version: 66.08
glider: 141
mission: 15
dive: 1041
start: 6 19 111 16 57 22
data:
$ID,141
$MISSION,15
$DIVE,1041
$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,34
$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
$GPS1,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.15
$_SM_ANGLEo,4.6
$GPS2,190611,124748,6715.065,-5659.520,0,10000.0,0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2901,3684,3039,0,0,0,0,0,0
$GC,29,-0.62,-146.0,16.8,-0.0,1,49,0.93,0.40,-10.43,0.000,4,0.174,0.152,2677,3895,3631,0,0,0,0,0,0
$GC,306,-0.95,-146.0,55.5,-13.8,49,314,0.45,2.88,0.00,0.000,6,0.095,0.059,2560,2488,3631,0,0,0,0,0,0
$GC,656,-1.32,-146.0,89.8,-10.5,110,663,0.45,2.95,0.00,0.000,4,0.133,0.063,2457,1078,3630,0,0,0,0,0,0
$GC,701,-1.26,-146.0,96.6,-17.4,117,708,0.00,2.72,0.00,0.000,6,0.000,0.034,2457,2490,3630,0,0,0,0,0,0
$GC,1029,-1.24,-146.0,153.2,-16.6,149,1034,0.00,2.80,0.00,0.000,4,0.000,0.045,2456,3890,3628,0,0,0,0,0,0
$GC,1074,-1.49,-146.0,159.5,-12.2,152,1082,0.25,2.83,0.00,0.000,6,0.084,0.051,2388,2486,3628,0,0,0,0,0,0
$GC,1401,-1.38,-146.0,219.5,-19.0,183,1406,0.15,2.80,0.00,0.000,4,0.202,0.044,2413,3893,3627,0,0,0,0,0,0
$STATE,1618,end dive,NO_VERTICAL_VELOCITY
$STATE,1618,begin apogee
$GC,1630,-0.12,0.0,230.0,0.0,202,1784,1.55,0.00,148.50,1.022,6,0.116,0.000,2812,2275,3030,0,0,0,0,0,0
$STATE,1785,end apogee,CONTROL_FINISHED_OK
$STATE,1785,begin climb
$GC,1788,0.62,146.0,230.1,0.0,216,1946,0.93,3.17,149.57,0.972,4,0.104,0.067,3046,867,2433,0,0,0,0,0,0
$GC,2001,0.94,370.9,229.8,-0.4,235,2248,0.40,2.80,235.65,0.939,6,0.052,0.027,3167,2283,1517,0,0,0,0,0,0
$GC,2572,0.80,370.9,166.0,14.0,287,2577,0.22,3.05,0.00,0.000,4,0.181,0.057,3135,861,1511,0,0,0,0,0,0
$GC,2618,0.67,370.9,158.2,15.3,290,2625,0.25,2.80,0.00,0.000,6,0.200,0.033,3089,2265,1508,0,0,0,0,0,0
$GC,2944,0.46,370.9,103.8,16.0,321,2950,0.32,2.95,0.00,0.000,4,0.197,0.052,3032,862,1508,0,0,0,0,0,0
$GC,2992,0.60,410.4,98.9,8.2,325,3040,0.00,2.83,42.58,0.871,6,0.000,0.041,3033,2283,1356,0,0,0,0,0,0
$GC,3383,0.92,466.9,68.9,7.4,393,3453,0.43,3.08,62.28,0.866,4,0.076,0.052,3165,865,1125,0,0,0,0,0,0
$GC,3470,0.48,466.9,59.3,13.0,407,3478,0.70,2.88,0.00,0.000,6,0.182,0.041,3027,2268,1125,0,0,0,0,0,0
$GC,3819,0.86,466.9,24.1,10.9,468,3827,0.43,2.88,0.00,0.000,4,0.158,0.042,3125,3692,1119,0,0,0,0,0,0
$GC,3836,1.23,466.9,22.4,10.7,470,3843,0.50,2.92,0.00,0.000,6,0.100,0.051,3250,2268,1119,0,0,0,0,0,0
$FREEZE,8.54,0.144,-1.788,0,404,0
$FREEZE,7.76,0.076,-1.786,0,404,0
$FREEZE,7.02,-0.019,-1.784,0,404,0
$STATE,3947,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3947,begin subsurface finish
$FINISH1,7.0,1.026076,70
$GC,3955,0.09,69.8,7.0,-14.5,489,4065,1.65,3.08,-96.12,0.000,4,0.178,0.073,2904,865,2747,0,0,0,0,1,0
$FINISH2,4.2
$STATE,4065,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4066,begin surface
$RAFOS_CLK,220
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,121248
$TT8_MAMPS,0.028462
$HUMID,72.36
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.4,17.1
$24V_AH,19.1,137.324
$10V_AH,9.8,64.266
$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,9.600,53.100,638.575,0.000,0.000,0.000,0.000,0.000,9.750,0.000,0.000,1073.102,1434.347,608.389,866.091,137.038,0.000,1164.688,0.000,862.278,0.000,2.622,0.000
$DEVICE_MAMPS,201.960,152.235,1022.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.013,370.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20093,507
$CAP_FILE_SIZE,58097,0
$CFSIZE,260165632,194441216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.8
$GPS,190611,124748,6715.065,-5659.520,0,10000.0,0,-37.6