version: 66.08
glider: 141
mission: 15
dive: 1038
start: 6 19 111 12 54 44
data:
$ID,141
$MISSION,15
$DIVE,1038
$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,-115157.94
$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,21
$R_STBD_OVSHOOT,53
$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
$GPS1,190611,110652,6715.065,-5659.520,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-76.1
$GPS2,190611,110652,6715.065,-5659.520,181,99.0,181,-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,197.2,23843,-17.5,-10.000
$D_GRID,262
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-108.60,0.000,2,0.000,0.000,115,2514,2625,0,0,0,0,0,0
$GC,135,-0.62,-146.0,6.0,-7.9,19,179,17.95,3.03,-17.80,0.000,4,0.317,0.082,2651,1081,3630,56,0,0,0,0,0
$GC,218,-0.84,-146.0,24.1,-9.3,32,226,0.20,2.62,0.00,0.000,6,0.093,0.039,2598,2474,3630,0,0,0,0,0,0
$GC,567,-1.25,-146.0,63.4,-11.3,93,575,0.47,2.70,0.00,0.000,4,0.133,0.047,2471,3889,3630,0,0,0,0,0,0
$GC,821,-1.58,-146.0,91.6,-11.5,137,828,0.40,2.70,0.00,0.000,6,0.093,0.049,2356,2495,3630,0,0,0,0,0,0
$GC,1157,-1.43,-146.0,161.4,-21.1,172,1162,0.20,2.67,0.00,0.000,4,0.215,0.048,2393,3889,3629,0,0,0,0,0,0
$GC,1417,-1.50,-146.0,202.7,-15.3,194,1424,0.00,2.72,0.00,0.000,6,0.000,0.052,2392,2481,3629,0,0,0,0,0,0
$STATE,1689,end dive,NO_VERTICAL_VELOCITY
$STATE,1689,begin apogee
$GC,1697,-0.12,0.0,221.4,0.0,220,1846,1.52,0.00,143.40,1.033,6,0.116,0.000,2813,2267,3030,0,0,0,0,0,0
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,0.62,146.0,221.4,0.0,233,2008,0.90,3.03,146.00,0.980,4,0.099,0.078,3055,871,2432,0,0,0,0,0,0
$GC,2264,1.07,363.0,221.2,-0.0,269,2497,0.50,2.67,222.57,0.952,6,0.061,0.037,3210,2274,1549,0,0,0,0,0,0
$GC,2817,0.87,363.0,152.1,16.1,321,2823,0.30,2.90,0.00,0.000,4,0.199,0.060,3158,865,1542,0,0,0,0,0,0
$GC,2859,0.60,363.0,144.8,18.1,324,2865,0.50,2.75,0.00,0.000,6,0.227,0.043,3066,2263,1540,0,0,0,0,0,0
$GC,3186,0.62,377.3,111.7,9.3,354,3206,0.00,2.95,14.45,0.835,4,0.000,0.058,3074,871,1491,0,0,0,0,0,0
$GC,3278,0.69,411.0,103.6,8.4,362,3323,0.00,2.72,37.35,0.881,6,0.000,0.034,3074,2283,1354,0,0,0,0,0,0
$GC,3665,0.91,437.9,69.3,8.8,426,3702,0.25,2.85,29.40,0.865,4,0.067,0.047,3163,3682,1243,0,0,0,0,0,0
$GC,3710,0.57,437.9,64.0,12.6,433,3718,0.50,2.88,0.00,0.000,6,0.125,0.053,3049,2276,1241,0,0,0,0,0,0
$GC,4062,0.81,496.0,38.1,7.3,494,4115,0.25,2.92,44.97,0.910,4,0.075,0.049,3130,3684,1007,0,0,0,0,0,0
$GC,4125,0.43,496.0,31.5,10.9,504,4133,0.55,2.88,0.00,0.000,6,0.122,0.054,3006,2268,1006,0,0,0,0,0,0
$FREEZE,8.63,0.380,-1.772,0,401,0
$FREEZE,7.97,0.340,-1.776,0,401,0
$FREEZE,7.42,0.327,-1.778,0,401,0
$FREEZE,6.88,0.313,-1.779,0,401,0
$FREEZE,6.27,0.285,-1.783,0,401,0
$FREEZE,5.63,0.274,-1.784,0,401,0
$FREEZE,5.13,0.273,-1.784,0,401,0
$FREEZE,4.59,0.269,-1.784,0,401,0
$FREEZE,4.07,0.249,-1.785,0,401,0
$FREEZE,3.44,0.241,-1.784,0,401,0
$FREEZE,3.11,0.240,-1.785,0,401,0
$FREEZE,2.53,0.244,-1.785,0,401,0
$STATE,4394,end climb,SURFACE_DEPTH_REACHED
$STATE,4394,begin surface coast
$FREEZE,1.93,0.249,-0.947,0,401,0
$FREEZE,2.06,0.288,-0.254,0,401,0
$FREEZE,2.03,0.276,-0.715,0,401,0
$FREEZE,2.06,0.291,-0.763,0,401,0
$FREEZE,1.97,0.275,-0.220,0,401,0
$FINISH,2.0,1.003100
$STATE,4424,end surface coast,CONTROL_FINISHED_OK
$STATE,4424,begin surface
$SM_CCo,4567,34.50,0.057,0,0,751,559.04
$SM_GC,3.05,0.00,0.00,34.50,0.000,0.000,0.057,117,2505,751,-8.58,0.42,559.04
$RAFOS_CLK,305
$RAFOS,3,1308486306,12.433333,12.418333,70,62,56,53,52,50,193,202,184,222,169,131
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,111152
$TT8_MAMPS,0.026215
$HUMID,74.21
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,19.5,136.814
$10V_AH,9.8,64.145
$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,34.850,45.825,638.150,34.500,0.000,100.854,64.031,0.000,7.750,0.000,183.283,1260.021,1765.735,669.651,1323.601,711.140,0.000,1288.961,0.000,965.168,0.000,2.620,0.000
$DEVICE_MAMPS,316.710,81.855,1032.750,56.610,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.172,405.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23421,557
$CAP_FILE_SIZE,70391,0
$CFSIZE,260165632,194535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,56,0,0,0
$SOUNDSPEED,1458.8
$GPS,190611,110652,6715.065,-5659.520,181,99.0,181,-37.6