version: 66.08
glider: 141
mission: 15
dive: 1034
start: 6 19 111 6 13 44
data:
$ID,141
$MISSION,15
$DIVE,1034
$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,-113682.66
$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,25
$R_STBD_OVSHOOT,46
$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,13.92
$_SM_ANGLEo,3.2
$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,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2902,867,2751,0,0,0,0,1,0
$GC,29,-0.62,-146.0,17.4,-0.0,1,54,0.80,5.50,-15.25,0.000,4,0.102,0.037,2668,3893,3630,0,0,0,0,0,0
$GC,312,-0.97,-146.0,60.2,-17.0,50,319,0.40,2.62,0.00,0.000,6,0.103,0.059,2555,2489,3631,0,0,0,0,0,0
$GC,661,-1.44,-146.0,99.7,-9.1,111,669,0.47,2.65,0.00,0.000,4,0.148,0.063,2407,1079,3630,0,0,0,0,0,0
$GC,704,-1.15,-146.0,108.3,-24.3,115,712,0.40,2.45,0.00,0.000,6,0.231,0.031,2485,2488,3630,0,0,0,0,0,0
$GC,1030,-1.15,-146.0,158.0,-15.1,146,1035,0.00,2.53,0.00,0.000,4,0.000,0.045,2485,3893,3629,0,0,0,0,0,0
$GC,1072,-1.43,-146.0,163.1,-11.1,149,1077,0.28,2.55,0.00,0.000,6,0.092,0.048,2404,2481,3629,0,0,0,0,0,0
$GC,1398,-1.33,-146.0,222.6,-18.5,179,1403,0.12,2.65,0.00,0.000,4,0.212,0.069,2428,1078,3628,0,0,0,0,0,0
$GC,1432,-1.13,-146.0,230.3,-22.8,181,1440,0.25,2.45,0.00,0.000,6,0.137,0.037,2496,2485,3629,0,0,0,0,0,0
$STATE,1596,end dive,NO_VERTICAL_VELOCITY
$STATE,1596,begin apogee
$GC,1605,-0.12,0.0,230.4,0.0,197,1749,1.10,0.00,136.43,1.020,6,0.111,0.000,2818,2266,3030,0,0,0,0,0,0
$STATE,1750,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1754,0.62,146.0,230.5,0.0,210,1902,0.88,2.83,139.70,0.975,4,0.106,0.044,3053,3674,2434,0,0,0,0,0,0
$GC,2157,1.12,364.6,230.5,-0.1,245,2383,0.55,2.70,216.95,0.952,6,0.074,0.060,3222,2268,1543,0,0,0,0,0,0
$GC,2714,0.92,364.6,167.0,15.9,297,2719,0.25,2.72,0.00,0.000,4,0.207,0.059,3178,869,1534,0,0,0,0,0,0
$GC,2739,0.72,364.6,163.0,15.8,298,2747,0.35,2.60,0.00,0.000,6,0.212,0.037,3106,2274,1532,0,0,0,0,0,0
$GC,3066,0.69,364.6,127.0,10.2,329,3070,0.00,2.58,0.00,0.000,4,0.000,0.047,3105,3686,1530,0,0,0,0,0,0
$GC,3131,0.78,385.6,120.8,9.0,334,3156,0.00,2.62,20.38,0.858,6,0.000,0.047,3112,2263,1457,0,0,0,0,0,0
$GC,3487,0.76,391.3,85.6,9.7,379,3501,0.00,2.70,7.03,0.727,4,0.000,0.057,3121,866,1434,0,0,0,0,0,0
$GC,3579,0.67,391.3,75.3,12.6,394,3587,0.17,2.60,0.00,0.000,6,0.187,0.045,3087,2285,1433,0,0,0,0,0,0
$GC,3931,0.85,419.5,38.9,8.7,455,3962,0.17,2.65,22.60,0.914,4,0.073,0.052,3153,3685,1318,0,0,0,0,0,0
$GC,3977,0.92,419.5,33.8,10.8,462,3984,0.00,2.72,0.00,0.000,6,0.000,0.058,3164,2278,1317,0,0,0,0,0,0
$FREEZE,8.82,-0.091,-1.783,0,397,0
$FREEZE,8.25,-0.094,-1.781,0,397,0
$FREEZE,7.69,-0.178,-1.781,0,397,0
$FREEZE,7.24,-0.208,-1.779,0,397,0
$FREEZE,6.78,-0.194,-1.778,0,397,0
$FREEZE,6.14,-0.197,-1.777,0,397,0
$FREEZE,5.65,-0.206,-1.777,0,397,0
$FREEZE,5.24,-0.228,-1.777,0,397,0
$FREEZE,4.83,-0.229,-1.776,0,397,0
$FREEZE,4.47,-0.226,-1.775,0,397,0
$FREEZE,4.13,-0.229,-1.775,0,397,0
$FREEZE,3.80,-0.232,-1.774,0,397,0
$FREEZE,3.02,-0.235,-1.773,0,397,0
$FREEZE,2.51,-0.237,-1.773,0,397,0
$STATE,4301,end climb,SURFACE_DEPTH_REACHED
$STATE,4301,begin surface coast
$FREEZE,2.11,-0.429,-1.775,0,397,0
$FREEZE,1.87,-0.449,-0.900,0,397,0
$FREEZE,1.94,-0.445,-0.202,0,397,0
$FREEZE,1.99,-0.467,-0.219,0,397,0
$FREEZE,1.88,-0.471,-0.184,0,397,0
$FREEZE,1.95,-0.449,-0.230,0,397,0
$FINISH,2.0,1.003211
$STATE,4333,end surface coast,CONTROL_FINISHED_OK
$STATE,4334,begin surface
$SM_CCo,4476,73.05,0.058,0,0,750,559.04
$SM_GC,2.94,0.00,0.00,73.05,0.000,0.000,0.058,118,2511,750,-8.58,0.59,559.04
$RAFOS_CLK,250
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5704.28,190611,000021
$TT8_MAMPS,0.026215
$HUMID,73.23
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.50
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.9,18.0
$24V_AH,20.0,136.132
$10V_AH,9.8,63.920
$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,16.550,50.900,543.075,73.050,0.000,0.000,0.000,0.000,6.250,0.000,0.000,1243.631,1777.292,549.897,898.012,146.449,0.000,1103.593,0.000,896.144,0.000,2.620,0.000
$DEVICE_MAMPS,231.030,68.850,1019.745,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.414,387.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,20123,526
$CAP_FILE_SIZE,62560,0
$CFSIZE,260165632,194707456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$GPS,190611,002721,6715.065,-5704.283,181,99.0,181,-37.6