version: 66.08
glider: 141
mission: 15
dive: 1020
start: 6 18 111 9 35 10
data:
$ID,141
$MISSION,15
$DIVE,1020
$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,-109979.11
$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,27
$R_STBD_OVSHOOT,40
$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
$GPS1,180611,081642,6715.065,-5701.191,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.71
$_SM_ANGLEo,4.1
$GPS2,180611,081642,6715.065,-5701.191,0,10000.0,0,-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,194.5,24291,-17.5,-10.000
$D_GRID,274
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2900,3683,3045,0,0,0,0,0,0
$GC,28,-0.62,-146.0,16.1,-0.0,1,47,0.75,0.32,-10.50,0.000,4,0.161,0.156,2672,3895,3629,0,0,0,0,0,0
$GC,305,-0.97,-146.0,57.1,-15.3,49,313,0.38,2.35,0.00,0.000,6,0.103,0.060,2553,2487,3630,0,0,0,0,0,0
$GC,654,-1.40,-146.0,94.1,-9.7,110,661,0.38,2.38,0.00,0.000,4,0.094,0.073,2416,1084,3629,0,0,0,0,0,0
$GC,671,-1.75,-146.0,96.4,-11.3,112,678,0.35,2.22,0.00,0.000,6,0.112,0.041,2305,2503,3628,0,0,0,0,0,0
$GC,1000,-1.53,-146.0,175.1,-24.7,144,1002,0.28,0.00,0.00,0.000,6,0.236,0.000,2366,2503,3627,0,0,0,0,0,0
$GC,1319,-1.71,-146.0,215.8,0.2,174,1323,0.15,2.30,0.00,0.000,4,0.105,0.055,2310,3892,3626,0,0,0,0,0,0
$STATE,1362,end dive,NO_VERTICAL_VELOCITY
$STATE,1362,begin apogee
$GC,1373,-0.12,0.0,215.8,0.0,178,1506,1.65,0.00,123.28,1.021,6,0.142,0.000,2819,2274,3030,0,0,0,0,0,0
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1511,0.62,146.0,215.9,0.0,190,1656,0.85,2.75,131.48,0.976,4,0.130,0.067,3057,875,2432,0,0,0,0,0,0
$GC,1909,1.06,359.6,215.5,0.1,225,2116,0.45,2.38,198.32,0.950,6,0.071,0.031,3209,2277,1564,0,0,0,0,0,0
$GC,2437,0.85,359.6,152.0,15.4,274,2442,0.28,2.58,0.00,0.000,4,0.204,0.059,3153,871,1554,0,0,0,0,0,0
$GC,2472,0.62,359.6,146.5,15.7,276,2479,0.40,2.40,0.00,0.000,6,0.219,0.037,3070,2263,1553,0,0,0,0,0,0
$GC,2798,0.64,371.5,115.6,9.5,307,2813,0.00,2.47,10.20,0.799,4,0.000,0.060,3078,869,1515,0,0,0,0,0,0
$GC,2879,0.64,371.5,107.6,10.9,314,2883,0.00,2.35,0.00,0.000,6,0.000,0.034,3078,2276,1514,0,0,0,0,0,0
$GC,3221,0.64,371.5,67.5,11.0,368,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2276,1514,0,0,0,0,0,0
$GC,3568,0.84,419.6,35.9,7.8,429,3611,0.15,2.53,31.55,0.933,4,0.087,0.061,3154,869,1319,0,0,0,0,0,0
$GC,3650,0.75,419.6,27.6,12.2,442,3657,0.20,2.35,0.00,0.000,6,0.187,0.046,3108,2278,1316,0,0,0,0,0,0
$FREEZE,8.73,-0.090,-1.790,0,383,0
$FREEZE,8.16,-0.141,-1.790,0,383,0
$FREEZE,7.59,-0.139,-1.789,0,383,0
$FREEZE,7.02,-0.263,-1.789,0,383,0
$FREEZE,6.54,-0.295,-1.788,0,383,0
$FREEZE,5.92,-0.333,-1.787,0,383,0
$FREEZE,5.55,-0.334,-1.786,0,383,0
$FREEZE,5.08,-0.319,-1.784,0,383,0
$FREEZE,4.60,-0.301,-1.783,0,383,0
$FREEZE,4.06,-0.277,-1.783,0,383,0
$FREEZE,3.56,-0.268,-1.782,0,383,0
$FREEZE,3.16,-0.237,-1.781,0,383,0
$FREEZE,2.64,-0.228,-1.781,0,383,0
$STATE,3879,end climb,SURFACE_DEPTH_REACHED
$STATE,3879,begin surface coast
$FREEZE,2.18,-0.215,-1.780,0,383,0
$FREEZE,1.88,-0.109,-1.776,0,383,0
$FREEZE,1.86,-0.051,-0.054,0,383,0
$FREEZE,1.83,-0.061,-0.049,0,383,0
$FREEZE,1.81,-0.082,-0.043,0,383,0
$FREEZE,1.73,-0.086,-0.036,0,383,0
$FINISH,1.7,1.000336
$STATE,3913,end surface coast,CONTROL_FINISHED_OK
$STATE,3913,begin surface
$SM_CCo,3936,64.40,0.061,0,0,751,559.04
$SM_GC,2.70,0.00,0.00,64.40,0.000,0.000,0.061,118,2513,751,-8.59,0.65,559.04
$RAFOS_CLK,220
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.028462
$HUMID,73.50
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,21.1,134.010
$10V_AH,9.8,63.254
$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,15.225,32.350,494.825,64.400,0.000,0.000,0.000,0.000,6.000,0.000,0.000,1135.094,1473.464,495.739,828.232,133.266,0.000,994.805,0.000,827.064,0.000,2.621,0.000
$DEVICE_MAMPS,236.385,156.060,1020.510,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.428,359.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20129,489
$CAP_FILE_SIZE,54527,0
$CFSIZE,260165632,195231744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6