version: 66.08
glider: 141
mission: 15
dive: 1014
start: 6 18 111 0 35 6
data:
$ID,141
$MISSION,15
$DIVE,1014
$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,-108129.09
$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,29
$R_STBD_OVSHOOT,50
$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,2.85
$_SM_ANGLEo,-77.4
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-109.12,0.000,2,0.000,0.000,108,2522,2632,0,0,0,0,0,0
$GC,135,-0.62,-146.0,6.0,-9.6,19,173,13.02,2.28,-18.80,0.000,4,0.321,0.061,2650,3883,3631,0,0,0,0,0,0
$GC,277,-0.95,-146.0,33.0,-15.2,43,285,0.30,2.30,0.00,0.000,6,0.130,0.065,2562,2497,3632,0,0,0,0,0,0
$GC,626,-1.35,-146.0,70.3,-10.8,104,633,0.38,2.42,0.00,0.000,4,0.133,0.072,2442,1078,3630,0,0,0,0,0,0
$GC,671,-1.17,-146.0,77.5,-19.8,111,678,0.17,2.20,0.00,0.000,6,0.240,0.044,2481,2486,3630,0,0,0,0,0,0
$GC,1012,-1.17,-146.0,132.7,-15.8,154,1016,0.00,2.25,0.00,0.000,4,0.000,0.050,2481,3892,3630,0,0,0,0,0,0
$GC,1052,-1.46,-146.0,137.9,-11.5,157,1057,0.25,2.30,0.00,0.000,6,0.098,0.052,2398,2480,3630,0,0,0,0,0,0
$GC,1379,-1.36,-146.0,198.1,-19.1,187,1384,0.00,2.35,0.00,0.000,4,0.000,0.073,2397,1084,3629,0,0,0,0,0,0
$GC,1410,-1.09,-146.0,205.2,-24.1,189,1415,0.45,2.20,0.00,0.000,6,0.234,0.035,2501,2490,3629,0,0,0,0,0,0
$STATE,1701,end dive,NO_VERTICAL_VELOCITY
$STATE,1701,begin apogee
$GC,1710,-0.12,0.0,222.8,0.0,216,1843,0.98,0.00,121.90,1.032,6,0.124,0.000,2814,2262,3029,0,0,0,0,0,0
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1847,0.62,146.0,222.8,0.0,228,1993,0.80,2.72,129.95,0.987,4,0.116,0.072,3058,876,2431,0,0,0,0,0,0
$GC,2249,1.04,369.5,222.8,-0.3,263,2464,0.43,2.38,205.32,0.962,6,0.059,0.034,3211,2276,1524,0,0,0,0,0,0
$GC,2791,0.84,369.5,160.1,15.2,314,2797,0.28,2.47,0.00,0.000,4,0.201,0.060,3145,3669,1515,0,0,0,0,0,0
$GC,2844,0.82,369.5,153.5,11.6,318,2848,0.00,2.50,0.00,0.000,6,0.000,0.063,3153,2278,1513,0,0,0,0,0,0
$GC,3170,0.71,369.5,112.6,11.9,348,3175,0.22,2.47,0.00,0.000,4,0.186,0.061,3106,865,1513,0,0,0,0,0,0
$GC,3247,0.60,369.5,103.9,12.4,354,3252,0.17,2.28,0.00,0.000,6,0.188,0.042,3064,2276,1513,0,0,0,0,0,0
$GC,3592,0.80,404.3,71.3,8.4,411,3628,0.17,0.00,31.02,0.877,6,0.081,0.000,3144,2276,1381,0,0,0,0,0,0
$GC,3970,0.69,404.3,16.3,12.6,477,3978,0.22,2.30,0.00,0.000,4,0.193,0.052,3086,3674,1377,0,0,0,0,0,0
$FREEZE,8.77,-0.242,-1.795,0,377,0
$FREEZE,8.06,-0.353,-1.794,0,377,0
$GC,4031,0.93,463.7,10.9,7.3,487,4071,0.22,2.33,30.02,0.826,6,0.079,0.059,3174,2262,1137,0,0,0,0,0,0
$FREEZE,6.27,-0.424,-1.790,0,377,0
$FREEZE,5.76,-0.442,-1.790,0,377,0
$FREEZE,5.22,-0.448,-1.789,0,377,0
$FREEZE,4.53,-0.444,-1.787,0,377,0
$FREEZE,4.04,-0.413,-1.786,0,377,0
$FREEZE,3.13,-0.289,-1.780,0,377,0
$FREEZE,2.50,-0.217,-1.778,0,377,0
$STATE,4110,end climb,SURFACE_DEPTH_REACHED
$STATE,4110,begin surface coast
$FREEZE,2.04,-0.191,-1.778,0,377,0
$FREEZE,1.84,-0.158,-0.885,0,377,0
$FREEZE,1.78,-0.175,-0.862,0,377,0
$FREEZE,1.80,-0.125,-1.129,0,377,0
$FREEZE,1.86,-0.151,-0.239,0,377,0
$FINISH,1.9,1.003361
$STATE,4138,end surface coast,CONTROL_FINISHED_OK
$STATE,4138,begin surface
$SM_CCo,4160,42.85,0.063,0,0,751,559.04
$SM_GC,2.74,0.00,0.00,42.85,0.000,0.000,0.063,116,2522,751,-8.59,0.88,559.04
$RAFOS_CLK,278
$RAFOS,6,1308358144,0.833333,0.817778,60,56,56,55,52,51,160,196,221,174,209,148
$RAFOS,5,1308357663,0.700000,0.684167,67,64,61,58,55,53,212,179,195,1245,118,138
$RAFOS,1,1308355745,0.166667,0.151389,60,54,52,52,50,45,200,171,187,225,152,114
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5654.76,160611,171716
$TT8_MAMPS,0.033705
$HUMID,72.76
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.40
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,21.2,133.131
$10V_AH,9.8,62.960
$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,27.175,38.475,518.225,42.850,0.000,95.247,29.974,0.000,14.000,0.000,185.674,1162.721,1668.222,586.138,1176.269,690.234,0.000,1130.072,0.000,861.490,720.000,2.820,0.000
$DEVICE_MAMPS,320.535,73.440,1031.985,62.730,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.294,369.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20107,505
$CAP_FILE_SIZE,65560,0
$CFSIZE,260165632,195448832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6