version: 66.08
glider: 141
mission: 15
dive: 1028
start: 6 18 111 21 15 53
data:
$ID,141
$MISSION,15
$DIVE,1028
$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,-112200.15
$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,47
$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,2.89
$_SM_ANGLEo,-76.4
$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,-107.68,0.000,2,0.000,0.000,108,2496,2618,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.9,-9.8,19,176,13.95,2.60,-18.83,0.000,4,0.318,0.093,2655,1091,3629,0,0,0,0,0,0
$GC,184,-0.82,-146.0,20.5,-12.0,27,192,0.17,2.33,0.00,0.000,6,0.107,0.039,2602,2500,3629,0,0,0,0,0,0
$GC,533,-1.19,-146.0,59.8,-8.9,88,541,0.35,2.33,0.00,0.000,4,0.194,0.052,2491,3879,3629,0,0,0,0,0,0
$GC,788,-1.57,-146.0,84.2,-8.8,132,795,0.40,2.38,0.00,0.000,6,0.106,0.060,2363,2489,3629,0,0,0,0,0,0
$GC,1127,-1.43,-146.0,151.7,-20.6,171,1132,0.15,2.38,0.00,0.000,4,0.229,0.053,2395,3879,3629,0,0,0,0,0,0
$GC,1138,-1.35,-146.0,154.3,-20.3,171,1145,0.12,2.35,0.00,0.000,6,0.176,0.063,2427,2489,3628,0,0,0,0,0,0
$GC,1464,-1.29,-146.0,210.7,-17.1,202,1469,0.00,2.42,0.00,0.000,4,0.000,0.073,2427,1082,3628,0,0,0,0,0,0
$GC,1476,-1.18,-146.0,213.1,-17.6,202,1483,0.22,2.20,0.00,0.000,6,0.229,0.033,2476,2492,3627,0,0,0,0,0,0
$STATE,1740,end dive,NO_VERTICAL_VELOCITY
$STATE,1740,begin apogee
$GC,1748,-0.12,0.0,228.0,0.0,227,1884,1.12,0.00,127.10,1.034,6,0.138,0.000,2816,2258,3031,0,0,0,0,0,0
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1888,0.62,146.0,228.0,0.0,239,2037,0.85,2.67,134.57,0.986,4,0.151,0.047,3052,3666,2433,0,0,0,0,0,0
$GC,2292,1.00,371.2,227.7,-0.4,275,2513,0.40,2.50,212.88,0.959,6,0.066,0.050,3193,2283,1516,0,0,0,0,0,0
$GC,2833,0.83,371.2,165.9,14.9,326,2839,0.25,2.65,0.00,0.000,4,0.191,0.071,3143,863,1507,0,0,0,0,0,0
$GC,2876,0.69,371.2,159.6,15.8,329,2881,0.25,2.47,0.00,0.000,6,0.198,0.040,3092,2267,1507,0,0,0,0,0,0
$GC,3203,0.66,372.9,124.3,9.9,359,3207,0.00,2.50,0.00,0.000,4,0.000,0.047,3092,3690,1505,0,0,0,0,0,0
$GC,3268,0.75,385.6,117.9,9.4,364,3291,0.00,2.50,13.48,0.842,6,0.000,0.047,3098,2274,1456,0,0,0,0,0,0
$GC,3621,0.75,385.6,81.8,10.7,412,3627,0.00,2.58,0.00,0.000,4,0.000,0.069,3110,864,1455,0,0,0,0,0,0
$GC,3692,0.66,385.6,73.3,12.3,424,3699,0.15,2.45,0.00,0.000,6,0.183,0.042,3078,2282,1454,0,0,0,0,0,0
$GC,4044,0.87,441.0,38.3,7.4,485,4091,0.20,2.67,38.75,0.933,4,0.076,0.059,3165,868,1231,0,0,0,0,0,0
$GC,4101,0.93,445.5,33.0,9.8,494,4109,0.00,2.50,2.67,0.392,6,0.000,0.035,3165,2281,1213,0,0,0,0,0,0
$FREEZE,8.82,0.154,-1.794,0,391,0
$FREEZE,8.24,0.145,-1.794,0,391,0
$FREEZE,7.76,0.154,-1.794,0,391,0
$FREEZE,7.16,0.217,-1.792,0,391,0
$FREEZE,6.44,0.179,-1.792,0,391,0
$FREEZE,5.96,0.158,-1.791,0,391,0
$FREEZE,5.42,0.209,-1.788,0,391,0
$FREEZE,4.83,0.280,-1.786,0,391,0
$FREEZE,4.25,0.403,-1.783,0,391,0
$FREEZE,3.69,0.470,-1.780,0,391,0
$FREEZE,3.21,0.474,-1.781,0,391,0
$FREEZE,2.63,0.485,-1.781,0,391,0
$STATE,4367,end climb,SURFACE_DEPTH_REACHED
$STATE,4371,begin surface coast
$FREEZE,1.85,0.485,-1.782,0,391,0
$FREEZE,1.79,0.483,-1.776,0,391,0
$FREEZE,1.84,0.460,-0.201,0,391,0
$FREEZE,1.90,0.480,-0.879,0,391,0
$FREEZE,1.88,0.476,-0.315,0,391,0
$FINISH,1.9,1.004536
$STATE,4398,end surface coast,CONTROL_FINISHED_OK
$STATE,4398,begin surface
$SM_CCo,4540,56.70,0.060,0,0,751,559.04
$SM_GC,2.80,0.00,0.00,56.70,0.000,0.000,0.060,118,2509,751,-8.59,0.54,559.04
$RAFOS_CLK,298
$RAFOS,6,1308430146,20.833334,20.818333,65,64,57,55,54,54,221,205,179,139,118,130
$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,73.74
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.9,17.9
$24V_AH,20.8,135.206
$10V_AH,9.8,63.637
$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,28.425,45.175,529.450,56.700,0.000,101.774,17.152,0.000,10.000,0.000,185.666,1247.721,1886.048,619.300,1221.415,672.253,0.000,1198.522,0.000,910.605,0.000,2.619,0.000
$DEVICE_MAMPS,318.240,93.330,1034.280,59.670,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.469,398.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,20159,547
$CAP_FILE_SIZE,69621,0
$CFSIZE,260165632,194936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6