version: 66.08
glider: 141
mission: 15
dive: 990
start: 6 16 111 14 37 36
data:
$ID,141
$MISSION,15
$DIVE,990
$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,-102209.29
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,160611,113654,6715.065,-5710.441,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.23
$_SM_ANGLEo,9.3
$GPS2,160611,113654,6715.065,-5710.441,181,99.0,181,-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,181.6,27603,-17.5,-10.000
$D_GRID,344
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.50,0.000,2,0.000,0.000,2895,867,3062,0,0,0,0,0,0
$GC,28,-0.62,-146.0,16.5,-0.0,1,48,0.70,0.32,-10.23,0.000,4,0.151,0.145,2674,1093,3629,0,0,0,0,0,0
$GC,226,-1.04,-146.0,40.3,-12.8,35,233,0.45,2.17,0.00,0.000,6,0.103,0.042,2527,2506,3630,0,0,0,0,0,0
$GC,574,-1.21,-146.0,81.7,-11.8,96,581,0.15,2.20,0.00,0.000,4,0.103,0.047,2466,3881,3629,0,0,0,0,0,0
$GC,652,-1.51,-146.0,90.7,-10.9,109,660,0.25,2.25,0.00,0.000,6,0.102,0.049,2380,2485,3629,0,0,0,0,0,0
$GC,989,-1.39,-146.0,153.4,-19.3,145,994,0.12,2.25,0.00,0.000,4,0.233,0.047,2408,3890,3628,0,0,0,0,0,0
$GC,1001,-1.33,-146.0,155.8,-19.5,145,1008,0.10,2.28,0.00,0.000,6,0.187,0.057,2431,2494,3628,0,0,0,0,0,0
$GC,1327,-1.28,-146.0,213.0,-16.5,176,1331,0.00,2.35,0.00,0.000,4,0.000,0.068,2432,1078,3627,0,0,0,0,0,0
$GC,1344,-1.15,-146.0,216.3,-17.2,177,1351,0.22,2.15,0.00,0.000,6,0.238,0.034,2485,2484,3626,0,0,0,0,0,0
$STATE,1553,end dive,NO_VERTICAL_VELOCITY
$STATE,1553,begin apogee
$GC,1561,-0.12,0.0,221.7,0.0,197,1687,1.10,0.00,118.95,1.025,6,0.147,0.000,2815,2266,3030,0,0,0,0,0,0
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,0.62,146.0,221.7,0.0,208,1828,0.77,2.58,125.03,0.982,4,0.119,0.045,3056,3662,2433,0,0,0,0,0,0
$GC,2085,1.05,359.4,221.2,0.2,243,2283,0.40,2.30,188.35,0.956,6,0.062,0.053,3211,2281,1565,0,0,0,0,0,0
$GC,2601,0.84,359.4,159.7,15.8,291,2603,0.30,0.00,0.00,0.000,6,0.203,0.000,3140,2281,1556,0,0,0,0,0,0
$GC,2919,0.75,359.4,120.0,12.5,321,2924,0.12,2.35,0.00,0.000,4,0.203,0.065,3115,867,1555,0,0,0,0,0,0
$GC,2964,0.60,359.4,113.5,15.2,324,2972,0.22,2.22,0.00,0.000,6,0.209,0.041,3063,2269,1553,0,0,0,0,0,0
$GC,3303,0.65,378.4,81.6,9.1,372,3327,0.00,2.35,16.20,0.857,4,0.000,0.062,3071,868,1487,0,0,0,0,0,0
$GC,3386,0.76,403.4,74.1,8.8,386,3417,0.10,2.22,23.45,0.868,6,0.116,0.037,3115,2293,1385,0,0,0,0,0,0
$GC,3760,0.86,428.9,28.3,8.8,451,3779,0.00,2.42,13.55,0.873,4,0.000,0.061,3124,856,1280,0,0,0,0,0,0
$GC,3854,0.92,442.0,20.0,9.4,466,3868,0.10,2.22,6.40,0.734,6,0.122,0.038,3165,2282,1228,0,0,0,0,0,0
$FREEZE,8.42,-0.706,-1.791,0,353,0
$FREEZE,7.50,-0.709,-1.790,0,353,0
$FREEZE,6.77,-0.724,-1.790,0,353,0
$FREEZE,5.95,-0.724,-1.789,0,353,0
$FREEZE,5.21,-0.718,-1.788,0,353,0
$FREEZE,4.02,-0.709,-1.787,0,353,0
$FREEZE,3.22,-0.708,-1.786,0,353,0
$FREEZE,2.33,-0.703,-1.786,0,353,0
$STATE,3974,end climb,SURFACE_DEPTH_REACHED
$STATE,3974,begin surface coast
$FREEZE,1.80,-0.681,-1.785,0,353,0
$FREEZE,1.85,-0.648,-0.915,0,353,0
$FREEZE,1.85,-0.647,-1.200,0,353,0
$FREEZE,1.73,-0.596,-0.422,0,353,0
$FINISH,1.7,1.006102
$STATE,3996,end surface coast,CONTROL_FINISHED_OK
$STATE,3997,begin surface
$SM_CCo,4120,52.97,0.063,0,0,750,559.04
$SM_GC,2.80,0.00,0.00,52.97,0.000,0.000,0.063,116,2525,750,-8.59,0.99,559.04
$RAFOS_CLK,233
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5710.44,160611,111154
$TT8_MAMPS,0.026964
$HUMID,73.70
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,16
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,21.5,129.698
$10V_AH,9.8,61.869
$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,13.875,35.300,491.925,52.975,0.000,0.000,0.000,0.000,4.250,0.000,0.000,1144.673,1649.738,486.534,816.478,139.509,0.000,989.841,0.000,816.755,0.000,2.620,0.000
$DEVICE_MAMPS,237.915,144.585,1025.100,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.627,362.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20107,491
$CAP_FILE_SIZE,57988,0
$CFSIZE,260165632,196333568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,160611,113654,6715.065,-5710.441,181,99.0,181,-37.6