version: 66.08
glider: 141
mission: 15
dive: 970
start: 6 15 111 10 25 19
data:
$ID,141
$MISSION,15
$DIVE,970
$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,-97384.828
$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,38
$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
$GPS1,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.16
$_SM_ANGLEo,3.9
$GPS2,150611,060412,6715.065,-5705.686,181,99.0,181,-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,187.8,25737,-17.5,-10.000
$D_GRID,322
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2893,3697,3102,0,0,0,0,0,0
$GC,28,-0.62,-146.0,15.6,-0.0,1,42,0.70,0.32,-9.68,0.000,4,0.149,0.160,2673,3903,3628,0,0,0,0,0,0
$GC,298,-1.00,-146.0,54.6,-14.3,48,306,0.40,2.30,0.00,0.000,6,0.100,0.062,2539,2484,3630,0,0,0,0,0,0
$GC,647,-1.26,-146.0,91.6,-11.2,109,654,0.22,2.28,0.00,0.000,4,0.099,0.047,2458,3898,3629,0,0,0,0,0,0
$GC,752,-1.54,-146.0,105.0,-12.1,124,758,0.28,2.25,0.00,0.000,6,0.096,0.050,2363,2488,3629,0,0,0,0,0,0
$GC,1079,-1.42,-146.0,173.7,-21.1,154,1084,0.17,2.25,0.00,0.000,4,0.223,0.047,2403,3898,3627,0,0,0,0,0,0
$GC,1335,-1.62,-146.0,212.0,-13.0,176,1339,0.17,2.28,0.00,0.000,6,0.125,0.048,2350,2484,3626,0,0,0,0,0,0
$STATE,1498,end dive,NO_VERTICAL_VELOCITY
$STATE,1498,begin apogee
$GC,1506,-0.12,0.0,212.1,0.0,191,1633,1.42,0.00,118.43,1.017,6,0.108,0.000,2817,2276,3030,0,0,0,0,0,0
$STATE,1634,end apogee,CONTROL_FINISHED_OK
$STATE,1634,begin climb
$GC,1637,0.62,146.0,212.1,0.0,202,1773,0.70,2.50,124.15,0.972,4,0.072,0.049,3066,3673,2433,0,0,0,0,0,0
$GC,1922,1.09,366.8,212.1,-0.2,228,2125,0.43,2.35,194.18,0.948,6,0.063,0.050,3225,2271,1534,0,0,0,0,0,0
$GC,2452,0.88,366.8,151.6,15.2,277,2457,0.28,2.30,0.00,0.000,4,0.216,0.044,3154,3682,1524,0,0,0,0,0,0
$GC,2464,0.67,366.8,149.5,15.9,277,2472,0.28,2.30,0.00,0.000,6,0.162,0.052,3087,2277,1523,0,0,0,0,0,0
$GC,2790,0.67,366.8,116.4,10.4,308,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2276,1522,0,0,0,0,0,0
$GC,3120,0.68,372.1,83.4,9.8,352,3133,0.00,2.35,4.25,0.595,4,0.000,0.063,3095,863,1512,0,0,0,0,0,0
$GC,3198,0.64,372.1,75.4,10.4,365,3205,0.00,2.22,0.00,0.000,6,0.000,0.047,3095,2286,1511,0,0,0,0,0,0
$GC,3546,0.67,393.6,37.3,9.0,426,3571,0.00,2.28,14.85,0.923,4,0.000,0.049,3096,3687,1424,0,0,0,0,0,0
$GC,3579,0.70,420.6,34.3,8.8,431,3603,0.00,2.28,15.52,0.902,6,0.000,0.050,3105,2269,1314,0,0,0,0,0,0
$FREEZE,8.88,-0.504,-1.806,0,333,0
$FREEZE,8.37,-0.491,-1.805,0,333,0
$FREEZE,8.04,-0.406,-1.802,0,333,0
$FREEZE,7.45,-0.430,-1.805,0,333,0
$FREEZE,7.03,-0.399,-1.803,0,333,0
$FREEZE,6.52,-0.391,-1.803,0,333,0
$FREEZE,5.73,-0.407,-1.803,0,333,0
$FREEZE,5.28,-0.442,-1.805,0,333,0
$FREEZE,4.72,-0.399,-1.803,0,333,0
$FREEZE,4.26,-0.417,-1.803,0,333,0
$FREEZE,3.78,-0.360,-1.802,0,333,0
$FREEZE,3.27,-0.356,-1.802,0,333,0
$FREEZE,2.77,-0.295,-1.799,0,333,0
$STATE,3933,end climb,SURFACE_DEPTH_REACHED
$STATE,3933,begin surface coast
$FREEZE,2.18,-0.290,-1.799,0,333,0
$FREEZE,1.88,-0.268,-1.799,0,333,0
$FREEZE,1.88,-0.274,-1.799,0,333,0
$FREEZE,1.81,-0.238,-1.796,0,333,0
$FREEZE,1.86,-0.249,-1.783,0,333,0
$FREEZE,1.84,-0.257,-0.994,0,333,0
$FINISH,1.8,1.014676
$STATE,3966,end surface coast,CONTROL_FINISHED_OK
$STATE,3966,begin surface
$SM_CCo,4029,62.08,0.063,0,0,750,559.04
$SM_GC,2.68,0.00,0.00,62.08,0.000,0.000,0.063,110,2518,750,-8.61,0.79,559.04
$RAFOS_CLK,228
$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,75.20
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,21.6,126.898
$10V_AH,10.0,60.970
$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,13.725,30.900,471.375,62.075,0.000,0.000,0.000,0.000,6.250,0.000,0.000,1173.380,1541.441,479.479,840.083,121.966,0.000,971.929,0.000,838.581,0.000,2.619,0.000
$DEVICE_MAMPS,223.380,159.885,1016.685,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.203,364.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,20154,500
$CAP_FILE_SIZE,54846,0
$CFSIZE,260165632,197062656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.3
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6