version: 66.08
glider: 141
mission: 15
dive: 1019
start: 6 18 111 8 25 11
data:
$ID,141
$MISSION,15
$DIVE,1019
$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,30
$R_STBD_OVSHOOT,63
$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,2.92
$_SM_ANGLEo,-77.7
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.10,0.000,2,0.000,0.000,112,2514,2572,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.5,-8.1,19,174,13.02,2.47,-21.62,0.000,4,0.318,0.084,2653,1091,3629,0,0,0,0,0,0
$GC,182,-0.84,-146.0,18.2,-11.0,27,189,0.17,2.20,0.00,0.000,6,0.107,0.036,2597,2486,3629,0,0,0,0,0,0
$GC,533,-1.28,-146.0,56.3,-9.0,88,540,0.40,2.28,0.00,0.000,4,0.146,0.048,2452,3882,3628,0,0,0,0,0,0
$GC,634,-1.55,-146.0,68.8,-12.1,105,642,0.25,2.33,0.00,0.000,6,0.103,0.062,2368,2496,3629,0,0,0,0,0,0
$GC,978,-1.43,-146.0,136.1,-19.8,150,983,0.15,2.45,0.00,0.000,4,0.213,0.075,2402,1084,3628,0,0,0,0,0,0
$GC,997,-1.24,-146.0,140.4,-20.6,151,1002,0.25,2.17,0.00,0.000,6,0.232,0.035,2456,2484,3628,0,0,0,0,0,0
$GC,1325,-1.20,-146.0,196.3,-17.7,181,1329,0.00,2.28,0.00,0.000,4,0.000,0.050,2456,3895,3627,0,0,0,0,0,0
$GC,1361,-1.43,-146.0,201.5,-12.7,184,1365,0.17,2.33,0.00,0.000,6,0.101,0.054,2400,2488,3628,0,0,0,0,0,0
$STATE,1607,end dive,NO_VERTICAL_VELOCITY
$STATE,1607,begin apogee
$GC,1615,-0.12,0.0,215.2,0.0,207,1747,1.38,0.00,122.88,1.034,6,0.133,0.000,2816,2271,3030,0,0,0,0,0,0
$STATE,1748,end apogee,CONTROL_FINISHED_OK
$STATE,1748,begin climb
$GC,1751,0.62,146.0,215.2,0.0,219,1895,0.82,0.00,131.85,0.986,6,0.129,0.000,3050,2271,2433,0,0,0,0,0,0
$GC,2213,1.11,359.9,214.9,0.1,262,2422,0.52,2.72,198.30,0.960,4,0.082,0.066,3232,874,1561,0,0,0,0,0,0
$GC,2440,0.79,359.9,199.0,17.5,283,2448,0.50,2.53,0.00,0.000,6,0.233,0.039,3125,2263,1558,0,0,0,0,0,0
$GC,2767,0.70,359.9,157.7,11.9,314,2772,0.15,2.58,0.00,0.000,4,0.203,0.060,3100,862,1553,0,0,0,0,0,0
$GC,2791,0.62,359.9,154.8,12.3,315,2800,0.15,2.45,0.00,0.000,6,0.164,0.038,3067,2287,1551,0,0,0,0,0,0
$GC,3117,0.59,359.9,116.3,11.2,346,3121,0.00,2.40,0.00,0.000,4,0.000,0.050,3067,3686,1550,0,0,0,0,0,0
$GC,3147,0.65,359.9,113.2,10.0,348,3154,0.00,2.47,0.00,0.000,6,0.000,0.058,3073,2275,1550,0,0,0,0,0,0
$GC,3483,0.72,415.4,86.2,7.4,394,3543,0.00,2.60,49.75,0.892,4,0.000,0.060,3083,862,1336,0,0,0,0,0,0
$GC,3594,0.89,460.8,77.8,7.9,412,3648,0.20,2.42,43.17,0.875,6,0.079,0.034,3156,2292,1149,0,0,0,0,0,0
$FREEZE,8.53,-0.267,-1.786,0,382,0
$FREEZE,7.61,-0.262,-1.785,0,382,0
$FREEZE,6.85,-0.224,-1.784,0,382,0
$STATE,3988,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3988,begin subsurface finish
$FINISH1,6.9,1.026087,69
$GC,3997,0.09,69.3,6.9,-16.1,481,4080,1.05,2.38,-74.95,0.000,4,0.226,0.055,2900,3682,2749,0,0,0,0,0,0
$FINISH2,4.5
$STATE,4084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4084,begin surface
$RAFOS_CLK,273
$RAFOS,6,1308386945,8.833333,8.818055,54,53,51,50,49,49,122,147,219,206,92,167
$RAFOS,5,1308386463,8.700000,8.684167,69,61,59,57,57,56,204,214,147,134,122,157
$RAFOS,4,1308385981,8.566667,8.550278,62,58,57,56,56,56,216,192,169,180,144,134
$RAFOS,3,1308385532,8.433333,8.425555,72,64,58,55,54,50,203,220,188,133,148,114
$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,73.70
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,21.1,133.874
$10V_AH,9.7,63.222
$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,19.200,41.400,545.950,0.000,0.000,88.803,56.819,0.000,9.750,0.000,183.285,1056.185,1685.610,625.850,1126.266,700.184,0.000,1156.342,0.000,791.873,1440.000,6.099,0.000
$DEVICE_MAMPS,318.240,84.150,1034.280,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.589,361.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20141,495
$CAP_FILE_SIZE,62609,0
$CFSIZE,260165632,195260416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.5
$GPS,180611,081642,6715.065,-5701.191,0,10000.0,0,-37.6