version: 66.08
glider: 141
mission: 15
dive: 995
start: 6 16 111 21 29 11
data:
$ID,141
$MISSION,15
$DIVE,995
$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,-103320.04
$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,46
$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,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.14
$_SM_ANGLEo,3.5
$GPS2,160611,173016,6715.065,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2896,870,3055,0,0,0,0,0,0
$GC,27,-0.62,-146.0,14.6,-0.0,1,47,0.70,4.80,-10.98,0.000,4,0.129,0.042,2671,3892,3628,0,0,0,0,0,0
$GC,304,-0.98,-146.0,55.7,-14.0,49,312,0.38,2.28,0.00,0.000,6,0.109,0.065,2549,2496,3629,0,0,0,0,0,0
$GC,653,-1.43,-146.0,90.6,-9.5,110,659,0.40,0.00,0.00,0.000,6,0.102,0.000,2405,2497,3628,0,0,0,0,0,0
$GC,991,-1.34,-146.0,154.1,-19.0,146,995,0.00,2.38,0.00,0.000,4,0.000,0.074,2405,1076,3627,0,0,0,0,0,0
$GC,1002,-1.21,-146.0,156.9,-19.3,146,1009,0.28,2.22,0.00,0.000,6,0.236,0.037,2466,2505,3626,0,0,0,0,0,0
$GC,1328,-1.23,-146.0,209.9,-14.3,177,1332,0.00,2.20,0.00,0.000,4,0.000,0.048,2466,3885,3625,0,0,0,0,0,0
$GC,1370,-1.52,-146.0,214.7,-9.2,180,1375,0.28,2.22,0.00,0.000,6,0.104,0.044,2378,2477,3626,0,0,0,0,0,0
$STATE,1523,end dive,NO_VERTICAL_VELOCITY
$STATE,1523,begin apogee
$GC,1531,-0.12,0.0,214.8,0.0,194,1658,1.40,0.00,118.62,1.017,6,0.125,0.000,2819,2262,3030,0,0,0,0,0,0
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1662,0.62,146.0,214.9,0.0,205,1799,0.80,2.55,125.30,0.976,4,0.142,0.048,3054,3660,2433,0,0,0,0,0,0
$GC,1981,1.05,339.0,214.6,1.1,233,2164,0.43,2.40,173.75,0.953,6,0.061,0.052,3209,2283,1646,0,0,0,0,0,0
$GC,2492,0.83,339.0,162.7,14.7,281,2497,0.28,2.35,0.00,0.000,4,0.207,0.046,3141,3672,1638,0,0,0,0,0,0
$GC,2504,0.64,339.0,160.7,14.1,281,2511,0.28,2.38,0.00,0.000,6,0.159,0.058,3076,2274,1636,0,0,0,0,0,0
$GC,2831,0.66,357.7,130.8,9.1,312,2853,0.00,0.00,15.93,0.863,6,0.000,0.000,3076,2274,1570,0,0,0,0,0,0
$GC,3173,0.69,381.9,100.1,8.9,344,3202,0.00,2.33,22.10,0.877,4,0.000,0.063,3084,865,1473,0,0,0,0,0,0
$GC,3251,0.72,385.7,93.0,9.8,356,3264,0.00,2.20,4.90,0.649,6,0.000,0.037,3084,2273,1458,0,0,0,0,0,0
$GC,3608,0.89,410.3,54.6,8.9,418,3638,0.17,2.35,23.23,0.864,4,0.083,0.059,3170,855,1357,0,0,0,0,0,0
$GC,3647,0.86,410.3,49.9,11.7,424,3654,0.00,2.20,0.00,0.000,6,0.000,0.037,3170,2271,1355,0,0,0,0,0,0
$FREEZE,8.44,-0.199,-1.797,0,358,0
$FREEZE,7.83,-0.195,-1.797,0,358,0
$FREEZE,7.20,-0.190,-1.796,0,358,0
$FREEZE,6.66,-0.199,-1.796,0,358,0
$FREEZE,6.12,-0.236,-1.796,0,358,0
$FREEZE,5.49,-0.223,-1.795,0,358,0
$FREEZE,5.08,-0.232,-1.795,0,358,0
$FREEZE,4.42,-0.226,-1.794,0,358,0
$FREEZE,4.00,-0.224,-1.794,0,358,0
$FREEZE,3.37,-0.220,-1.793,0,358,0
$FREEZE,2.78,-0.206,-1.792,0,358,0
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FREEZE,1.96,-0.217,-1.792,0,358,0
$FREEZE,1.83,-0.156,-1.707,0,358,0
$FREEZE,1.82,-0.187,-0.910,0,358,0
$FREEZE,1.90,-0.131,-0.711,0,358,0
$FREEZE,1.78,-0.204,-1.792,0,358,0
$FINISH,1.8,1.026250
$STATE,3998,end surface coast,CONTROL_FINISHED_OK
$STATE,3998,begin surface
$SM_CCo,4021,67.22,0.063,0,0,751,559.04
$SM_GC,2.70,0.00,0.00,67.22,0.000,0.000,0.063,113,2505,751,-8.60,0.45,559.04
$RAFOS_CLK,225
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.034454
$HUMID,73.42
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,21.3,130.396
$10V_AH,9.7,62.087
$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,14.225,35.475,483.825,67.225,0.000,0.000,0.000,0.000,12.750,0.000,0.000,1112.078,1612.791,489.357,808.823,130.113,0.000,978.532,0.000,805.252,0.000,2.817,0.000
$DEVICE_MAMPS,235.620,74.205,1017.450,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.447,356.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20136,487
$CAP_FILE_SIZE,54997,0
$CFSIZE,260165632,196161536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6