version: 66.08
glider: 141
mission: 15
dive: 1036
start: 6 19 111 9 33 39
data:
$ID,141
$MISSION,15
$DIVE,1036
$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,-114420.81
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,190611,002721,6715.065,-5704.283,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-76.4
$GPS2,190611,002721,6715.065,-5704.283,181,99.0,181,-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,189.8,25250,-17.5,-10.000
$D_GRID,299
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.25,0.000,2,0.000,0.000,116,2482,2492,0,0,0,0,0,0
$GC,126,-0.62,-146.0,5.1,-6.1,18,175,16.55,2.65,-23.50,0.000,4,0.312,0.054,2656,3896,3630,18,0,0,0,0,0
$GC,432,-0.97,-146.0,56.8,-15.8,71,439,0.38,2.67,0.00,0.000,6,0.101,0.062,2552,2482,3631,0,0,0,0,0,0
$GC,781,-1.33,-146.0,91.6,-9.1,132,789,0.38,2.60,0.00,0.000,4,0.115,0.054,2441,3904,3630,0,0,0,0,0,0
$GC,1045,-1.59,-146.0,120.5,-11.8,162,1050,0.30,2.62,0.00,0.000,6,0.090,0.047,2352,2480,3630,0,0,0,0,0,0
$GC,1371,-1.44,-146.0,187.7,-21.4,192,1376,0.20,2.65,0.00,0.000,4,0.217,0.063,2391,1084,3628,0,0,0,0,0,0
$GC,1391,-1.21,-146.0,192.0,-21.7,193,1397,0.35,2.47,0.00,0.000,6,0.221,0.032,2466,2495,3628,0,0,0,0,0,0
$GC,1718,-1.59,-146.0,221.8,0.1,223,1724,0.35,2.67,0.00,0.000,4,0.103,0.063,2361,1078,3629,0,0,0,0,0,0
$STATE,1727,end dive,NO_VERTICAL_VELOCITY
$STATE,1727,begin apogee
$GC,1738,-0.12,0.0,221.8,0.0,223,1885,1.55,0.00,139.00,1.029,6,0.106,0.000,2817,2281,3029,0,0,0,0,0,0
$STATE,1886,end apogee,CONTROL_FINISHED_OK
$STATE,1886,begin climb
$GC,1890,0.62,146.0,221.7,0.0,237,2045,0.90,2.80,142.43,0.983,4,0.111,0.046,3053,3673,2434,0,0,0,0,0,0
$GC,2301,1.09,359.8,221.6,0.1,273,2527,0.52,2.72,215.23,0.959,6,0.067,0.057,3216,2279,1563,0,0,0,0,0,0
$GC,2857,0.89,359.8,155.4,15.9,325,2863,0.28,2.80,0.00,0.000,4,0.208,0.061,3169,861,1553,0,0,0,0,0,0
$GC,2900,0.60,359.8,148.4,18.0,328,2906,0.55,2.65,0.00,0.000,6,0.225,0.042,3064,2266,1552,0,0,0,0,0,0
$GC,3228,0.62,359.8,115.3,10.0,358,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2268,1551,0,0,0,0,0,0
$GC,3564,0.66,370.7,83.1,9.5,404,3577,0.00,0.00,10.20,0.799,6,0.000,0.000,3063,2268,1518,0,0,0,0,0,0
$GC,3919,0.80,442.3,55.1,6.7,466,3996,0.17,2.90,70.90,0.908,4,0.079,0.050,3124,3684,1227,0,0,0,0,0,0
$GC,4008,0.64,442.3,46.6,11.0,480,4016,0.25,2.83,0.00,0.000,6,0.132,0.056,3077,2273,1225,0,0,0,0,0,0
$GC,4361,0.83,508.0,20.4,7.0,541,4410,0.17,2.90,40.92,0.838,4,0.076,0.071,3138,869,957,0,0,0,0,0,0
$GC,4466,1.00,524.5,10.5,9.2,558,4481,0.15,2.70,9.30,0.719,6,0.081,0.041,3189,2283,891,0,0,0,0,0,0
$FREEZE,8.09,0.169,-1.795,0,399,0
$FREEZE,7.46,0.154,-1.792,0,399,0
$FREEZE,6.95,0.100,-1.791,0,399,0
$FREEZE,6.50,0.091,-1.789,0,399,0
$FREEZE,5.96,0.092,-1.788,0,399,0
$FREEZE,5.50,0.090,-1.787,0,399,0
$FREEZE,4.77,0.078,-1.786,0,399,0
$FREEZE,4.26,0.073,-1.785,0,399,0
$FREEZE,3.68,0.073,-1.784,0,399,0
$FREEZE,3.11,0.072,-1.783,0,399,0
$FREEZE,2.21,0.059,-1.782,0,399,0
$STATE,4540,end climb,SURFACE_DEPTH_REACHED
$STATE,4540,begin surface coast
$FREEZE,1.85,0.080,-0.964,0,399,0
$FREEZE,1.87,0.160,-0.798,0,399,0
$FREEZE,1.84,0.161,-0.734,0,399,0
$FREEZE,1.93,0.222,-0.232,0,399,0
$FREEZE,1.90,0.132,-0.634,0,399,0
$FINISH,1.9,1.009315
$STATE,4568,end surface coast,CONTROL_FINISHED_OK
$STATE,4568,begin surface
$SM_CCo,4712,17.98,0.058,0,0,750,559.04
$SM_GC,2.96,0.00,0.00,17.98,0.000,0.000,0.058,116,2505,750,-8.59,0.42,559.04
$RAFOS_CLK,304
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5839.86,190611,070736
$TT8_MAMPS,0.026215
$HUMID,74.57
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,19.9,136.470
$10V_AH,9.8,64.033
$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,33.875,43.150,627.975,17.975,0.000,98.492,17.191,0.000,10.000,0.000,183.286,1300.544,1875.035,644.702,1282.193,717.753,0.000,1265.147,0.000,971.567,0.000,2.808,0.000
$DEVICE_MAMPS,312.120,71.145,1028.925,58.140,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.032,419.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23484,576
$CAP_FILE_SIZE,71728,0
$CFSIZE,260165632,194617344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0
$SOUNDSPEED,1459.3
$GPS,190611,074536,6709.499,-5839.858,0,10000.0,0,-37.6