version: 66.08
glider: 141
mission: 15
dive: 1023
start: 6 18 111 13 48 45
data:
$ID,141
$MISSION,15
$DIVE,1023
$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,-110716.26
$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,34
$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,11.91
$_SM_ANGLEo,4.3
$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,13,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,-5.65,0.000,2,0.000,0.000,2897,3700,3046,0,0,0,0,0,0
$GC,29,-0.62,-146.0,15.6,-0.0,1,48,0.75,0.30,-10.75,0.000,4,0.135,0.145,2674,3895,3629,0,0,0,0,0,0
$GC,305,-0.95,-146.0,58.2,-14.8,49,312,0.38,2.38,0.00,0.000,6,0.107,0.051,2559,2488,3629,0,0,0,0,0,0
$GC,654,-1.33,-146.0,95.2,-12.7,110,661,0.35,2.33,0.00,0.000,4,0.129,0.053,2443,3903,3628,0,0,0,0,0,0
$GC,800,-1.60,-146.0,112.3,-12.1,126,808,0.28,2.35,0.00,0.000,6,0.096,0.048,2350,2477,3627,0,0,0,0,0,0
$GC,1127,-1.44,-146.0,181.7,-21.4,157,1132,0.20,2.40,0.00,0.000,4,0.223,0.065,2397,1078,3626,0,0,0,0,0,0
$GC,1151,-1.19,-146.0,187.6,-23.9,158,1158,0.35,2.22,0.00,0.000,6,0.233,0.034,2476,2503,3625,0,0,0,0,0,0
$GC,1478,-1.38,-146.0,216.9,0.1,189,1482,0.17,2.25,0.00,0.000,4,0.097,0.046,2409,3896,3626,0,0,0,0,0,0
$STATE,1499,end dive,NO_VERTICAL_VELOCITY
$STATE,1499,begin apogee
$GC,1510,-0.12,0.0,216.8,0.0,191,1642,1.38,0.00,123.95,1.022,6,0.147,0.000,2814,2273,3030,0,0,0,0,0,0
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1646,0.62,146.0,217.1,0.0,203,1792,0.77,2.62,132.20,0.975,4,0.079,0.044,3058,3666,2433,0,0,0,0,0,0
$GC,1832,1.10,361.0,217.1,0.1,219,2046,0.50,2.58,200.45,0.942,6,0.067,0.050,3221,2276,1558,0,0,0,0,0,0
$GC,2366,0.91,361.0,165.5,12.9,269,2371,0.25,2.50,0.00,0.000,4,0.201,0.044,3159,3669,1550,0,0,0,0,0,0
$GC,2418,0.91,361.0,159.5,10.2,273,2423,0.00,2.50,0.00,0.000,6,0.000,0.049,3167,2266,1548,0,0,0,0,0,0
$GC,2746,0.81,361.0,123.6,11.0,303,2751,0.17,2.45,0.00,0.000,4,0.184,0.044,3127,3674,1548,0,0,0,0,0,0
$GC,2799,0.86,371.2,118.2,9.5,307,2814,0.00,2.45,9.45,0.790,6,0.000,0.047,3134,2264,1515,0,0,0,0,0,0
$GC,3146,0.82,371.2,83.5,10.4,352,3153,0.00,2.42,0.00,0.000,4,0.000,0.045,3134,3673,1513,0,0,0,0,0,0
$GC,3161,0.78,371.2,81.8,10.4,354,3168,0.00,2.45,0.00,0.000,6,0.000,0.056,3144,2273,1513,0,0,0,0,0,0
$GC,3509,0.77,398.7,45.7,8.7,415,3546,0.12,2.45,26.05,0.881,4,0.195,0.045,3115,3669,1403,0,0,0,0,0,0
$GC,3597,0.92,453.2,39.2,7.5,429,3639,0.12,2.45,35.70,0.940,6,0.094,0.053,3170,2275,1181,0,0,0,0,0,0
$FREEZE,8.83,-0.092,-1.785,0,386,0
$FREEZE,8.39,-0.053,-1.784,0,386,0
$FREEZE,7.87,-0.000,-1.784,0,386,0
$FREEZE,7.09,0.043,-1.784,0,386,0
$FREEZE,6.59,0.072,-1.783,0,386,0
$FREEZE,6.05,0.085,-1.783,0,386,0
$FREEZE,5.62,0.096,-1.783,0,386,0
$FREEZE,5.11,0.110,-1.782,0,386,0
$FREEZE,4.62,0.131,-1.782,0,386,0
$FREEZE,4.14,0.126,-1.782,0,386,0
$FREEZE,3.66,0.137,-1.782,0,386,0
$FREEZE,3.12,0.215,-1.781,0,386,0
$FREEZE,2.61,0.447,-1.776,0,386,0
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FREEZE,2.12,0.627,-1.773,0,386,0
$FREEZE,1.99,0.635,-0.973,0,386,0
$FREEZE,1.99,0.652,-0.876,0,386,0
$FREEZE,1.92,0.641,-0.859,0,386,0
$FREEZE,1.96,0.649,-0.857,0,386,0
$FREEZE,2.00,0.696,-0.798,0,386,0
$FINISH,2.0,1.011770
$STATE,3997,end surface coast,CONTROL_FINISHED_OK
$STATE,3997,begin surface
$SM_CCo,4140,50.12,0.061,0,0,751,559.04
$SM_GC,2.87,0.00,0.00,50.12,0.000,0.000,0.061,114,2508,751,-8.60,0.51,559.04
$RAFOS_CLK,235
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.026215
$HUMID,73.42
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,21.0,134.456
$10V_AH,9.8,63.393
$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,15.250,42.175,527.800,50.125,0.000,0.000,0.000,0.000,3.500,0.000,0.000,1161.630,1604.484,514.834,833.141,141.829,0.000,1036.783,0.000,831.721,0.000,2.621,0.000
$DEVICE_MAMPS,232.560,144.585,1022.040,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.710,365.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20139,500
$CAP_FILE_SIZE,58881,0
$CFSIZE,260165632,195121152
$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