version: 66.08
glider: 141
mission: 15
dive: 967
start: 6 15 111 6 14 5
data:
$ID,141
$MISSION,15
$DIVE,967
$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,-96643.328
$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,28
$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
$GPS1,140611,153143,6652.926,-5651.085,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-74.8
$GPS2,140611,153143,6652.926,-5651.085,181,99.0,181,-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,44.4,18790,-17.5,-10.000
$D_GRID,609
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-113.10,0.000,2,0.000,0.000,109,2492,2583,0,0,0,0,0,0
$GC,137,-0.62,-146.0,5.4,-7.7,20,180,12.77,2.38,-23.05,0.000,4,0.317,0.083,2651,1079,3629,0,0,0,0,0,0
$GC,195,-0.85,-146.0,17.4,-9.3,29,202,0.20,2.22,0.00,0.000,6,0.112,0.046,2587,2508,3629,0,0,0,0,0,0
$GC,543,-1.29,-146.0,56.0,-11.5,90,550,0.38,2.20,0.00,0.000,4,0.091,0.050,2446,3892,3629,0,0,0,0,0,0
$GC,559,-1.63,-146.0,58.2,-13.9,92,566,0.32,2.30,0.00,0.000,6,0.091,0.056,2332,2487,3629,0,0,0,0,0,0
$GC,902,-1.45,-146.0,138.7,-23.5,139,907,0.25,2.38,0.00,0.000,4,0.238,0.072,2394,1086,3628,0,0,0,0,0,0
$GC,925,-1.20,-146.0,144.8,-25.3,140,933,0.32,2.17,0.00,0.000,6,0.245,0.037,2469,2496,3627,0,0,0,0,0,0
$GC,1251,-1.20,-146.0,198.9,-16.2,171,1255,0.00,2.22,0.00,0.000,4,0.000,0.052,2469,3892,3628,0,0,0,0,0,0
$GC,1265,-1.24,-146.0,200.9,-15.6,172,1270,0.00,2.33,0.00,0.000,6,0.000,0.059,2468,2491,3628,0,0,0,0,0,0
$STATE,1527,end dive,NO_VERTICAL_VELOCITY
$STATE,1527,begin apogee
$GC,1535,-0.12,0.0,214.0,0.0,196,1667,1.10,0.00,119.70,1.041,6,0.128,0.000,2818,2256,3030,0,0,0,0,0,0
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1671,0.62,146.0,214.0,0.0,208,1809,0.75,2.65,124.55,0.992,4,0.119,0.074,3054,874,2432,0,0,0,0,0,0
$GC,2065,1.06,356.2,213.7,0.3,243,2254,0.43,2.22,180.32,0.962,6,0.076,0.037,3214,2282,1577,0,0,0,0,0,0
$GC,2573,0.84,356.2,152.9,16.2,290,2578,0.28,2.38,0.00,0.000,4,0.220,0.063,3150,858,1568,0,0,0,0,0,0
$GC,2614,0.57,356.2,145.9,17.8,293,2619,0.38,2.22,0.00,0.000,6,0.229,0.046,3057,2265,1565,0,0,0,0,0,0
$GC,2941,0.60,358.9,113.4,9.9,323,2945,0.00,2.30,0.00,0.000,4,0.000,0.063,3066,858,1565,0,0,0,0,0,0
$GC,2993,0.71,358.9,107.9,10.3,327,2997,0.00,2.20,0.00,0.000,6,0.000,0.038,3066,2286,1565,0,0,0,0,0,0
$GC,3335,0.89,388.2,74.7,8.6,380,3372,0.22,2.40,27.42,0.884,4,0.076,0.063,3170,866,1446,0,0,0,0,0,0
$GC,3398,0.68,388.2,66.8,15.2,390,3406,0.32,2.22,0.00,0.000,6,0.214,0.047,3090,2275,1445,0,0,0,0,0,0
$GC,3749,0.73,405.6,28.8,9.2,451,3763,0.00,2.30,9.40,0.861,4,0.000,0.054,3091,3680,1376,0,0,0,0,0,0
$GC,3811,0.89,430.8,22.9,8.8,461,3831,0.15,2.28,13.45,0.856,6,0.090,0.053,3163,2264,1272,0,0,0,0,0,0
$FREEZE,8.60,-0.985,-1.805,0,330,2
$FREEZE,8.02,-1.013,-1.805,0,330,2
$FREEZE,7.52,-1.022,-1.804,0,330,2
$FREEZE,6.89,-1.005,-1.802,0,330,2
$FREEZE,6.34,-0.989,-1.802,0,330,2
$FREEZE,5.75,-0.980,-1.801,0,330,2
$FREEZE,5.05,-0.987,-1.801,0,330,2
$FREEZE,4.48,-0.990,-1.801,0,330,2
$FREEZE,3.84,-0.999,-1.800,0,330,2
$FREEZE,3.10,-1.009,-1.800,0,330,2
$FREEZE,2.50,-1.005,-1.799,0,330,2
$STATE,3984,end climb,SURFACE_DEPTH_REACHED
$STATE,3984,begin surface coast
$FREEZE,1.91,-1.017,-1.798,0,330,2
$FREEZE,1.85,-0.955,-1.214,0,330,2
$FREEZE,1.77,-0.864,-1.791,0,330,2
$FREEZE,1.79,-0.956,-1.796,0,330,2
$FINISH,1.8,1.026346
$STATE,4009,end surface coast,CONTROL_FINISHED_OK
$STATE,4009,begin surface
$SM_CCo,4061,57.72,0.065,0,0,750,559.04
$SM_GC,2.86,0.00,0.00,57.72,0.000,0.000,0.065,115,2512,750,-8.60,0.62,559.04
$RAFOS_CLK,274
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5705.69,150611,060612
$TT8_MAMPS,0.026215
$HUMID,74.13
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.30
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,22.0,126.480
$10V_AH,9.8,60.834
$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,26.700,42.100,474.850,57.725,0.000,88.647,52.579,0.000,7.250,0.000,185.550,1148.934,1638.979,576.961,1162.917,644.060,0.000,1108.687,0.000,833.685,0.000,2.615,0.000
$DEVICE_MAMPS,316.710,83.385,1041.165,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.129,362.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20189,496
$CAP_FILE_SIZE,65631,0
$CFSIZE,260165632,197160960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,150611,060412,6715.065,-5705.686,0,10000.0,0,-37.6