version: 66.08
glider: 141
mission: 15
dive: 1029
start: 6 18 111 22 54 9
data:
$ID,141
$MISSION,15
$DIVE,1029
$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,-112571.12
$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,25
$R_STBD_OVSHOOT,50
$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,2.94
$_SM_ANGLEo,-76.5
$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,-106.78,0.000,2,0.000,0.000,117,2509,2613,0,0,0,0,0,0
$GC,130,-0.62,-146.0,5.9,-9.4,19,173,13.88,2.62,-20.27,0.000,4,0.314,0.093,2651,1078,3629,0,0,0,0,0,0
$GC,181,-0.82,-146.0,18.5,-10.3,27,189,0.17,2.33,0.00,0.000,6,0.099,0.035,2596,2488,3630,0,0,0,0,0,0
$GC,531,-1.22,-146.0,55.1,-9.5,88,538,0.35,2.35,0.00,0.000,4,0.168,0.047,2480,3886,3629,0,0,0,0,0,0
$GC,658,-1.55,-146.0,69.1,-11.0,109,665,0.35,2.40,0.00,0.000,6,0.093,0.052,2364,2485,3629,0,0,0,0,0,0
$GC,996,-1.41,-146.0,140.2,-21.9,153,1001,0.17,2.50,0.00,0.000,4,0.226,0.072,2403,1080,3629,0,0,0,0,0,0
$GC,1019,-1.17,-146.0,146.3,-23.6,154,1028,0.35,2.25,0.00,0.000,6,0.237,0.036,2480,2489,3628,0,0,0,0,0,0
$GC,1346,-1.17,-146.0,199.1,-15.8,185,1350,0.00,2.47,0.00,0.000,4,0.000,0.072,2481,1084,3628,0,0,0,0,0,0
$GC,1381,-0.98,-146.0,206.3,-21.9,188,1386,0.28,2.25,0.00,0.000,6,0.225,0.035,2544,2496,3627,0,0,0,0,0,0
$GC,1709,-1.28,-146.0,229.3,-0.1,218,1714,0.25,2.35,0.00,0.000,4,0.096,0.054,2451,3893,3628,0,0,0,0,0,0
$STATE,1740,end dive,NO_VERTICAL_VELOCITY
$STATE,1740,begin apogee
$GC,1750,-0.12,0.0,229.2,0.0,220,1889,1.17,0.00,128.00,1.031,6,0.123,0.000,2813,2263,3030,0,0,0,0,0,0
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1893,0.62,146.0,229.3,0.0,233,2039,0.82,2.67,134.90,0.985,4,0.093,0.046,3057,3669,2434,0,0,0,0,0,0
$GC,2294,1.04,363.7,229.1,-0.0,268,2509,0.43,2.55,205.93,0.962,6,0.058,0.060,3207,2272,1547,0,0,0,0,0,0
$GC,2839,0.84,363.7,161.1,16.7,319,2845,0.28,2.67,0.00,0.000,4,0.198,0.062,3152,860,1538,0,0,0,0,0,0
$GC,2870,0.62,363.7,155.6,17.5,321,2875,0.40,2.55,0.00,0.000,6,0.222,0.045,3073,2269,1536,0,0,0,0,0,0
$GC,3197,0.63,368.4,119.6,9.8,351,3201,0.00,2.50,0.00,0.000,4,0.000,0.048,3073,3692,1536,0,0,0,0,0,0
$GC,3209,0.64,376.5,118.2,9.6,351,3227,0.00,2.58,11.48,0.818,6,0.000,0.056,3079,2263,1495,0,0,0,0,0,0
$GC,3555,0.67,383.8,86.1,9.7,396,3573,0.00,2.60,8.98,0.789,4,0.000,0.060,3088,866,1465,0,0,0,0,0,0
$GC,3643,0.67,383.8,77.2,10.6,411,3650,0.00,2.47,0.00,0.000,6,0.000,0.043,3088,2286,1464,0,0,0,0,0,0
$GC,3992,0.70,386.0,38.1,9.9,472,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2285,1463,0,0,0,0,0,0
$FREEZE,8.64,0.420,-1.798,0,392,0
$FREEZE,7.98,0.339,-1.796,0,392,0
$FREEZE,7.25,0.374,-1.792,0,392,0
$FREEZE,6.39,0.387,-1.791,0,392,0
$GC,4340,0.90,449.5,10.3,7.1,533,4388,0.20,2.58,36.70,0.828,4,0.075,0.049,3166,3680,1195,0,0,0,0,0,0
$FREEZE,4.45,0.409,-1.788,0,392,0
$FREEZE,3.91,0.408,-1.788,0,392,0
$GC,4406,0.90,449.5,3.9,11.5,542,4413,0.00,2.60,0.00,0.000,6,0.000,0.053,3175,2268,1192,0,0,0,0,0,0
$FREEZE,1.82,0.429,-1.785,0,392,0
$STATE,4418,end climb,SURFACE_DEPTH_REACHED
$STATE,4418,begin surface coast
$FREEZE,1.87,0.436,-0.683,0,392,0
$FREEZE,1.82,0.447,-0.273,0,392,0
$FREEZE,1.93,0.432,-0.914,0,392,0
$FREEZE,1.89,0.438,-0.381,0,392,0
$FREEZE,1.87,0.451,-0.470,0,392,0
$FINISH,1.9,1.006852
$STATE,4446,end surface coast,CONTROL_FINISHED_OK
$STATE,4446,begin surface
$SM_CCo,4589,54.78,0.059,0,0,751,559.04
$SM_GC,2.86,0.00,0.00,54.78,0.000,0.000,0.059,118,2514,751,-8.58,0.68,559.04
$RAFOS_CLK,296
$RAFOS,0,1308441663,0.033333,0.017500,64,56,55,53,52,46,196,171,214,138,115,159
$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,74.05
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.30
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,20.6,135.356
$10V_AH,9.8,63.691
$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,29.175,50.425,525.975,54.775,0.000,101.571,17.415,0.000,10.750,0.000,185.688,1250.688,1919.819,619.811,1227.817,680.162,0.000,1211.315,0.000,916.784,360.000,2.815,0.000
$DEVICE_MAMPS,314.415,93.330,1031.220,58.905,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.793,399.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20125,549
$CAP_FILE_SIZE,70969,0
$CFSIZE,260165632,194891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6