version: 66.08
glider: 141
mission: 15
dive: 1017
start: 6 18 111 5 9 25
data:
$ID,141
$MISSION,15
$DIVE,1017
$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,-109241.96
$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,33
$R_STBD_OVSHOOT,43
$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,2.86
$_SM_ANGLEo,-77.7
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.12,0.000,2,0.000,0.000,117,2474,2603,0,0,0,0,0,0
$GC,134,-0.62,-146.0,5.9,-9.7,19,172,12.95,2.38,-19.33,0.000,4,0.318,0.058,2652,3895,3630,0,0,0,0,0,0
$GC,430,-0.95,-146.0,56.4,-14.4,70,438,0.30,2.33,0.00,0.000,6,0.116,0.061,2560,2490,3631,0,0,0,0,0,0
$GC,780,-1.39,-146.0,92.7,-9.8,131,787,0.40,2.40,0.00,0.000,4,0.163,0.068,2422,1077,3630,0,0,0,0,0,0
$GC,808,-1.49,-146.0,96.7,-13.7,135,816,0.12,2.20,0.00,0.000,6,0.142,0.035,2383,2497,3629,0,0,0,0,0,0
$GC,1142,-1.38,-146.0,164.7,-19.9,167,1147,0.15,2.47,0.00,0.000,4,0.222,0.073,2417,1081,3629,0,0,0,0,0,0
$GC,1173,-1.14,-146.0,171.6,-23.6,169,1178,0.32,2.20,0.00,0.000,6,0.232,0.035,2493,2496,3628,0,0,0,0,0,0
$GC,1504,-1.19,-146.0,221.0,-14.0,200,1508,0.00,2.22,0.00,0.000,4,0.000,0.050,2493,3890,3629,0,0,0,0,0,0
$GC,1516,-1.27,-146.0,222.7,-13.5,200,1524,0.12,2.30,0.00,0.000,6,0.113,0.055,2453,2494,3629,0,0,0,0,0,0
$STATE,1701,end dive,NO_VERTICAL_VELOCITY
$STATE,1701,begin apogee
$GC,1713,-0.12,0.0,224.4,0.0,218,1846,1.30,0.00,122.75,1.034,6,0.170,0.000,2815,2266,3030,0,0,0,0,0,0
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,0.62,146.0,224.3,0.0,230,1997,0.85,2.75,131.27,0.988,4,0.147,0.079,3058,881,2432,0,0,0,0,0,0
$GC,2252,0.88,360.8,223.5,0.1,265,2458,0.28,2.38,198.43,0.962,6,0.069,0.031,3154,2280,1559,0,0,0,0,0,0
$GC,2778,0.76,360.8,169.0,12.9,314,2783,0.20,2.47,0.00,0.000,4,0.182,0.046,3109,3679,1550,0,0,0,0,0,0
$GC,2830,0.79,360.8,163.1,10.4,318,2835,0.00,2.50,0.00,0.000,6,0.000,0.049,3115,2282,1548,0,0,0,0,0,0
$GC,3157,0.73,360.8,127.5,11.0,348,3162,0.00,2.38,0.00,0.000,4,0.000,0.046,3115,3674,1548,0,0,0,0,0,0
$GC,3169,0.67,360.8,125.9,10.9,348,3177,0.17,2.45,0.00,0.000,6,0.164,0.054,3082,2265,1548,0,0,0,0,0,0
$GC,3498,0.69,377.3,94.4,9.2,384,3518,0.00,2.45,14.70,0.851,4,0.000,0.061,3090,859,1491,0,0,0,0,0,0
$GC,3576,0.70,379.4,86.9,9.9,397,3583,0.00,2.28,0.00,0.000,6,0.000,0.043,3090,2283,1490,0,0,0,0,0,0
$GC,3924,0.67,379.4,44.3,13.6,458,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2283,1489,0,0,0,0,0,0
$GC,4273,0.87,440.1,14.4,7.2,519,4316,0.15,2.33,32.70,0.859,4,0.089,0.049,3157,3674,1234,0,0,0,0,0,0
$FREEZE,8.60,-0.365,-1.790,0,380,2
$GC,4339,0.93,441.6,8.6,9.9,529,4346,0.00,2.38,0.00,0.000,6,0.000,0.058,3166,2263,1232,0,0,0,0,0,0
$FREEZE,6.82,-0.361,-1.786,0,380,2
$FREEZE,6.49,-0.338,-1.785,0,380,2
$FREEZE,5.82,-0.334,-1.785,0,380,2
$FREEZE,5.25,-0.327,-1.784,0,380,2
$FREEZE,4.74,-0.327,-1.784,0,380,2
$FREEZE,4.21,-0.326,-1.784,0,380,2
$FREEZE,3.80,-0.331,-1.783,0,380,2
$FREEZE,3.26,-0.340,-1.783,0,380,2
$FREEZE,2.76,-0.336,-1.783,0,380,2
$STATE,4392,end climb,SURFACE_DEPTH_REACHED
$STATE,4392,begin surface coast
$FREEZE,2.13,-0.346,-1.782,0,380,2
$FREEZE,1.79,-0.359,-1.783,0,380,2
$FREEZE,1.80,-0.349,-0.504,0,380,2
$FREEZE,1.82,-0.334,-0.120,0,380,2
$FREEZE,1.83,-0.349,-0.509,0,380,2
$FREEZE,1.84,-0.183,-0.118,0,380,2
$FINISH,1.8,1.001555
$STATE,4428,end surface coast,CONTROL_FINISHED_OK
$STATE,4428,begin surface
$SM_CCo,4539,53.92,0.063,0,0,750,559.04
$SM_GC,2.89,0.00,0.00,53.92,0.000,0.000,0.063,116,2526,750,-8.59,1.02,559.04
$RAFOS_CLK,301
$RAFOS,5,1308372066,4.700000,4.685000,59,58,55,54,54,49,199,222,187,165,152,177
$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,74.02
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,21.1,133.569
$10V_AH,9.8,63.117
$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,26.350,43.550,499.850,53.925,0.000,99.135,17.184,0.000,8.250,0.000,185.716,1265.730,1897.579,590.802,1212.583,688.932,0.000,1160.148,0.000,902.746,0.000,2.620,0.000
$DEVICE_MAMPS,318.240,78.795,1033.515,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.177,399.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20090,545
$CAP_FILE_SIZE,69065,0
$CFSIZE,260165632,195338240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6