version: 66.08
glider: 141
mission: 15
dive: 981
start: 6 16 111 1 42 4
data:
$ID,141
$MISSION,15
$DIVE,981
$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,-99983.016
$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,58
$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
$GPS1,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.1
$GPS2,150611,173508,6715.065,-5654.765,181,99.0,181,-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,205.3,22873,-17.5,-10.000
$D_GRID,239
$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,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.62,0.000,2,0.000,0.000,114,2515,2508,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.0,-6.3,19,175,13.02,2.50,-25.12,0.000,4,0.321,0.084,2655,1079,3629,0,0,0,0,0,0
$GC,183,-0.80,-146.0,16.3,-9.9,27,191,0.15,2.20,0.00,0.000,6,0.109,0.046,2604,2487,3629,0,0,0,0,0,0
$GC,532,-1.25,-146.0,55.0,-10.7,88,539,0.38,2.25,0.00,0.000,4,0.163,0.048,2474,3892,3629,0,0,0,0,0,0
$GC,595,-1.57,-146.0,63.0,-11.4,98,602,0.32,2.28,0.00,0.000,6,0.093,0.061,2362,2493,3629,0,0,0,0,0,0
$GC,940,-1.46,-146.0,130.5,-19.5,146,942,0.12,0.00,0.00,0.000,6,0.239,0.000,2388,2493,3628,0,0,0,0,0,0
$GC,1258,-1.38,-146.0,191.0,-18.5,176,1263,0.12,2.42,0.00,0.000,4,0.235,0.073,2417,1083,3628,0,0,0,0,0,0
$GC,1288,-1.14,-146.0,197.5,-22.2,178,1293,0.30,2.20,0.00,0.000,6,0.231,0.036,2488,2496,3627,0,0,0,0,0,0
$STATE,1590,end dive,NO_VERTICAL_VELOCITY
$STATE,1590,begin apogee
$GC,1598,-0.12,0.0,218.6,0.0,206,1726,1.02,0.00,119.82,1.039,6,0.127,0.000,2814,2266,3030,0,0,0,0,0,0
$STATE,1726,end apogee,CONTROL_FINISHED_OK
$STATE,1726,begin climb
$GC,1730,0.62,146.0,218.4,0.0,217,1866,0.73,2.65,124.80,0.993,4,0.094,0.072,3055,883,2433,0,0,0,0,0,0
$GC,2123,1.09,362.8,218.2,-0.0,252,2323,0.45,2.20,188.93,0.964,6,0.076,0.036,3220,2279,1549,0,0,0,0,0,0
$GC,2642,0.87,362.8,153.2,15.4,300,2647,0.28,2.30,0.00,0.000,4,0.214,0.050,3148,3678,1541,0,0,0,0,0,0
$GC,2653,0.66,362.8,151.0,15.5,300,2661,0.28,2.33,0.00,0.000,6,0.160,0.052,3079,2270,1539,0,0,0,0,0,0
$GC,2981,0.67,377.3,120.7,9.3,331,2998,0.00,2.30,12.07,0.840,4,0.000,0.065,3087,870,1492,0,0,0,0,0,0
$GC,3049,0.67,377.3,113.6,10.4,336,3056,0.00,2.17,0.00,0.000,6,0.000,0.038,3087,2276,1491,0,0,0,0,0,0
$GC,3389,0.63,377.3,71.7,11.6,387,3396,0.00,2.25,0.00,0.000,4,0.000,0.061,3087,3675,1490,0,0,0,0,0,0
$GC,3438,0.77,378.9,66.3,9.9,395,3445,0.00,2.28,0.00,0.000,6,0.000,0.050,3097,2263,1489,0,0,0,0,0,0
$GC,3786,0.81,408.3,32.5,8.6,456,3811,0.00,2.28,17.90,0.926,4,0.000,0.063,3107,868,1363,0,0,0,0,0,0
$GC,3870,0.84,408.3,24.4,10.7,470,3877,0.00,2.20,0.00,0.000,6,0.000,0.037,3107,2280,1361,0,0,0,0,0,0
$FREEZE,8.85,-0.725,-1.798,0,344,0
$FREEZE,8.40,-0.725,-1.798,0,344,0
$FREEZE,8.05,-0.725,-1.797,0,344,0
$FREEZE,7.67,-0.725,-1.797,0,344,0
$FREEZE,7.21,-0.724,-1.797,0,344,0
$FREEZE,6.77,-0.723,-1.796,0,344,0
$FREEZE,6.42,-0.723,-1.796,0,344,0
$FREEZE,5.94,-0.724,-1.796,0,344,0
$FREEZE,5.45,-0.725,-1.795,0,344,0
$FREEZE,5.18,-0.725,-1.795,0,344,0
$FREEZE,4.73,-0.725,-1.795,0,344,0
$FREEZE,4.39,-0.725,-1.795,0,344,0
$FREEZE,4.05,-0.727,-1.794,0,344,0
$FREEZE,3.55,-0.727,-1.794,0,344,0
$FREEZE,3.36,-0.728,-1.794,0,344,0
$FREEZE,2.97,-0.726,-1.793,0,344,0
$STATE,4128,end climb,SURFACE_DEPTH_REACHED
$STATE,4128,begin surface coast
$FREEZE,2.50,-0.725,-1.793,0,344,0
$FREEZE,2.13,-0.724,-1.793,0,344,0
$FREEZE,1.99,-0.675,-0.165,0,344,0
$FREEZE,1.95,-0.669,-1.789,0,344,0
$FREEZE,1.83,-0.644,-0.973,0,344,0
$FREEZE,1.93,-0.713,-1.785,0,344,0
$FREEZE,1.87,-0.706,-0.946,0,344,0
$FREEZE,1.96,-0.687,-1.023,0,344,0
$FINISH,2.0,1.015094
$STATE,4174,end surface coast,CONTROL_FINISHED_OK
$STATE,4174,begin surface
$SM_CCo,4272,68.38,0.064,0,0,750,559.04
$SM_GC,2.65,0.00,0.00,68.38,0.000,0.000,0.064,113,2523,750,-8.60,0.93,559.04
$RAFOS_CLK,280
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,150611,171708
$TT8_MAMPS,0.026964
$HUMID,74.72
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,21.8,128.420
$10V_AH,9.8,61.457
$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,25.925,37.475,463.525,68.375,0.000,98.348,17.099,0.000,6.750,0.000,185.596,1236.554,1739.206,576.171,1175.834,652.848,0.000,1117.681,0.000,871.458,0.000,2.619,0.000
$DEVICE_MAMPS,320.535,84.150,1038.870,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.055,382.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20124,525
$CAP_FILE_SIZE,65765,0
$CFSIZE,260165632,196657152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6