version: 66.08
glider: 141
mission: 15
dive: 975
start: 6 15 111 17 43 39
data:
$ID,141
$MISSION,15
$DIVE,975
$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,-98870.367
$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,30
$R_STBD_OVSHOOT,46
$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,2.82
$_SM_ANGLEo,-74.4
$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,-146.0,0.0,0.0,0,131,0.00,0.00,-112.40,0.000,2,0.000,0.000,110,2499,2585,0,0,0,0,0,0
$GC,136,-0.62,-146.0,5.5,-6.9,20,179,12.95,2.40,-22.08,0.000,4,0.319,0.088,2653,1091,3629,0,0,0,0,0,0
$GC,251,-0.99,-146.0,23.2,-11.4,39,258,0.35,2.20,0.00,0.000,6,0.154,0.040,2554,2496,3629,0,0,0,0,0,0
$GC,599,-1.41,-146.0,58.5,-11.6,100,607,0.43,2.40,0.00,0.000,4,0.125,0.073,2416,1088,3629,0,0,0,0,0,0
$GC,633,-1.49,-146.0,63.2,-13.8,105,640,0.00,2.20,0.00,0.000,6,0.000,0.047,2415,2486,3628,0,0,0,0,0,0
$GC,972,-1.40,-146.0,127.6,-18.6,152,976,0.00,2.38,0.00,0.000,4,0.000,0.076,2416,1089,3628,0,0,0,0,0,0
$GC,984,-1.27,-146.0,130.0,-18.3,152,992,0.15,2.17,0.00,0.000,6,0.246,0.037,2446,2498,3627,0,0,0,0,0,0
$GC,1310,-1.23,-146.0,185.1,-17.1,183,1314,0.00,2.25,0.00,0.000,4,0.000,0.053,2446,3897,3627,0,0,0,0,0,0
$GC,1490,-1.51,-146.0,207.4,-12.3,198,1498,0.20,2.30,0.00,0.000,6,0.096,0.055,2378,2496,3628,0,0,0,0,0,0
$STATE,1700,end dive,NO_VERTICAL_VELOCITY
$STATE,1700,begin apogee
$GC,1707,-0.12,0.0,213.4,0.0,218,1839,1.20,0.00,120.05,1.034,6,0.057,0.000,2832,2262,3030,0,0,0,0,0,0
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1844,0.62,146.0,213.4,0.0,230,1979,0.65,2.67,124.93,0.988,4,0.063,0.073,3082,874,2433,0,0,0,0,0,0
$GC,2235,0.79,361.9,213.3,0.0,264,2430,0.12,2.22,186.95,0.962,6,0.111,0.035,3132,2295,1554,0,0,0,0,0,0
$GC,2749,0.71,361.9,161.8,12.4,312,2751,0.15,0.00,0.00,0.000,6,0.192,0.000,3096,2295,1545,0,0,0,0,0,0
$GC,3067,0.69,361.9,126.2,11.4,342,3071,0.00,2.38,0.00,0.000,4,0.000,0.064,3105,862,1544,0,0,0,0,0,0
$GC,3134,0.58,361.9,117.7,13.4,347,3142,0.20,2.22,0.00,0.000,6,0.197,0.047,3056,2269,1542,0,0,0,0,0,0
$GC,3474,0.82,417.7,83.9,7.4,394,3528,0.20,2.38,47.88,0.896,4,0.082,0.056,3143,3686,1327,0,0,0,0,0,0
$GC,3550,0.76,417.7,75.0,14.3,406,3557,0.15,2.35,0.00,0.000,6,0.164,0.063,3113,2263,1323,0,0,0,0,0,0
$GC,3902,0.80,425.1,40.6,9.7,467,3916,0.00,2.28,6.88,0.767,4,0.000,0.049,3112,3679,1295,0,0,0,0,0,0
$GC,3930,0.85,425.6,37.5,10.0,471,3937,0.00,2.28,0.00,0.000,6,0.000,0.062,3112,2265,1295,0,0,0,0,0,0
$FREEZE,8.82,-0.797,-1.798,0,338,0
$FREEZE,8.27,-0.792,-1.798,0,338,0
$FREEZE,7.83,-0.841,-1.799,0,338,0
$FREEZE,7.52,-0.833,-1.798,0,338,0
$FREEZE,7.04,-0.838,-1.797,0,338,0
$FREEZE,6.61,-0.844,-1.797,0,338,0
$FREEZE,6.33,-0.854,-1.797,0,338,0
$FREEZE,5.85,-0.830,-1.796,0,338,0
$FREEZE,4.77,-0.865,-1.796,0,338,0
$FREEZE,4.07,-0.865,-1.795,0,338,0
$FREEZE,3.31,-0.840,-1.793,0,338,0
$GC,4279,0.98,475.9,5.9,7.7,532,4310,0.20,2.33,24.65,0.824,4,0.086,0.060,3203,866,1089,0,0,0,0,0,0
$FREEZE,1.98,-0.776,-0.180,0,338,0
$STATE,4315,end climb,SURFACE_DEPTH_REACHED
$STATE,4315,begin surface coast
$FREEZE,2.04,-0.825,-0.598,0,338,0
$FREEZE,2.01,-0.795,-1.071,0,338,0
$FREEZE,1.98,-0.753,-1.780,0,338,0
$FREEZE,2.00,-0.664,-1.783,0,338,0
$FREEZE,1.91,-0.808,-0.938,0,338,0
$FREEZE,1.98,-0.793,-1.698,0,338,0
$FINISH,2.0,1.024942
$STATE,4349,end surface coast,CONTROL_FINISHED_OK
$STATE,4349,begin surface
$SM_CCo,4494,37.22,0.065,0,0,750,559.04
$SM_GC,2.90,0.00,0.00,37.22,0.000,0.000,0.065,112,2516,750,-8.60,0.74,559.04
$RAFOS_CLK,296
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.026215
$HUMID,73.86
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.60
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,21.8,127.598
$10V_AH,9.8,61.210
$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,25.875,42.350,511.325,37.225,0.000,99.559,68.131,0.000,8.750,0.000,185.614,1241.515,1849.579,587.011,1274.742,649.218,0.000,1165.036,0.000,915.197,0.000,2.620,0.000
$DEVICE_MAMPS,319.005,87.975,1033.515,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.614,393.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20096,543
$CAP_FILE_SIZE,68960,0
$CFSIZE,260165632,196870144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,150611,173508,6715.065,-5654.765,0,10000.0,0,-37.6