version: 66.08
glider: 141
mission: 15
dive: 993
start: 6 16 111 18 51 0
data:
$ID,141
$MISSION,15
$DIVE,993
$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,-102949.1
$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,42
$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
$GPS1,160611,173016,6715.065,-5654.765,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.28
$_SM_ANGLEo,4.4
$GPS2,160611,173016,6715.065,-5654.765,0,10000.0,0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2895,3690,3097,0,0,0,0,0,0
$GC,28,-0.62,-146.0,19.0,-0.0,1,41,0.70,0.00,-8.70,0.000,6,0.154,0.000,2671,3690,3630,0,0,0,0,0,0
$GC,384,-0.99,-146.0,70.6,-15.2,63,391,0.35,0.30,0.00,0.000,4,0.154,0.052,2550,3898,3632,0,0,0,0,0,0
$GC,526,-1.36,-146.0,89.2,-13.8,87,534,0.40,2.30,0.00,0.000,6,0.120,0.053,2427,2492,3632,0,0,0,0,0,0
$GC,859,-1.27,-146.0,151.6,-19.3,123,863,0.00,2.33,0.00,0.000,4,0.000,0.070,2426,1083,3630,0,0,0,0,0,0
$GC,890,-1.03,-146.0,158.3,-23.5,125,895,0.43,2.17,0.00,0.000,6,0.236,0.034,2525,2496,3629,0,0,0,0,0,0
$GC,1217,-1.10,-146.0,204.1,-13.3,155,1221,0.00,2.17,0.00,0.000,4,0.000,0.047,2524,3884,3629,0,0,0,0,0,0
$GC,1475,-1.25,-146.0,216.9,0.1,177,1482,0.20,2.22,0.00,0.000,6,0.092,0.045,2451,2482,3628,0,0,0,0,0,0
$STATE,1490,end dive,NO_VERTICAL_VELOCITY
$STATE,1490,begin apogee
$GC,1498,-0.12,0.0,217.0,0.0,179,1630,1.25,0.00,119.03,1.014,6,0.155,0.000,2816,2261,3031,0,0,0,0,0,0
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1634,0.62,146.0,216.9,0.0,191,1773,0.77,2.58,125.32,0.974,4,0.130,0.055,3052,3659,2434,0,0,0,0,0,0
$GC,1780,1.04,358.5,216.6,0.2,204,1984,0.43,2.47,195.32,0.946,6,0.063,0.060,3203,2290,1568,0,0,0,0,0,0
$GC,2305,0.86,358.5,158.8,14.0,253,2310,0.25,2.38,0.00,0.000,4,0.202,0.044,3141,3676,1560,0,0,0,0,0,0
$GC,2317,0.71,358.5,156.8,14.1,253,2324,0.22,2.45,0.00,0.000,6,0.155,0.056,3091,2271,1559,0,0,0,0,0,0
$GC,2644,0.72,366.5,125.6,9.6,284,2655,0.00,0.00,6.80,0.734,6,0.000,0.000,3091,2271,1535,0,0,0,0,0,0
$GC,2979,0.72,370.8,93.4,9.8,321,2992,0.00,2.25,5.43,0.682,4,0.000,0.052,3091,3673,1518,0,0,0,0,0,0
$GC,3001,0.77,390.6,91.4,9.1,324,3026,0.00,2.28,19.60,0.864,6,0.000,0.050,3098,2267,1436,0,0,0,0,0,0
$GC,3369,0.83,409.4,57.5,9.1,388,3394,0.10,2.28,17.88,0.851,4,0.114,0.046,3141,3678,1359,0,0,0,0,0,0
$GC,3409,0.84,415.2,53.6,9.7,394,3422,0.00,2.28,6.62,0.724,6,0.000,0.058,3151,2275,1337,0,0,0,0,0,0
$GC,3765,0.84,418.1,20.9,9.9,456,3776,0.00,2.30,1.35,0.141,4,0.000,0.061,3162,866,1324,0,0,0,0,0,0
$GC,3841,0.77,418.1,12.9,10.6,468,3848,0.17,2.17,0.00,0.000,6,0.181,0.045,3117,2279,1324,0,0,0,0,0,0
$FREEZE,8.50,-0.662,-1.795,0,356,0
$FREEZE,8.04,-0.680,-1.795,0,356,0
$FREEZE,7.69,-0.672,-1.794,0,356,0
$FREEZE,7.35,-0.676,-1.794,0,356,0
$FREEZE,7.09,-0.673,-1.793,0,356,0
$FREEZE,6.71,-0.674,-1.793,0,356,0
$FREEZE,6.28,-0.679,-1.793,0,356,0
$FREEZE,5.90,-0.686,-1.793,0,356,0
$FREEZE,5.44,-0.688,-1.792,0,356,0
$FREEZE,5.00,-0.679,-1.792,0,356,0
$FREEZE,4.27,-0.677,-1.791,0,356,0
$FREEZE,3.93,-0.688,-1.791,0,356,0
$FREEZE,3.52,-0.693,-1.790,0,356,0
$FREEZE,3.01,-0.685,-1.790,0,356,0
$FREEZE,2.66,-0.685,-1.790,0,356,0
$STATE,3956,end climb,SURFACE_DEPTH_REACHED
$STATE,3956,begin surface coast
$FREEZE,2.25,-0.679,-1.789,0,356,0
$FREEZE,1.83,-0.671,-1.788,0,356,0
$FREEZE,1.84,-0.646,-1.788,0,356,0
$FREEZE,1.79,-0.634,-0.823,0,356,0
$FREEZE,1.88,-0.541,-0.585,0,356,0
$FREEZE,1.82,-0.641,-0.080,0,356,0
$FREEZE,1.82,-0.626,-0.099,0,356,0
$FINISH,1.8,1.001236
$STATE,3993,end surface coast,CONTROL_FINISHED_OK
$STATE,3994,begin surface
$SM_CCo,4026,63.95,0.063,0,0,750,559.04
$SM_GC,2.67,0.00,0.00,63.95,0.000,0.000,0.063,99,2514,750,-8.65,0.68,559.04
$RAFOS_CLK,221
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.026215
$HUMID,72.79
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,27
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,21.2,130.120
$10V_AH,9.8,62.005
$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,14.200,35.525,497.350,63.950,0.000,0.000,0.000,0.000,7.000,0.000,0.000,1146.658,1539.542,515.708,816.692,139.670,0.000,1008.987,0.000,817.216,0.000,2.807,0.000
$DEVICE_MAMPS,236.385,69.615,1014.390,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.501,363.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20154,496
$CAP_FILE_SIZE,57762,0
$CFSIZE,260165632,196227072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6