.42,0.00,0.000,6,0.000,0.042,2415,2472,3630,0,0,0,0,0,0
$GC,853,-1.35,-146.0,131.5,-18.3,129,857,0.00,2.62,0.00,0.000,4,0.000,0.068,2415,1084,3629,0,0,0,0,0,0
$GC,871,-1.19,-146.0,135.6,-19.8,130,877,0.30,2.42,0.00,0.000,6,0.229,0.031,2473,2492,3628,0,0,0,0,0,0
$GC,1197,-1.19,-146.0,187.4,-15.2,160,1202,0.00,2.47,0.00,0.000,4,0.000,0.047,2473,3896,3628,0,0,0,0,0,0
$GC,1278,-1.51,-146.0,196.7,-10.8,166,1285,0.30,2.47,0.00,0.000,6,0.090,0.046,2382,2494,3627,0,0,0,0,0,0
$GC,1605,-1.75,-146.0,230.7,0.0,197,1611,0.25,2.60,0.00,0.000,4,0.086,0.065,2289,1080,3627,0,0,0,0,0,0
$STATE,1625,end dive,NO_VERTICAL_VELOCITY
$STATE,1625,begin apogee
$GC,1635,-0.12,0.0,230.7,0.0,198,1777,1.83,0.00,134.62,1.021,6,0.138,0.000,2816,2277,3030,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1782,0.62,146.0,230.6,0.0,211,1931,0.85,2.90,138.62,0.972,4,0.093,0.067,3059,871,2433,0,0,0,0,0,0
$GC,2185,1.06,358.9,230.4,0.2,247,2402,0.45,2.50,209.00,0.945,6,0.058,0.030,3210,2284,1566,0,0,0,0,0,0
$GC,2723,0.86,358.9,167.0,15.4,297,2728,0.28,2.60,0.00,0.000,4,0.200,0.045,3149,3670,1557,0,0,0,0,0,0
$GC,2735,0.68,358.9,164.8,15.1,297,2742,0.30,2.62,0.00,0.000,6,0.150,0.053,3084,2271,1556,0,0,0,0,0,0
$GC,3062,0.69,365.7,132.9,9.7,328,3075,0.00,2.58,5.88,0.672,4,0.000,0.044,3084,3674,1539,0,0,0,0,0,0
$GC,3081,0.69,369.0,130.7,9.8,329,3092,0.00,2.62,5.43,0.660,6,0.000,0.055,3089,2272,1525,0,0,0,0,0,0
$GC,3415,0.69,369.0,98.2,10.5,361,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2272,1524,0,0,0,0,0,0
$GC,3761,0.74,409.8,65.3,8.1,422,3809,0.00,2.75,42.00,0.879,4,0.000,0.044,3089,3673,1359,0,0,0,0,0,0
$GC,3849,0.92,456.7,58.2,7.8,436,3904,0.20,2.67,48.12,0.868,6,0.073,0.054,3165,2278,1168,0,0,0,0,0,0
$GC,4247,0.90,456.7,11.9,11.3,505,4254,0.00,2.62,0.00,0.000,4,0.000,0.047,3165,3673,1161,0,0,0,0,0,0
$GC,4275,0.93,456.7,9.1,10.8,509,4282,0.00,2.65,0.00,0.000,6,0.000,0.054,3173,2269,1161,0,0,0,0,0,0
$FREEZE,7.56,0.210,-1.787,0,396,0
$FREEZE,7.09,0.177,-1.783,0,396,0
$STATE,4292,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4292,begin subsurface finish
$FINISH1,7.1,1.026055,71
$GC,4301,0.09,70.8,7.1,-9.6,512,4372,1.12,2.80,-64.47,0.000,4,0.163,0.074,2902,867,2744,0,0,0,0,0,0
$FINISH2,5.8
$STATE,4373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4373,begin surface
$RAFOS_CLK,240
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5704.28,190611,000021
$TT8_MAMPS,0.026215
$HUMID,73.94
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.70
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.8,17.4
$24V_AH,20.2,135.983
$10V_AH,9.8,63.885
$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,7.725,51.925,583.675,0.000,0.000,0.000,0.000,0.000,7.500,0.000,0.000,1153.297,1694.270,552.747,885.162,146.318,0.000,1109.737,0.000,882.287,0.000,2.621,0.000
$DEVICE_MAMPS,228.735,114.750,1020.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.606,382.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20156,524
$CAP_FILE_SIZE,61072,0
$CFSIZE,260165632,194748416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.0
$GPS,190611,002721,6715.065,-5704.283,181,99.0,181,-37.6