version: 66.08
glider: 141
mission: 15
dive: 1012
start: 6 17 111 21 25 2
data:
$ID,141
$MISSION,15
$DIVE,1012
$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,-107389.55
$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,31
$R_STBD_OVSHOOT,68
$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,2.82
$_SM_ANGLEo,-77.3
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-106.55,0.000,2,0.000,0.000,109,2516,2594,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.7,-8.6,19,173,12.77,2.45,-20.80,0.000,4,0.317,0.093,2653,1089,3629,0,0,0,0,0,0
$GC,181,-0.84,-146.0,18.5,-11.0,27,188,0.17,2.17,0.00,0.000,6,0.106,0.035,2596,2487,3629,0,0,0,0,0,0
$GC,530,-1.24,-146.0,56.9,-10.8,88,537,0.35,2.25,0.00,0.000,4,0.116,0.047,2473,3882,3630,0,0,0,0,0,0
$GC,711,-1.54,-146.0,75.4,-11.1,119,718,0.30,2.28,0.00,0.000,6,0.097,0.050,2371,2493,3629,0,0,0,0,0,0
$GC,1052,-1.42,-146.0,145.8,-20.7,161,1057,0.15,2.25,0.00,0.000,4,0.227,0.048,2405,3879,3628,0,0,0,0,0,0
$GC,1064,-1.34,-146.0,148.5,-20.8,161,1070,0.00,2.28,0.00,0.000,6,0.000,0.054,2405,2484,3628,0,0,0,0,0,0
$GC,1391,-1.24,-146.0,209.0,-18.3,192,1396,0.22,2.28,0.00,0.000,4,0.210,0.045,2461,3878,3628,0,0,0,0,0,0
$GC,1444,-1.52,-146.0,216.2,-11.9,196,1448,0.25,2.28,0.00,0.000,6,0.096,0.050,2377,2479,3628,0,0,0,0,0,0
$STATE,1634,end dive,NO_VERTICAL_VELOCITY
$STATE,1634,begin apogee
$GC,1645,-0.12,0.0,219.4,0.0,214,1777,1.45,0.00,121.28,1.036,6,0.142,0.000,2813,2272,3029,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1781,0.62,146.0,219.4,0.0,226,1927,0.82,2.62,128.75,0.988,4,0.129,0.045,3055,3651,2433,0,0,0,0,0,0
$GC,2181,0.89,365.8,218.8,-0.1,261,2392,0.25,2.47,201.10,0.960,6,0.073,0.058,3152,2272,1538,0,0,0,0,0,0
$GC,2711,0.78,365.8,166.9,11.9,311,2716,0.15,2.45,0.00,0.000,4,0.187,0.046,3120,3660,1530,0,0,0,0,0,0
$GC,2722,0.67,365.8,165.3,11.9,311,2729,0.17,2.47,0.00,0.000,6,0.157,0.055,3082,2274,1528,0,0,0,0,0,0
$GC,3048,0.68,368.9,134.1,9.9,342,3052,0.00,2.30,0.00,0.000,4,0.000,0.046,3082,3657,1528,0,0,0,0,0,0
$GC,3067,0.70,368.9,132.1,10.4,343,3072,0.00,2.33,0.00,0.000,6,0.000,0.048,3088,2268,1528,0,0,0,0,0,0
$GC,3394,0.73,388.0,101.4,9.1,373,3422,0.00,2.38,19.30,0.874,4,0.000,0.067,3099,872,1448,0,0,0,0,0,0
$GC,3481,0.73,388.0,92.8,10.4,386,3487,0.00,2.20,0.00,0.000,6,0.000,0.041,3098,2267,1447,0,0,0,0,0,0
$GC,3828,0.65,388.0,51.5,11.7,447,3835,0.00,2.28,0.00,0.000,4,0.000,0.060,3098,3670,1446,0,0,0,0,0,0
$GC,3890,0.83,411.6,45.5,8.9,457,3920,0.00,2.30,21.92,0.866,6,0.000,0.058,3108,2268,1352,0,0,0,0,0,0
$GC,4262,0.92,461.9,11.5,7.7,522,4293,0.15,2.35,25.33,0.840,4,0.095,0.047,3167,3674,1146,0,0,0,0,0,0
$FREEZE,7.67,-0.432,-1.793,0,375,1
$FREEZE,7.15,-0.426,-1.792,0,375,1
$FREEZE,6.49,-0.427,-1.792,0,375,1
$FREEZE,6.19,-0.423,-1.791,0,375,1
$FREEZE,5.55,-0.420,-1.791,0,375,1
$FREEZE,4.99,-0.416,-1.790,0,375,1
$FREEZE,4.61,-0.405,-1.789,0,375,1
$FREEZE,3.87,-0.397,-1.788,0,375,1
$GC,4342,1.00,468.7,3.9,9.7,535,4350,0.00,2.33,2.90,0.067,6,0.000,0.051,3177,2265,1118,0,0,0,0,0,0
$FREEZE,2.06,-0.105,-1.779,0,375,1
$STATE,4355,end climb,SURFACE_DEPTH_REACHED
$STATE,4355,begin surface coast
$FREEZE,1.96,-0.052,-1.085,0,375,1
$FREEZE,1.85,-0.090,-1.055,0,375,1
$FREEZE,1.78,-0.112,-0.955,0,375,1
$FREEZE,1.79,-0.120,-1.436,0,375,1
$FREEZE,1.78,-0.103,-0.815,0,375,1
$FREEZE,1.90,-0.122,-0.628,0,375,1
$FINISH,1.9,1.009221
$STATE,4388,end surface coast,CONTROL_FINISHED_OK
$STATE,4390,begin surface
$SM_CCo,4472,40.92,0.063,0,0,751,559.04
$SM_GC,2.71,0.00,0.00,40.92,0.000,0.000,0.063,114,2515,751,-8.60,0.71,559.04
$RAFOS_CLK,291
$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,73.74
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,20.0,18.5
$24V_AH,21.2,132.836
$10V_AH,9.8,62.857
$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,26.225,47.375,520.575,40.925,0.000,98.439,16.932,0.000,8.750,0.000,185.658,1228.483,1845.032,598.559,1211.624,687.967,0.000,1173.981,0.000,902.309,0.000,2.622,0.000
$DEVICE_MAMPS,317.475,93.330,1035.810,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.377,393.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20171,543
$CAP_FILE_SIZE,70094,0
$CFSIZE,260165632,195522560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6