version: 66.08
glider: 141
mission: 15
dive: 983
start: 6 16 111 4 28 20
data:
$ID,141
$MISSION,15
$DIVE,983
$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,-100353.89
$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,44
$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,11.77
$_SM_ANGLEo,3.6
$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,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.45,0.000,2,0.000,0.000,2896,871,3049,0,0,0,0,0,0
$GC,29,-0.62,-146.0,15.3,-0.0,1,48,0.70,4.78,-11.00,0.000,4,0.168,0.041,2675,3902,3628,0,0,0,0,0,0
$GC,304,-0.97,-146.0,57.6,-16.1,49,312,0.38,2.30,0.00,0.000,6,0.109,0.063,2553,2492,3630,0,0,0,0,0,0
$GC,654,-1.27,-146.0,91.7,-8.9,110,661,0.25,2.35,0.00,0.000,4,0.106,0.073,2461,1078,3629,0,0,0,0,0,0
$GC,671,-1.50,-146.0,93.6,-9.6,112,679,0.22,2.22,0.00,0.000,6,0.116,0.037,2387,2507,3628,0,0,0,0,0,0
$GC,1007,-1.41,-146.0,159.1,-19.7,146,1010,0.00,2.40,0.00,0.000,4,0.000,0.073,2387,1084,3627,0,0,0,0,0,0
$GC,1024,-1.22,-146.0,163.3,-20.9,147,1031,0.35,2.17,0.00,0.000,6,0.230,0.034,2468,2496,3627,0,0,0,0,0,0
$GC,1350,-1.28,-146.0,216.0,-13.4,178,1354,0.00,2.35,0.00,0.000,4,0.000,0.064,2468,1081,3627,0,0,0,0,0,0
$GC,1373,-1.56,-146.0,216.1,-0.3,179,1380,0.32,2.20,0.00,0.000,6,0.094,0.044,2359,2480,3626,0,0,0,0,0,0
$STATE,1494,end dive,NO_VERTICAL_VELOCITY
$STATE,1494,begin apogee
$GC,1503,-0.12,0.0,216.0,0.0,191,1634,1.45,0.00,118.65,1.022,6,0.132,0.000,2813,2257,3030,0,0,0,0,0,0
$STATE,1634,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1639,0.62,146.0,216.1,0.0,203,1773,0.73,2.62,124.07,0.979,4,0.093,0.070,3059,883,2434,0,0,0,0,0,0
$GC,2028,1.08,355.8,215.9,0.3,237,2219,0.45,2.25,182.43,0.955,6,0.077,0.046,3221,2289,1579,0,0,0,0,0,0
$GC,2538,0.87,355.8,159.5,15.1,285,2542,0.28,2.28,0.00,0.000,4,0.213,0.049,3148,3680,1570,0,0,0,0,0,0
$GC,2550,0.67,355.8,157.6,15.5,285,2557,0.25,2.30,0.00,0.000,6,0.157,0.057,3085,2280,1568,0,0,0,0,0,0
$GC,2879,0.70,380.4,126.8,8.9,316,2902,0.00,0.00,20.90,0.877,6,0.000,0.000,3085,2280,1479,0,0,0,0,0,0
$GC,3224,0.74,410.6,95.9,8.6,352,3260,0.00,2.38,27.48,0.881,4,0.000,0.068,3093,866,1356,0,0,0,0,0,0
$GC,3321,0.81,424.0,87.3,9.4,368,3341,0.00,2.20,13.35,0.832,6,0.000,0.047,3094,2285,1301,0,0,0,0,0,0
$GC,3684,1.04,452.7,54.8,8.7,431,3716,0.25,2.42,25.67,0.864,4,0.078,0.061,3218,855,1184,0,0,0,0,0,0
$GC,3747,0.87,452.7,45.5,17.7,441,3755,0.28,2.22,0.00,0.000,6,0.211,0.044,3149,2278,1183,0,0,0,0,0,0
$FREEZE,8.69,-0.877,-1.797,0,346,0
$FREEZE,7.99,-0.878,-1.796,0,346,0
$FREEZE,7.30,-0.857,-1.795,0,346,0
$FREEZE,6.58,-0.856,-1.795,0,346,0
$FREEZE,5.96,-0.854,-1.794,0,346,0
$FREEZE,5.20,-0.858,-1.794,0,346,0
$FREEZE,4.35,-0.855,-1.793,0,346,0
$FREEZE,3.69,-0.850,-1.792,0,346,0
$FREEZE,2.86,-0.852,-1.792,0,346,0
$STATE,4021,end climb,SURFACE_DEPTH_REACHED
$STATE,4021,begin surface coast
$FREEZE,2.15,-0.850,-1.791,0,346,0
$FREEZE,1.76,-0.832,-1.056,0,346,0
$FREEZE,1.86,-0.820,-1.487,0,346,0
$FREEZE,1.90,-0.803,-1.045,0,346,0
$FINISH,1.9,1.015430
$STATE,4046,end surface coast,CONTROL_FINISHED_OK
$STATE,4046,begin surface
$SM_CCo,4114,48.08,0.063,0,0,750,559.04
$SM_GC,2.54,0.00,0.00,48.08,0.000,0.000,0.063,110,2524,750,-8.60,0.93,559.04
$RAFOS_CLK,231
$RAFOS,6,1308199754,4.833333,4.820556,58,58,57,56,55,51,168,195,217,181,148,125
$RAFOS,5,1308199269,4.700000,4.685833,56,54,53,53,51,51,201,127,162,213,174,186
$RAFOS,4,1308198785,4.566667,4.551389,66,59,58,57,52,51,209,128,193,181,221,167
$RAFOS,3,1308198304,4.433333,4.417778,65,56,54,52,51,49,216,133,187,170,144,155
$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,72.64
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.40
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,21.8,128.702
$10V_AH,9.8,61.543
$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,14.650,40.100,512.550,48.075,0.000,0.000,0.000,0.000,6.500,0.000,0.000,1142.167,1627.650,499.893,820.517,138.916,0.000,1006.068,0.000,820.259,1080.000,2.622,0.000
$DEVICE_MAMPS,230.265,73.440,1022.040,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.713,366.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,20081,494
$CAP_FILE_SIZE,58022,0
$CFSIZE,260165632,196587520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6