version: 66.08
glider: 141
mission: 15
dive: 1039
start: 6 19 111 14 33 48
data:
$ID,141
$MISSION,15
$DIVE,1039
$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,-115526.51
$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,24
$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
$GPS1,190611,110652,6715.065,-5659.520,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-74.9
$GPS2,190611,110652,6715.065,-5659.520,181,99.0,181,-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,197.2,23843,-17.5,-10.000
$D_GRID,262
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.68,0.000,2,0.000,0.000,117,2505,2618,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.8,-7.5,19,175,17.85,2.78,-18.40,0.000,4,0.311,0.054,2652,3892,3631,51,0,0,0,0,0
$GC,432,-0.98,-146.0,56.5,-14.3,71,440,0.38,2.78,0.00,0.000,6,0.099,0.060,2554,2496,3632,0,0,0,0,0,0
$GC,782,-1.38,-146.0,92.7,-10.9,132,789,0.45,2.88,0.00,0.000,4,0.176,0.069,2429,1078,3630,0,0,0,0,0,0
$GC,815,-1.45,-146.0,98.0,-15.4,137,822,0.00,2.65,0.00,0.000,6,0.000,0.032,2429,2488,3630,0,0,0,0,0,0
$GC,1149,-1.40,-146.0,157.8,-17.3,169,1153,0.00,2.67,0.00,0.000,4,0.000,0.047,2430,3892,3630,0,0,0,0,0,0
$GC,1160,-1.40,-146.0,159.9,-16.6,169,1167,0.00,2.75,0.00,0.000,6,0.000,0.052,2430,2487,3630,0,0,0,0,0,0
$GC,1486,-1.36,-146.0,214.1,-17.3,200,1491,0.00,2.83,0.00,0.000,4,0.000,0.068,2430,1081,3629,0,0,0,0,0,0
$GC,1508,-1.18,-146.0,218.9,-20.1,201,1516,0.25,2.62,0.00,0.000,6,0.230,0.033,2474,2488,3629,0,0,0,0,0,0
$STATE,1693,end dive,NO_VERTICAL_VELOCITY
$STATE,1693,begin apogee
$GC,1705,-0.12,0.0,221.5,0.0,219,1859,1.40,0.00,145.88,1.028,6,0.161,0.000,2812,2264,3030,0,0,0,0,0,0
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1863,0.62,146.0,221.3,0.0,233,2021,0.93,3.05,147.57,0.975,4,0.105,0.067,3056,871,2433,0,0,0,0,0,0
$GC,2276,0.90,378.1,220.8,-0.7,269,2529,0.32,2.70,240.50,0.951,6,0.067,0.031,3155,2278,1488,0,0,0,0,0,0
$GC,2849,0.78,378.1,160.7,13.6,322,2855,0.17,2.90,0.00,0.000,4,0.181,0.056,3130,865,1479,0,0,0,0,0,0
$GC,2919,0.59,378.1,150.3,14.6,327,2926,0.38,2.72,0.00,0.000,6,0.199,0.036,3059,2275,1478,0,0,0,0,0,0
$GC,3245,0.56,378.1,114.0,10.1,358,3250,0.00,2.75,0.00,0.000,4,0.000,0.049,3059,3682,1477,0,0,0,0,0,0
$GC,3281,0.71,415.7,110.6,8.3,360,3331,0.00,2.80,39.30,0.884,6,0.000,0.044,3064,2273,1335,0,0,0,0,0,0
$GC,3667,0.82,438.1,79.3,9.0,417,3698,0.20,2.97,24.83,0.862,4,0.073,0.045,3128,3690,1242,0,0,0,0,0,0
$GC,3707,0.41,438.1,74.3,11.9,423,3714,0.60,2.92,0.00,0.000,6,0.138,0.051,3001,2274,1242,0,0,0,0,0,0
$GC,4059,0.82,438.1,37.6,10.3,484,4066,0.45,2.88,0.00,0.000,4,0.124,0.059,3114,866,1239,0,0,0,0,0,0
$GC,4098,1.09,446.2,33.7,9.6,490,4113,0.32,2.70,7.50,0.770,6,0.062,0.031,3216,2284,1211,0,0,0,0,0,0
$FREEZE,8.81,0.171,-1.785,0,402,0
$FREEZE,8.12,0.144,-1.785,0,402,0
$STATE,4225,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4225,begin subsurface finish
$FINISH1,8.1,1.026068,70
$GC,4234,0.09,70.2,8.1,-19.6,512,4317,1.48,2.80,-74.95,0.000,4,0.209,0.049,2903,3686,2745,0,0,0,0,0,0
$FINISH2,4.3
$STATE,4322,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4322,begin surface
$RAFOS_CLK,282
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,121248
$TT8_MAMPS,0.026215
$HUMID,73.03
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.50
$XPDR_PINGS,37
$ALTIM_TOP_PING,19.3,16.1
$24V_AH,19.3,136.983
$10V_AH,9.8,64.198
$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,25.175,53.600,605.575,0.000,0.000,98.943,17.430,0.000,9.500,0.000,183.287,1133.677,1687.773,665.704,1204.869,717.926,0.000,1253.740,0.000,895.762,0.000,2.619,0.000
$DEVICE_MAMPS,310.590,68.850,1028.160,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.199,383.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20123,526
$CAP_FILE_SIZE,67140,0
$CFSIZE,260165632,194502656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,51,0,0,0
$SOUNDSPEED,1460.8
$GPS,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6