version: 66.08
glider: 141
mission: 15
dive: 1006
start: 6 17 111 13 19 30
data:
$ID,141
$MISSION,15
$DIVE,1006
$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,-106276.77
$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,30
$R_STBD_OVSHOOT,48
$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,2.87
$_SM_ANGLEo,-77.2
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-107.22,0.000,2,0.000,0.000,115,2517,2544,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.5,-7.6,19,176,12.75,2.45,-21.92,0.000,4,0.318,0.086,2651,1085,3628,0,0,0,0,0,0
$GC,184,-0.80,-146.0,18.6,-11.2,27,192,0.15,2.17,0.00,0.000,6,0.106,0.043,2600,2494,3629,0,0,0,0,0,0
$GC,534,-1.26,-146.0,55.5,-9.1,88,541,0.38,2.22,0.00,0.000,4,0.080,0.049,2453,3885,3628,0,0,0,0,0,0
$GC,606,-1.52,-146.0,64.5,-12.8,100,614,0.22,2.30,0.00,0.000,6,0.100,0.064,2375,2488,3628,0,0,0,0,0,0
$GC,946,-1.40,-146.0,136.2,-22.1,146,948,0.15,0.00,0.00,0.000,6,0.229,0.000,2408,2488,3628,0,0,0,0,0,0
$GC,1264,-1.32,-146.0,199.6,-18.6,176,1269,0.12,2.42,0.00,0.000,4,0.227,0.075,2438,1084,3627,0,0,0,0,0,0
$GC,1283,-1.18,-146.0,203.3,-19.0,177,1288,0.17,2.17,0.00,0.000,6,0.243,0.036,2476,2484,3627,0,0,0,0,0,0
$STATE,1553,end dive,NO_VERTICAL_VELOCITY
$STATE,1553,begin apogee
$GC,1561,-0.12,0.0,219.5,0.0,202,1694,1.05,0.00,120.40,1.036,6,0.120,0.000,2815,2266,3029,0,0,0,0,0,0
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1698,0.62,146.0,219.5,0.0,214,1841,0.75,2.60,127.95,0.993,4,0.093,0.047,3057,3667,2434,0,0,0,0,0,0
$GC,1860,1.09,367.3,219.4,-0.2,228,2074,0.47,2.58,205.12,0.961,6,0.067,0.052,3215,2277,1532,0,0,0,0,0,0
$GC,2392,0.89,367.3,160.7,15.6,278,2397,0.25,2.58,0.00,0.000,4,0.209,0.062,3165,860,1524,0,0,0,0,0,0
$GC,2435,0.60,367.3,153.8,17.4,281,2440,0.47,2.42,0.00,0.000,6,0.230,0.045,3065,2268,1522,0,0,0,0,0,0
$GC,2762,0.68,410.8,124.4,8.0,311,2808,0.00,2.42,38.83,0.893,4,0.000,0.051,3065,3686,1354,0,0,0,0,0,0
$GC,2834,0.85,441.0,118.5,8.6,317,2869,0.20,2.45,28.83,0.876,6,0.083,0.049,3142,2271,1232,0,0,0,0,0,0
$GC,3199,0.80,441.0,76.0,12.8,367,3206,0.00,2.35,0.00,0.000,4,0.000,0.055,3142,3693,1226,0,0,0,0,0,0
$GC,3231,0.85,441.0,71.6,12.7,372,3238,0.00,2.35,0.00,0.000,6,0.000,0.055,3152,2265,1225,0,0,0,0,0,0
$GC,3579,0.84,457.0,26.3,9.3,433,3597,0.00,2.35,10.18,0.818,4,0.000,0.072,3162,866,1165,0,0,0,0,0,0
$GC,3651,0.78,457.0,18.5,11.9,445,3659,0.17,2.25,0.00,0.000,6,0.180,0.039,3119,2298,1164,0,0,0,0,0,0
$FREEZE,8.94,-0.547,-1.793,0,369,0
$FREEZE,8.35,-0.546,-1.792,0,369,0
$FREEZE,7.67,-0.549,-1.792,0,369,0
$FREEZE,7.19,-0.549,-1.791,0,369,0
$FREEZE,6.52,-0.558,-1.790,0,369,0
$FREEZE,6.03,-0.565,-1.790,0,369,0
$FREEZE,5.49,-0.570,-1.789,0,369,0
$FREEZE,4.67,-0.555,-1.787,0,369,0
$FREEZE,4.10,-0.533,-1.786,0,369,0
$FREEZE,3.69,-0.435,-1.784,0,369,0
$FREEZE,3.02,-0.441,-1.784,0,369,0
$FREEZE,2.56,-0.462,-1.783,0,369,0
$STATE,3791,end climb,SURFACE_DEPTH_REACHED
$STATE,3791,begin surface coast
$FREEZE,1.87,-0.491,-1.784,0,369,0
$FREEZE,2.14,-0.449,-1.784,0,369,0
$FREEZE,1.88,-0.439,-1.782,0,369,0
$FREEZE,1.94,-0.405,-1.189,0,369,0
$FREEZE,1.85,-0.403,-1.016,0,369,0
$FINISH,1.8,1.015007
$STATE,3818,end surface coast,CONTROL_FINISHED_OK
$STATE,3818,begin surface
$SM_CCo,3960,46.78,0.064,0,0,751,559.04
$SM_GC,2.66,0.00,0.00,46.78,0.000,0.000,0.064,108,2530,751,-8.61,1.13,559.04
$RAFOS_CLK,269
$RAFOS,6,1308314944,12.833333,12.817778,61,55,55,55,52,48,162,174,190,199,219,125
$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,73.50
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.30
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,21.2,131.984
$10V_AH,9.8,62.601
$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,26.125,38.725,531.300,46.775,0.000,99.231,17.149,0.000,7.250,0.000,185.670,1090.810,1618.554,603.315,1084.645,667.781,0.000,1128.202,0.000,779.579,0.000,2.620,0.000
$DEVICE_MAMPS,318.240,85.680,1035.810,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.300,345.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20139,475
$CAP_FILE_SIZE,64131,0
$CFSIZE,260165632,195743744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6