version: 66.08
glider: 141
mission: 15
dive: 987
start: 6 16 111 10 14 31
data:
$ID,141
$MISSION,15
$DIVE,987
$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,-101466.51
$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,35
$R_STBD_OVSHOOT,64
$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,-73.9
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-106.85,0.000,2,0.000,0.000,112,2514,2498,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.2,-8.3,19,174,12.80,2.25,-25.12,0.000,4,0.319,0.063,2654,3875,3629,0,0,0,0,0,0
$GC,431,-0.99,-146.0,50.8,-13.8,71,439,0.35,2.28,0.00,0.000,6,0.122,0.064,2547,2501,3630,0,0,0,0,0,0
$GC,780,-1.40,-146.0,83.6,-9.8,132,787,0.38,2.22,0.00,0.000,4,0.157,0.048,2419,3879,3629,0,0,0,0,0,0
$GC,877,-1.60,-146.0,94.9,-12.3,148,884,0.20,2.30,0.00,0.000,6,0.090,0.057,2345,2487,3628,0,0,0,0,0,0
$GC,1207,-1.43,-146.0,165.4,-22.2,181,1212,0.22,2.38,0.00,0.000,4,0.226,0.070,2398,1077,3628,0,0,0,0,0,0
$GC,1218,-1.24,-146.0,168.4,-21.7,181,1226,0.28,2.17,0.00,0.000,6,0.233,0.036,2461,2480,3627,0,0,0,0,0,0
$GC,1545,-1.52,-146.0,215.5,0.0,212,1550,0.25,2.25,0.00,0.000,4,0.099,0.050,2368,3883,3628,0,0,0,0,0,0
$STATE,1664,end dive,NO_VERTICAL_VELOCITY
$STATE,1664,begin apogee
$GC,1675,-0.12,0.0,215.4,0.0,222,1808,1.42,0.00,120.10,1.041,6,0.123,0.000,2820,2272,3029,0,0,0,0,0,0
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1808,begin climb
$GC,1812,0.62,146.0,215.4,0.0,234,1950,0.73,2.60,125.80,0.996,4,0.101,0.046,3055,3671,2433,0,0,0,0,0,0
$GC,1959,1.06,362.2,215.3,0.0,247,2169,0.45,2.55,199.20,0.965,6,0.060,0.054,3216,2271,1552,0,0,0,0,0,0
$GC,2488,0.85,362.2,155.8,15.6,296,2493,0.30,2.40,0.00,0.000,4,0.208,0.046,3143,3670,1544,0,0,0,0,0,0
$GC,2500,0.66,362.2,153.6,16.4,296,2508,0.28,2.45,0.00,0.000,6,0.159,0.056,3080,2264,1543,0,0,0,0,0,0
$GC,2826,0.66,362.2,121.2,10.4,327,2830,0.00,2.28,0.00,0.000,4,0.000,0.050,3079,3670,1543,0,0,0,0,0,0
$GC,2839,0.66,362.2,119.9,10.4,328,2844,0.00,2.30,0.00,0.000,6,0.000,0.053,3085,2272,1542,0,0,0,0,0,0
$GC,3174,0.67,368.2,85.0,9.7,370,3187,0.00,2.38,4.85,0.655,4,0.000,0.065,3097,859,1529,0,0,0,0,0,0
$GC,3242,0.63,369.8,78.4,9.9,381,3249,0.00,2.20,0.00,0.000,6,0.000,0.044,3097,2280,1529,0,0,0,0,0,0
$GC,3589,0.60,369.8,41.2,10.2,442,3597,0.15,2.38,0.00,0.000,4,0.183,0.070,3067,866,1529,0,0,0,0,0,0
$GC,3616,0.67,374.5,38.4,9.8,446,3630,0.00,2.17,6.03,0.786,6,0.000,0.040,3067,2281,1503,0,0,0,0,0,0
$FREEZE,8.70,-0.690,-1.799,0,350,2
$FREEZE,7.80,-0.690,-1.798,0,350,2
$FREEZE,7.01,-0.690,-1.797,0,350,2
$FREEZE,6.16,-0.692,-1.796,0,350,2
$FREEZE,5.12,-0.693,-1.796,0,350,2
$FREEZE,4.22,-0.689,-1.795,0,350,2
$GC,3974,0.97,486.0,10.4,4.9,508,4037,0.28,2.25,55.65,0.841,4,0.070,0.051,3188,3667,1046,0,0,0,0,0,0
$FREEZE,2.05,-0.676,-1.793,0,350,2
$STATE,4046,end climb,SURFACE_DEPTH_REACHED
$STATE,4046,begin surface coast
$FREEZE,1.96,-0.566,-1.788,0,350,2
$FINISH,2.0,1.026206
$STATE,4053,end surface coast,CONTROL_FINISHED_OK
$STATE,4053,begin surface
$SM_CCo,4195,31.95,0.065,0,0,750,559.04
$SM_GC,2.74,0.00,0.00,31.95,0.000,0.000,0.065,110,2486,750,-8.61,-0.11,559.04
$RAFOS_CLK,285
$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,75.24
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,21.2,129.275
$10V_AH,9.8,61.730
$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,27.000,46.450,511.625,31.950,0.000,102.058,17.342,0.000,10.000,0.000,185.575,1180.856,1696.775,588.002,1148.268,653.101,0.000,1135.609,0.000,839.801,0.000,2.618,0.000
$DEVICE_MAMPS,319.005,70.380,1041.165,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.185,375.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,519
$CAP_FILE_SIZE,66030,0
$CFSIZE,260165632,196440064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$GPS,150611,173508,6715.065,-5654.765,181,99.0,181,-37.6