version: 66.08
glider: 141
mission: 15
dive: 1037
start: 6 19 111 11 15 30
data:
$ID,141
$MISSION,15
$DIVE,1037
$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,-114789.38
$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,22
$R_STBD_OVSHOOT,45
$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
$GPS1,190611,074536,6709.499,-5839.858,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-77.0
$GPS2,190611,074536,6709.499,-5839.858,181,99.0,181,-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,136.1,81670,-17.5,-10.000
$D_GRID,1279
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-102.68,0.000,2,0.000,0.000,115,2506,2530,0,0,0,0,0,0
$GC,127,-0.62,-146.0,5.5,-7.2,18,176,17.05,2.67,-21.90,0.000,4,0.311,0.057,2654,3884,3630,27,0,0,0,0,0
$GC,434,-1.00,-146.0,57.5,-15.5,71,442,0.40,2.67,0.00,0.000,6,0.099,0.061,2546,2495,3631,0,0,0,0,0,0
$GC,784,-1.29,-146.0,94.8,-9.0,132,791,0.30,2.75,0.00,0.000,4,0.088,0.064,2450,1077,3629,0,0,0,0,0,0
$GC,811,-1.29,-146.0,98.4,-11.8,136,818,0.00,2.55,0.00,0.000,6,0.000,0.038,2450,2484,3629,0,0,0,0,0,0
$GC,1145,-1.26,-146.0,155.0,-16.6,168,1149,0.00,2.62,0.00,0.000,4,0.000,0.048,2450,3892,3629,0,0,0,0,0,0
$GC,1404,-1.49,-146.0,185.4,-11.9,190,1412,0.20,2.65,0.00,0.000,6,0.093,0.050,2389,2487,3629,0,0,0,0,0,0
$GC,1731,-1.69,-146.0,220.5,0.0,221,1737,0.22,2.65,0.00,0.000,4,0.086,0.050,2316,3893,3629,0,0,0,0,0,0
$STATE,1751,end dive,NO_VERTICAL_VELOCITY
$STATE,1751,begin apogee
$GC,1763,-0.12,0.0,220.5,0.0,222,1911,1.88,0.00,141.65,1.028,6,0.147,0.000,2814,2272,3029,0,0,0,0,0,0
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1916,0.62,146.0,220.6,0.0,236,2072,0.90,2.92,144.68,0.979,4,0.099,0.054,3053,3673,2433,0,0,0,0,0,0
$GC,2234,1.01,359.0,220.2,0.2,264,2463,0.43,2.80,216.32,0.949,6,0.059,0.050,3190,2277,1565,0,0,0,0,0,0
$GC,2783,0.83,359.0,157.0,13.8,315,2789,0.25,2.85,0.00,0.000,4,0.193,0.065,3146,864,1557,0,0,0,0,0,0
$GC,2807,0.65,359.0,153.6,13.4,316,2815,0.35,2.70,0.00,0.000,6,0.207,0.050,3080,2270,1555,0,0,0,0,0,0
$GC,3134,0.65,359.0,121.1,10.4,347,3138,0.00,2.70,0.00,0.000,4,0.000,0.046,3079,3686,1554,0,0,0,0,0,0
$GC,3144,0.65,359.0,119.8,10.2,347,3151,0.00,2.75,0.00,0.000,6,0.000,0.050,3085,2273,1554,0,0,0,0,0,0
$GC,3480,0.68,378.8,85.3,9.1,390,3505,0.00,2.85,19.83,0.858,4,0.000,0.058,3096,866,1485,0,0,0,0,0,0
$GC,3579,0.68,401.0,76.5,9.0,406,3611,0.00,2.70,24.60,0.865,6,0.000,0.037,3097,2284,1395,0,0,0,0,0,0
$GC,3954,0.73,418.2,41.9,9.2,471,3979,0.00,2.80,15.12,0.903,4,0.000,0.058,3096,3673,1324,0,0,0,0,0,0
$GC,4010,0.85,426.5,36.6,9.6,480,4024,0.12,2.78,6.03,0.747,6,0.091,0.055,3140,2274,1291,0,0,0,0,0,0
$FREEZE,8.83,0.637,-1.796,2,400,2
$FREEZE,8.32,0.631,-1.796,2,400,2
$FREEZE,7.80,0.615,-1.795,2,400,2
$FREEZE,7.31,0.466,-1.798,2,400,2
$FREEZE,6.88,0.292,-1.796,2,400,2
$FREEZE,6.46,0.257,-1.794,2,400,2
$FREEZE,6.04,0.241,-1.793,2,400,2
$FREEZE,5.30,0.203,-1.791,2,400,2
$FREEZE,4.83,0.161,-1.789,2,400,2
$FREEZE,4.36,0.161,-1.789,2,400,2
$FREEZE,3.77,0.158,-1.787,2,400,2
$FREEZE,3.25,0.160,-1.786,2,400,2
$FREEZE,2.60,0.147,-1.785,2,400,2
$STATE,4330,end climb,SURFACE_DEPTH_REACHED
$STATE,4330,begin surface coast
$FREEZE,2.21,0.107,-1.784,2,400,2
$FREEZE,1.95,0.100,-1.766,2,400,2
$FREEZE,1.89,0.203,-0.761,2,400,2
$FREEZE,1.92,0.160,-1.386,2,400,2
$FREEZE,1.87,0.189,-0.510,2,400,2
$FINISH,1.9,1.007450
$STATE,4358,end surface coast,CONTROL_FINISHED_OK
$STATE,4358,begin surface
$SM_CCo,4501,72.57,0.057,0,0,751,559.04
$SM_GC,2.83,0.00,0.00,72.57,0.000,0.000,0.057,115,2514,751,-8.59,0.68,559.04
$RAFOS_CLK,304
$RAFOS,2,1308485826,12.300000,12.285000,62,57,54,53,50,50,206,220,152,186,174,120
$RAFOS,1,1308485342,12.166667,12.150556,62,60,57,57,56,55,226,213,181,197,172,126
$RAFOS,0,1308484867,12.033333,12.018611,56,56,54,53,52,50,125,202,72,152,183,167
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5659.52,190611,111152
$TT8_MAMPS,0.028462
$HUMID,73.42
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,19.7,136.633
$10V_AH,9.8,64.088
$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,32.700,49.900,568.225,72.575,0.000,93.203,63.346,0.000,9.250,0.000,183.283,1241.512,1819.466,663.741,1268.441,715.337,0.000,1253.498,0.000,918.111,1440.000,2.620,0.000
$DEVICE_MAMPS,311.355,65.025,1028.160,57.375,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.552,394.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,20115,542
$CAP_FILE_SIZE,69533,0
$CFSIZE,260165632,194584576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,27,0,0,0
$SOUNDSPEED,1459.6
$GPS,190611,110652,6715.065,-5659.520,0,10000.0,0,-37.6