version: 66.08
glider: 141
mission: 15
dive: 1021
start: 6 18 111 11 4 0
data:
$ID,141
$MISSION,15
$DIVE,1021
$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,-110347.68
$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,61
$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,-5701.191,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-77.7
$GPS2,180611,081642,6715.065,-5701.191,181,99.0,181,-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,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,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.00,-107.60,0.000,2,0.000,0.000,118,2513,2621,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.9,-9.6,19,174,12.98,2.28,-19.60,0.000,4,0.321,0.061,2654,3873,3630,0,0,0,0,0,0
$GC,431,-1.02,-146.0,53.5,-13.7,71,439,0.38,2.30,0.00,0.000,6,0.105,0.064,2533,2489,3630,0,0,0,0,0,0
$GC,780,-1.26,-146.0,92.2,-10.9,132,787,0.22,2.42,0.00,0.000,4,0.095,0.070,2448,1081,3629,0,0,0,0,0,0
$GC,819,-1.03,-146.0,99.3,-22.5,138,827,0.35,2.17,0.00,0.000,6,0.219,0.034,2530,2477,3629,0,0,0,0,0,0
$GC,1146,-1.19,-146.0,140.1,-11.6,169,1150,0.15,2.30,0.00,0.000,4,0.103,0.050,2472,3891,3628,0,0,0,0,0,0
$GC,1236,-1.52,-146.0,150.7,-11.2,176,1243,0.28,2.35,0.00,0.000,6,0.095,0.060,2378,2481,3629,0,0,0,0,0,0
$GC,1562,-1.39,-146.0,215.1,-20.3,207,1567,0.15,2.30,0.00,0.000,4,0.222,0.047,2413,3887,3628,0,0,0,0,0,0
$STATE,1719,end dive,NO_VERTICAL_VELOCITY
$STATE,1719,begin apogee
$GC,1730,-0.12,0.0,217.0,0.0,221,1863,1.30,0.00,123.80,1.033,6,0.129,0.000,2813,2275,3030,0,0,0,0,0,0
$STATE,1864,end apogee,CONTROL_FINISHED_OK
$STATE,1864,begin climb
$GC,1867,0.62,146.0,217.0,0.0,233,2014,0.80,2.62,132.43,0.987,4,0.096,0.044,3056,3662,2433,0,0,0,0,0,0
$GC,2270,1.03,364.3,216.7,-0.1,268,2482,0.40,2.50,203.02,0.959,6,0.061,0.057,3201,2277,1544,0,0,0,0,0,0
$GC,2800,0.85,364.3,154.0,15.1,318,2806,0.25,2.60,0.00,0.000,4,0.195,0.061,3150,867,1535,0,0,0,0,0,0
$GC,2836,0.63,364.3,148.2,17.3,320,2843,0.35,2.45,0.00,0.000,6,0.220,0.040,3074,2262,1533,0,0,0,0,0,0
$GC,3162,0.64,370.0,114.4,9.7,351,3174,0.00,2.45,4.70,0.622,4,0.000,0.057,3074,3690,1520,0,0,0,0,0,0
$GC,3182,0.67,375.7,112.4,9.7,352,3200,0.00,2.53,7.38,0.755,6,0.000,0.053,3082,2263,1498,0,0,0,0,0,0
$GC,3530,0.68,383.6,77.9,9.6,403,3549,0.00,2.50,9.02,0.793,4,0.000,0.060,3092,862,1466,0,0,0,0,0,0
$GC,3631,0.68,383.6,67.7,10.3,420,3638,0.00,2.40,0.00,0.000,6,0.000,0.044,3092,2287,1465,0,0,0,0,0,0
$GC,3984,0.75,421.6,32.9,8.2,481,4015,0.00,2.42,25.05,0.919,4,0.000,0.049,3092,3678,1310,0,0,0,0,0,0
$GC,4029,0.87,458.0,28.9,8.3,488,4060,0.15,2.45,21.62,0.881,6,0.089,0.051,3155,2277,1161,0,0,0,0,0,0
$FREEZE,8.48,-0.412,-1.793,0,384,0
$FREEZE,7.98,-0.344,-1.791,0,384,0
$FREEZE,7.42,-0.217,-1.789,0,384,0
$FREEZE,6.96,-0.170,-1.788,0,384,0
$FREEZE,6.39,-0.254,-1.790,0,384,0
$FREEZE,5.95,-0.366,-1.790,0,384,0
$FREEZE,5.40,-0.330,-1.788,0,384,0
$FREEZE,4.89,-0.269,-1.786,0,384,0
$FREEZE,4.34,-0.259,-1.785,0,384,0
$FREEZE,3.83,-0.266,-1.785,0,384,0
$FREEZE,3.32,-0.259,-1.783,0,384,0
$FREEZE,2.63,-0.126,-1.778,0,384,0
$STATE,4284,end climb,SURFACE_DEPTH_REACHED
$STATE,4284,begin surface coast
$FREEZE,2.05,0.066,-1.774,0,384,0
$FREEZE,1.84,0.790,-1.743,0,384,0
$FREEZE,1.82,1.056,-0.862,0,384,0
$FREEZE,1.76,1.254,-0.193,0,384,0
$FREEZE,1.81,1.283,-0.196,0,384,0
$FREEZE,1.86,1.140,-0.114,0,384,0
$FINISH,1.9,1.001554
$STATE,4316,end surface coast,CONTROL_FINISHED_OK
$STATE,4316,begin surface
$SM_CCo,4339,47.42,0.062,0,0,751,559.04
$SM_GC,2.67,0.00,0.00,47.42,0.000,0.000,0.062,116,2524,751,-8.59,0.99,559.04
$RAFOS_CLK,289
$RAFOS,1,1308398943,12.166667,12.150833,60,58,55,53,52,49,214,167,134,147,183,224
$RAFOS,0,1308398466,12.033333,12.018333,55,54,53,50,49,46,162,209,171,182,196,226
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.026964
$HUMID,73.03
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,21.0,134.160
$10V_AH,9.8,63.308
$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,27.125,44.125,527.025,47.425,0.000,98.497,17.403,0.000,10.500,0.000,183.286,1227.163,1699.231,611.233,1224.772,710.031,0.000,1180.723,0.000,917.856,720.000,6.051,0.000
$DEVICE_MAMPS,320.535,69.615,1032.750,61.965,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.462,396.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20115,539
$CAP_FILE_SIZE,67996,0
$CFSIZE,260165632,195186688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6