version: 66.08
glider: 141
mission: 15
dive: 809
start: 6 6 111 5 34 15
data:
$ID,141
$MISSION,15
$DIVE,809
$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,-60448.5
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,060611,041820,6709.499,-5632.717,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-76.4
$GPS2,060611,041820,6709.499,-5632.717,181,99.0,181,-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,260.1,16329,-17.5,-10.000
$D_GRID,219
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-159.07,0.000,2,0.000,0.000,116,2499,3257,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.9,-9.1,28,215,13.75,2.40,-7.70,0.000,4,0.331,0.082,2654,1079,3630,0,0,0,0,0,0
$GC,271,-0.50,-146.0,30.9,-19.3,42,279,0.17,2.35,0.00,0.000,6,0.217,0.070,2696,2488,3631,0,0,0,0,0,0
$GC,618,-0.48,-146.0,78.7,-11.3,103,625,0.00,2.40,0.00,0.000,4,0.000,0.086,2696,3901,3631,0,0,0,0,0,0
$GC,645,-0.48,-146.0,81.8,-11.8,107,652,0.00,2.28,0.00,0.000,6,0.000,0.058,2696,2484,3631,0,0,0,0,0,0
$GC,986,-0.48,-146.0,122.0,-11.7,152,990,0.00,2.33,0.00,0.000,4,0.000,0.073,2696,1074,3631,0,0,0,0,0,0
$GC,1050,-0.51,-146.0,129.5,-11.4,157,1054,0.00,2.38,0.00,0.000,6,0.000,0.070,2696,2499,3631,0,0,0,0,0,0
$GC,1376,-0.51,-146.0,166.9,-11.6,187,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2499,3629,0,0,0,0,0,0
$GC,1698,-0.79,-146.0,184.2,0.0,217,1705,0.25,0.00,0.00,0.000,6,0.094,0.000,2600,2499,3630,0,0,0,0,0,0
$STATE,1713,end dive,NO_VERTICAL_VELOCITY
$STATE,1713,begin apogee
$GC,1720,-0.12,0.0,184.2,0.0,219,1854,0.68,0.00,121.12,1.037,6,0.129,0.000,2818,2269,3029,0,0,0,0,0,0
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1857,0.62,146.0,184.2,0.0,231,1994,0.77,2.60,123.82,0.988,4,0.145,0.076,3060,871,2432,0,0,0,0,0,0
$GC,2027,0.73,210.4,180.8,7.0,246,2092,0.12,2.47,57.25,0.950,6,0.099,0.063,3111,2279,2173,0,0,0,0,0,0
$GC,2420,0.69,210.4,132.0,12.3,283,2424,0.00,2.33,0.00,0.000,4,0.000,0.077,3111,3690,2164,0,0,0,0,0,0
$GC,2509,0.60,210.4,118.9,14.5,290,2517,0.25,2.30,0.00,0.000,6,0.185,0.062,3056,2282,2163,0,0,0,0,0,0
$GC,2842,0.71,247.9,90.5,8.3,331,2885,0.12,2.42,32.35,0.906,4,0.102,0.076,3124,865,2018,0,0,0,0,0,0
$GC,2928,0.71,247.9,80.8,12.3,345,2935,0.12,2.33,0.00,0.000,6,0.194,0.060,3095,2281,2015,0,0,0,0,0,0
$GC,3279,0.80,271.2,46.4,8.9,406,3305,0.00,2.40,20.83,0.874,4,0.000,0.076,3094,3690,1924,0,0,0,0,0,0
$GC,3364,0.86,276.0,38.0,9.8,420,3372,0.12,2.30,2.85,0.510,6,0.102,0.060,3152,2264,1904,0,0,0,0,0,0
$FREEZE,8.49,-0.334,-1.815,0,172,0
$FREEZE,7.88,-0.335,-1.814,0,172,0
$FREEZE,7.31,-0.335,-1.814,0,172,0
$FREEZE,6.75,-0.342,-1.813,0,172,0
$FREEZE,6.16,-0.379,-1.812,0,172,0
$FREEZE,5.44,-0.414,-1.811,0,172,0
$FREEZE,4.88,-0.423,-1.811,0,172,0
$FREEZE,4.23,-0.425,-1.810,0,172,0
$FREEZE,3.68,-0.428,-1.810,0,172,0
$FREEZE,2.95,-0.432,-1.809,0,172,0
$STATE,3649,end climb,SURFACE_DEPTH_REACHED
$STATE,3649,begin surface coast
$FREEZE,1.90,-0.430,-1.808,0,172,0
$FREEZE,1.86,-0.428,-1.624,0,172,0
$FREEZE,1.87,-0.389,-1.497,0,172,0
$FREEZE,1.83,-0.428,-1.437,0,172,0
$FREEZE,1.89,-0.400,-1.254,0,172,0
$FINISH,1.9,1.018501
$STATE,3675,end surface coast,CONTROL_FINISHED_OK
$STATE,3676,begin surface
$SM_CCo,3817,124.93,0.066,0,0,750,559.04
$SM_GC,2.84,0.00,0.00,124.93,0.000,0.000,0.066,114,2505,750,-8.60,0.42,559.04
$RAFOS_CLK,267
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.026215
$HUMID,47.04
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.1,107.273
$10V_AH,9.7,53.651
$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,25.175,34.050,358.225,124.925,0.000,90.699,50.510,0.000,9.000,0.000,185.273,1100.794,1594.358,587.422,1090.077,540.109,0.000,1073.141,0.000,759.091,0.000,2.613,0.000
$DEVICE_MAMPS,331.245,86.445,1037.340,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.506,343.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,16785,475
$CAP_FILE_SIZE,60214,0
$CFSIZE,260165632,202665984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.2
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6