version: 66.08
glider: 141
mission: 15
dive: 1031
start: 6 19 111 2 12 48
data:
$ID,141
$MISSION,15
$DIVE,1031
$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,-113314.09
$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,24
$R_STBD_OVSHOOT,51
$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
$GPS1,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-76.5
$GPS2,180611,081642,6715.065,-5701.191,181,99.0,181,-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,194.5,24291,-17.5,-10.000
$D_GRID,274
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-102.85,0.000,2,0.000,0.000,114,2515,2520,0,0,0,0,0,0
$GC,127,-0.62,-146.0,5.3,-7.0,18,171,14.38,2.42,-23.35,0.000,4,0.312,0.060,2656,3877,3629,0,0,0,0,0,0
$GC,428,-0.99,-146.0,53.4,-15.3,70,436,0.38,2.45,0.00,0.000,6,0.099,0.055,2543,2493,3630,0,0,0,0,0,0
$GC,777,-1.25,-146.0,92.0,-10.7,131,784,0.25,0.00,0.00,0.000,6,0.092,0.000,2451,2494,3628,0,0,0,0,0,0
$GC,1109,-1.21,-146.0,148.7,-17.1,166,1113,0.00,2.35,0.00,0.000,4,0.000,0.049,2451,3880,3628,0,0,0,0,0,0
$GC,1120,-1.21,-146.0,151.0,-17.2,166,1127,0.00,2.42,0.00,0.000,6,0.000,0.058,2452,2489,3628,0,0,0,0,0,0
$GC,1447,-1.18,-146.0,205.2,-16.7,197,1452,0.12,2.50,0.00,0.000,4,0.202,0.073,2478,1082,3628,0,0,0,0,0,0
$GC,1471,-1.05,-146.0,209.6,-17.6,198,1478,0.17,2.25,0.00,0.000,6,0.221,0.034,2517,2488,3627,0,0,0,0,0,0
$STATE,1741,end dive,NO_VERTICAL_VELOCITY
$STATE,1741,begin apogee
$GC,1749,-0.12,0.0,224.0,0.0,224,1886,1.00,0.00,129.75,1.026,6,0.131,0.000,2818,2261,3029,0,0,0,0,0,0
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1890,0.62,146.0,223.9,0.0,236,2038,0.82,2.70,135.55,0.979,4,0.103,0.051,3055,3658,2433,0,0,0,0,0,0
$GC,2046,1.07,367.8,223.7,-0.2,250,2270,0.47,2.62,213.02,0.950,6,0.064,0.057,3209,2288,1529,0,0,0,0,0,0
$GC,2590,0.87,367.8,160.9,16.1,301,2595,0.25,2.55,0.00,0.000,4,0.200,0.044,3148,3674,1522,0,0,0,0,0,0
$GC,2603,0.69,367.8,158.7,16.2,301,2610,0.28,2.60,0.00,0.000,6,0.156,0.060,3090,2266,1521,0,0,0,0,0,0
$GC,2929,0.69,367.8,123.3,10.2,332,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2266,1521,0,0,0,0,0,0
$GC,3254,0.71,382.8,91.5,9.3,369,3273,0.00,2.67,14.15,0.838,4,0.000,0.061,3098,863,1469,0,0,0,0,0,0
$GC,3338,0.65,382.8,82.4,11.7,383,3345,0.00,2.50,0.00,0.000,6,0.000,0.035,3098,2272,1468,0,0,0,0,0,0
$GC,3685,0.65,402.0,45.3,9.1,444,3711,0.00,2.65,18.80,0.884,4,0.000,0.050,3098,3688,1390,0,0,0,0,0,0
$GC,3743,0.78,425.3,39.6,8.9,453,3767,0.00,2.62,16.48,0.911,6,0.000,0.056,3107,2268,1296,0,0,0,0,0,0
$FREEZE,8.53,0.459,-1.790,0,394,0
$FREEZE,8.04,0.434,-1.789,0,394,0
$FREEZE,7.34,0.430,-1.788,0,394,0
$FREEZE,6.94,0.416,-1.788,0,394,0
$FREEZE,6.50,0.398,-1.787,0,394,0
$FREEZE,6.09,0.391,-1.787,0,394,0
$FREEZE,5.38,0.359,-1.786,0,394,0
$FREEZE,4.80,0.348,-1.785,0,394,0
$FREEZE,4.14,0.362,-1.784,0,394,0
$GC,4111,0.85,458.3,6.1,8.5,517,4140,0.00,2.70,18.02,0.784,4,0.000,0.059,3111,868,1160,0,0,0,0,0,0
$FREEZE,2.85,0.320,-1.782,0,394,0
$STATE,4146,end climb,SURFACE_DEPTH_REACHED
$STATE,4146,begin surface coast
$FREEZE,2.39,0.281,-1.782,0,394,0
$FREEZE,1.86,0.283,-1.781,0,394,0
$FREEZE,1.96,0.264,-0.613,0,394,0
$FREEZE,1.90,0.278,-0.132,0,394,0
$FREEZE,1.89,0.237,-0.094,0,394,0
$FREEZE,1.86,0.270,-1.262,0,394,0
$FREEZE,1.92,0.270,-0.731,0,394,0
$FINISH,1.9,1.010765
$STATE,4186,end surface coast,CONTROL_FINISHED_OK
$STATE,4186,begin surface
$SM_CCo,4332,51.88,0.060,0,0,751,559.04
$SM_GC,2.91,0.00,0.00,51.88,0.000,0.000,0.060,118,2504,751,-8.58,0.40,559.04
$RAFOS_CLK,291
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5704.28,190611,000021
$TT8_MAMPS,0.026215
$HUMID,73.39
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,20.5,135.660
$10V_AH,9.8,63.798
$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,28.175,41.300,545.775,51.875,0.000,101.883,17.200,0.000,9.000,0.000,185.692,1206.873,1788.550,626.132,1148.616,666.017,0.000,1174.000,0.000,843.341,0.000,2.620,0.000
$DEVICE_MAMPS,312.120,72.675,1025.865,59.670,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.298,384.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20164,529
$CAP_FILE_SIZE,64729,0
$CFSIZE,260165632,194818048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,190611,002721,6715.065,-5704.283,0,10000.0,0,-37.6