version: 66.08
glider: 141
mission: 15
dive: 1025
start: 6 18 111 16 51 51
data:
$ID,141
$MISSION,15
$DIVE,1025
$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,-111458.16
$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,23
$R_STBD_OVSHOOT,59
$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,2.93
$_SM_ANGLEo,-77.2
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.10,0.000,2,0.000,0.000,116,2518,2517,0,0,0,0,0,0
$GC,125,-0.62,-146.0,5.1,-6.3,18,168,13.12,2.30,-24.15,0.000,4,0.317,0.061,2654,3878,3628,0,0,0,0,0,0
$GC,426,-0.97,-146.0,52.6,-14.0,70,433,0.32,2.33,0.00,0.000,6,0.116,0.063,2554,2487,3630,0,0,0,0,0,0
$GC,775,-1.38,-146.0,89.0,-12.0,131,782,0.40,2.40,0.00,0.000,4,0.181,0.071,2429,1081,3629,0,0,0,0,0,0
$GC,814,-1.21,-146.0,95.9,-20.6,137,821,0.17,2.22,0.00,0.000,6,0.237,0.044,2467,2488,3629,0,0,0,0,0,0
$GC,1143,-1.19,-146.0,154.8,-17.3,169,1147,0.00,2.28,0.00,0.000,4,0.000,0.050,2467,3893,3628,0,0,0,0,0,0
$GC,1184,-1.41,-146.0,160.6,-13.4,172,1189,0.17,2.30,0.00,0.000,6,0.106,0.051,2412,2490,3628,0,0,0,0,0,0
$GC,1510,-1.35,-146.0,219.8,-18.5,202,1515,0.00,2.42,0.00,0.000,4,0.000,0.072,2412,1082,3627,0,0,0,0,0,0
$STATE,1684,end dive,NO_VERTICAL_VELOCITY
$STATE,1684,begin apogee
$GC,1694,-0.12,0.0,224.9,0.0,217,1829,1.33,0.00,126.03,1.036,6,0.129,0.000,2818,2269,3029,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1833,0.62,146.0,224.8,0.0,229,1974,0.82,0.00,133.00,0.985,6,0.160,0.000,3050,2268,2435,0,0,0,0,0,0
$GC,2291,0.94,367.1,224.3,-0.2,272,2511,0.30,2.85,206.60,0.960,4,0.070,0.063,3174,864,1532,0,0,0,0,0,0
$GC,2524,0.77,367.1,207.0,13.8,293,2530,0.28,2.58,0.00,0.000,6,0.213,0.039,3118,2278,1529,0,0,0,0,0,0
$GC,2851,0.70,367.1,167.2,12.4,323,2855,0.00,2.60,0.00,0.000,4,0.000,0.060,3126,865,1523,0,0,0,0,0,0
$GC,2930,0.50,367.1,156.1,15.5,329,2938,0.43,2.47,0.00,0.000,6,0.198,0.041,3032,2280,1522,0,0,0,0,0,0
$GC,3257,0.74,394.2,125.2,8.8,360,3292,0.22,2.55,24.77,0.886,4,0.078,0.047,3113,3680,1422,0,0,0,0,0,0
$GC,3307,0.81,394.2,120.0,11.4,364,3311,0.00,2.55,0.00,0.000,6,0.000,0.048,3124,2274,1421,0,0,0,0,0,0
$GC,3644,0.77,394.2,76.5,12.5,410,3651,0.00,2.58,0.00,0.000,4,0.000,0.060,3134,859,1420,0,0,0,0,0,0
$GC,3716,0.63,394.2,66.6,14.8,422,3724,0.28,2.40,0.00,0.000,6,0.192,0.041,3073,2279,1419,0,0,0,0,0,0
$GC,4068,0.85,429.2,33.1,8.4,483,4099,0.20,2.55,23.20,0.898,4,0.082,0.060,3156,863,1279,0,0,0,0,0,0
$GC,4136,0.79,429.2,25.6,12.0,494,4143,0.15,2.42,0.00,0.000,6,0.189,0.035,3126,2281,1277,0,0,0,0,0,0
$FREEZE,8.87,-0.383,-1.789,0,388,0
$FREEZE,8.34,-0.374,-1.788,0,388,0
$FREEZE,7.82,-0.364,-1.787,0,388,0
$FREEZE,7.31,-0.229,-1.785,0,388,0
$FREEZE,6.70,-0.194,-1.784,0,388,0
$FREEZE,6.13,-0.180,-1.784,0,388,0
$FREEZE,5.62,-0.177,-1.784,0,388,0
$FREEZE,5.07,-0.171,-1.783,0,388,0
$FREEZE,4.51,-0.156,-1.783,0,388,0
$FREEZE,3.97,-0.119,-1.781,0,388,0
$FREEZE,3.50,0.100,-1.779,0,388,0
$FREEZE,2.91,0.242,-1.776,0,388,0
$STATE,4330,end climb,SURFACE_DEPTH_REACHED
$STATE,4330,begin surface coast
$FREEZE,2.47,0.240,-1.777,0,388,0
$FREEZE,2.02,0.310,-1.776,0,388,0
$FREEZE,1.92,0.286,-1.774,0,388,0
$FREEZE,1.80,0.300,-0.931,0,388,0
$FREEZE,1.87,0.285,-0.917,0,388,0
$FINISH,1.9,1.013535
$STATE,4359,end surface coast,CONTROL_FINISHED_OK
$STATE,4359,begin surface
$SM_CCo,4502,63.05,0.060,0,0,751,559.04
$SM_GC,2.77,0.00,0.00,63.05,0.000,0.000,0.060,109,2512,751,-8.61,0.62,559.04
$RAFOS_CLK,290
$RAFOS,3,1308414304,16.433332,16.417778,75,55,54,53,51,51,209,227,175,161,135,152
$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,73.58
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,20.9,134.760
$10V_AH,9.8,63.498
$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,27.500,44.050,513.600,63.050,0.000,101.431,17.470,0.000,10.250,0.000,185.676,1231.445,1908.455,606.026,1194.941,677.023,0.000,1175.118,0.000,888.473,0.000,2.620,0.000
$DEVICE_MAMPS,316.710,71.910,1035.810,60.435,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.891,393.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20129,534
$CAP_FILE_SIZE,68253,0
$CFSIZE,260165632,195043328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6