version: 66.08
glider: 141
mission: 15
dive: 999
start: 6 17 111 2 55 44
data:
$ID,141
$MISSION,15
$DIVE,999
$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,-104058.2
$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,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
$GPS1,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.82
$_SM_ANGLEo,8.9
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2902,3678,2965,0,0,0,0,0,0
$GC,29,-0.62,-146.0,9.2,-0.0,1,54,0.75,0.30,-16.70,0.000,4,0.168,0.153,2676,3885,3628,0,0,0,0,0,0
$GC,311,-0.96,-146.0,53.1,-14.7,50,319,0.38,2.25,0.00,0.000,6,0.106,0.054,2552,2489,3629,0,0,0,0,0,0
$GC,660,-1.33,-146.0,85.0,-8.1,111,667,0.32,2.35,0.00,0.000,4,0.186,0.066,2443,1074,3627,0,0,0,0,0,0
$GC,683,-1.54,-146.0,87.4,-9.1,114,690,0.22,2.20,0.00,0.000,6,0.118,0.034,2371,2505,3627,0,0,0,0,0,0
$GC,1015,-1.39,-146.0,156.3,-21.0,150,1019,0.17,2.42,0.00,0.000,4,0.228,0.073,2411,1090,3625,0,0,0,0,0,0
$GC,1037,-1.16,-146.0,162.0,-23.3,151,1045,0.30,2.15,0.00,0.000,6,0.237,0.044,2482,2485,3625,0,0,0,0,0,0
$GC,1363,-1.16,-146.0,213.1,-15.6,182,1367,0.00,2.22,0.00,0.000,4,0.000,0.048,2482,3892,3625,0,0,0,0,0,0
$STATE,1526,end dive,NO_VERTICAL_VELOCITY
$STATE,1526,begin apogee
$GC,1537,-0.12,0.0,215.9,0.0,196,1665,1.05,0.00,118.50,1.021,6,0.121,0.000,2819,2279,3030,0,0,0,0,0,0
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1669,0.62,146.0,215.8,0.0,208,1807,0.75,2.72,125.55,0.979,4,0.116,0.070,3055,871,2434,0,0,0,0,0,0
$GC,2064,1.08,367.1,215.6,-0.2,243,2273,0.45,2.25,197.88,0.955,6,0.070,0.033,3220,2281,1532,0,0,0,0,0,0
$GC,2592,0.87,367.1,150.8,15.5,292,2597,0.28,2.35,0.00,0.000,4,0.213,0.046,3149,3672,1524,0,0,0,0,0,0
$GC,2603,0.67,367.1,148.8,15.8,292,2611,0.28,2.40,0.00,0.000,6,0.148,0.054,3080,2273,1522,0,0,0,0,0,0
$GC,2929,0.71,401.3,120.0,8.4,323,2964,0.00,2.38,29.73,0.884,4,0.000,0.060,3089,856,1393,0,0,0,0,0,0
$GC,2990,0.77,415.5,114.7,9.3,328,3013,0.00,2.25,14.05,0.834,6,0.000,0.036,3088,2280,1335,0,0,0,0,0,0
$GC,3348,0.70,415.5,73.1,12.2,380,3355,0.00,2.25,0.00,0.000,4,0.000,0.063,3088,3682,1331,0,0,0,0,0,0
$GC,3403,0.91,439.6,67.2,8.9,389,3435,0.17,2.30,21.65,0.855,6,0.084,0.057,3169,2268,1238,0,0,0,0,0,0
$GC,3776,0.88,439.6,21.7,12.5,454,3783,0.00,2.30,0.00,0.000,4,0.000,0.063,3180,861,1236,0,0,0,0,0,0
$GC,3802,0.82,439.6,18.4,12.4,458,3810,0.20,2.20,0.00,0.000,6,0.171,0.050,3128,2267,1235,0,0,0,0,0,0
$FREEZE,8.60,-0.651,-1.792,0,362,0
$FREEZE,8.13,-0.657,-1.791,0,362,0
$FREEZE,7.69,-0.664,-1.790,0,362,0
$FREEZE,7.12,-0.668,-1.789,0,362,0
$FREEZE,6.72,-0.675,-1.788,0,362,0
$FREEZE,6.24,-0.685,-1.787,0,362,0
$FREEZE,5.49,-0.683,-1.786,0,362,0
$FREEZE,4.95,-0.680,-1.786,0,362,0
$FREEZE,4.36,-0.680,-1.785,0,362,0
$FREEZE,3.93,-0.680,-1.784,0,362,0
$FREEZE,3.40,-0.681,-1.784,0,362,0
$FREEZE,2.90,-0.681,-1.784,0,362,0
$STATE,3954,end climb,SURFACE_DEPTH_REACHED
$STATE,3954,begin surface coast
$FREEZE,2.48,-0.683,-1.784,0,362,0
$FREEZE,1.82,-0.682,-1.783,0,362,0
$FREEZE,1.76,-0.680,-0.968,0,362,0
$FREEZE,1.77,-0.682,-1.378,0,362,0
$FREEZE,1.87,-0.684,-1.245,0,362,0
$FINISH,1.9,1.018373
$STATE,3982,end surface coast,CONTROL_FINISHED_OK
$STATE,3982,begin surface
$SM_CCo,4045,54.35,0.063,0,0,750,559.04
$SM_GC,2.80,0.00,0.00,54.35,0.000,0.000,0.063,110,2520,750,-8.61,0.85,559.04
$RAFOS_CLK,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.029211
$HUMID,73.42
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,21.5,130.975
$10V_AH,9.8,62.259
$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,14.150,40.325,507.350,54.350,0.000,0.000,0.000,0.000,5.000,0.000,0.000,1153.569,1514.788,514.318,839.966,141.416,0.000,1028.230,0.000,841.156,360.000,2.620,0.000
$DEVICE_MAMPS,237.150,153.000,1021.275,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.584,361.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20115,490
$CAP_FILE_SIZE,58163,0
$CFSIZE,260165632,196009984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6