version: 66.08
glider: 141
mission: 15
dive: 1018
start: 6 18 111 6 48 38
data:
$ID,141
$MISSION,15
$DIVE,1018
$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,-109610.54
$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,31
$R_STBD_OVSHOOT,67
$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,2.85
$_SM_ANGLEo,-77.5
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.57,0.000,2,0.000,0.000,117,2526,2582,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.7,-8.6,19,174,12.95,2.50,-21.48,0.000,4,0.320,0.087,2653,1089,3630,0,0,0,0,0,0
$GC,194,-0.89,-146.0,19.2,-9.9,29,202,0.22,2.20,0.00,0.000,6,0.099,0.037,2578,2477,3630,0,0,0,0,0,0
$GC,543,-1.33,-146.0,57.1,-11.6,90,550,0.40,2.30,0.00,0.000,4,0.148,0.047,2437,3892,3629,0,0,0,0,0,0
$GC,627,-1.58,-146.0,67.0,-12.2,104,635,0.25,2.30,0.00,0.000,6,0.096,0.054,2350,2494,3629,0,0,0,0,0,0
$GC,972,-1.43,-146.0,139.1,-21.7,149,977,0.20,2.45,0.00,0.000,4,0.223,0.073,2396,1077,3629,0,0,0,0,0,0
$GC,994,-1.20,-146.0,145.1,-23.2,150,1002,0.32,2.22,0.00,0.000,6,0.235,0.036,2470,2491,3629,0,0,0,0,0,0
$GC,1321,-1.20,-146.0,195.1,-15.3,181,1325,0.00,2.42,0.00,0.000,4,0.000,0.073,2471,1084,3628,0,0,0,0,0,0
$GC,1357,-1.00,-146.0,202.1,-20.9,184,1362,0.28,2.20,0.00,0.000,6,0.220,0.035,2537,2490,3628,0,0,0,0,0,0
$GC,1690,-1.22,-146.0,223.1,-0.1,215,1695,0.20,2.28,0.00,0.000,3,0.096,0.057,2463,3858,3629,0,0,0,0,0,0
$STATE,1696,end dive,NO_VERTICAL_VELOCITY
$STATE,1696,begin apogee
$GC,1706,-0.12,0.0,223.1,0.0,215,1837,1.23,0.00,122.97,1.036,6,0.174,0.000,2816,2262,3029,0,0,0,0,0,0
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1842,0.62,146.0,223.1,0.0,227,1983,0.82,2.78,131.23,0.990,4,0.154,0.068,3053,874,2433,0,0,0,0,0,0
$GC,2238,1.16,363.6,222.9,-0.0,262,2451,0.57,2.42,201.82,0.964,6,0.075,0.034,3238,2284,1546,0,0,0,0,0,0
$GC,2770,0.91,363.6,154.1,17.5,312,2775,0.32,2.47,0.00,0.000,4,0.214,0.047,3163,3668,1537,0,0,0,0,0,0
$GC,2782,0.68,363.6,151.8,17.3,312,2790,0.35,2.50,0.00,0.000,6,0.162,0.050,3085,2276,1535,0,0,0,0,0,0
$GC,3109,0.68,366.7,117.5,9.9,343,3113,0.00,2.42,0.00,0.000,4,0.000,0.047,3085,3675,1535,0,0,0,0,0,0
$GC,3121,0.69,370.4,116.1,9.8,343,3132,0.00,2.47,5.55,0.676,6,0.000,0.050,3091,2268,1519,0,0,0,0,0,0
$GC,3462,0.69,370.4,81.7,10.6,390,3469,0.00,2.42,0.00,0.000,4,0.000,0.070,3101,866,1518,0,0,0,0,0,0
$GC,3551,0.60,370.4,72.3,11.2,405,3559,0.17,2.28,0.00,0.000,6,0.180,0.045,3060,2281,1518,0,0,0,0,0,0
$GC,3903,0.86,439.2,44.2,6.8,466,3963,0.22,2.45,53.12,0.929,4,0.075,0.050,3155,3669,1238,0,0,0,0,0,0
$GC,3985,0.86,439.2,35.0,13.5,479,3992,0.00,2.42,0.00,0.000,6,0.000,0.054,3164,2271,1235,0,0,0,0,0,0
$FREEZE,8.58,-0.482,-1.789,0,381,0
$FREEZE,7.97,-0.479,-1.789,0,381,0
$FREEZE,7.56,-0.457,-1.788,0,381,0
$FREEZE,6.88,-0.400,-1.787,0,381,0
$FREEZE,6.42,-0.379,-1.786,0,381,0
$FREEZE,5.90,-0.452,-1.787,0,381,0
$FREEZE,5.31,-0.424,-1.785,0,381,0
$FREEZE,4.72,-0.397,-1.784,0,381,0
$FREEZE,4.15,-0.391,-1.784,0,381,0
$FREEZE,3.64,-0.383,-1.783,0,381,0
$FREEZE,3.12,-0.376,-1.783,0,381,0
$FREEZE,2.65,-0.352,-1.782,0,381,0
$STATE,4273,end climb,SURFACE_DEPTH_REACHED
$STATE,4276,begin surface coast
$FREEZE,1.94,-0.337,-1.782,0,381,0
$FREEZE,1.78,-0.329,-1.781,0,381,0
$FREEZE,1.87,-0.256,-0.164,0,381,0
$FREEZE,1.82,-0.329,-0.094,0,381,0
$FREEZE,1.82,-0.282,-0.101,0,381,0
$FREEZE,1.89,-0.292,-0.083,0,381,0
$FINISH,1.9,1.001016
$STATE,4308,end surface coast,CONTROL_FINISHED_OK
$STATE,4308,begin surface
$SM_CCo,4372,54.80,0.063,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,54.80,0.000,0.000,0.063,111,2514,751,-8.60,0.68,559.04
$RAFOS_CLK,290
$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,73.07
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.4,17.5
$24V_AH,21.1,133.718
$10V_AH,9.8,63.171
$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,27.625,48.500,514.700,54.800,0.000,94.692,55.029,0.000,9.250,0.000,183.285,1235.504,1764.932,604.253,1233.192,702.835,0.000,1167.541,0.000,889.576,0.000,2.620,0.000
$DEVICE_MAMPS,319.770,87.210,1035.810,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.244,392.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,20126,537
$CAP_FILE_SIZE,68430,0
$CFSIZE,260165632,195297280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,160611,173016,6715.065,-5654.765,181,99.0,181,-37.6