version: 66.08
glider: 141
mission: 15
dive: 810
start: 6 6 111 6 59 59
data:
$ID,141
$MISSION,15
$DIVE,810
$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,-60819.043
$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,23
$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,-5632.717,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-76.6
$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,-146.0,0.0,0.0,0,214,0.00,0.00,-193.68,0.000,6,0.000,0.000,114,2505,3626,0,0,0,0,0,0
$GC,218,-0.62,-146.0,3.6,-0.1,34,238,13.32,2.38,0.00,0.000,4,0.323,0.068,2654,1075,3629,0,0,0,0,0,0
$GC,338,-0.52,-146.0,20.9,-17.3,54,346,0.15,2.35,0.00,0.000,6,0.218,0.077,2689,2491,3629,0,0,0,0,0,0
$GC,686,-0.48,-146.0,74.1,-14.2,115,693,0.00,2.40,0.00,0.000,4,0.000,0.086,2689,3905,3629,0,0,0,0,0,0
$GC,719,-0.45,-146.0,78.9,-14.5,120,726,0.00,2.30,0.00,0.000,6,0.000,0.059,2689,2489,3629,0,0,0,0,0,0
$GC,1062,-0.43,-146.0,120.9,-11.8,166,1067,0.12,2.35,0.00,0.000,4,0.221,0.074,2720,1080,3629,0,0,0,0,0,0
$GC,1137,-0.50,-146.0,128.4,-8.9,172,1141,0.00,2.35,0.00,0.000,6,0.000,0.071,2719,2490,3628,0,0,0,0,0,0
$GC,1463,-0.54,-146.0,157.7,-9.2,202,1467,0.00,2.42,0.00,0.000,4,0.000,0.086,2719,3905,3627,0,0,0,0,0,0
$GC,1494,-0.62,-146.0,160.5,-9.6,204,1498,0.17,2.30,0.00,0.000,6,0.101,0.058,2657,2485,3627,0,0,0,0,0,0
$GC,1820,-0.68,-146.0,185.5,-0.0,234,1824,0.00,2.42,0.00,0.000,4,0.000,0.085,2657,3900,3627,0,0,0,0,0,0
$STATE,1861,end dive,NO_VERTICAL_VELOCITY
$STATE,1862,begin apogee
$GC,1871,-0.12,0.0,185.5,0.0,237,2001,0.55,0.00,120.32,1.037,6,0.174,0.000,2814,2262,3030,0,0,0,0,0,0
$STATE,2001,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2004,0.62,146.0,185.4,0.0,249,2143,0.85,2.67,124.00,0.985,4,0.181,0.076,3050,3687,2432,0,0,0,0,0,0
$GC,2168,0.71,222.2,181.1,6.5,264,2246,0.10,2.45,67.60,0.948,6,0.108,0.060,3099,2275,2123,0,0,0,0,0,0
$GC,2564,0.71,222.2,139.8,11.6,301,2568,0.00,2.35,0.00,0.000,4,0.000,0.076,3109,858,2114,0,0,0,0,0,0
$GC,2599,0.74,222.2,135.9,10.7,304,2603,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,2286,2113,0,0,0,0,0,0
$GC,2931,0.74,222.2,99.5,10.1,335,2937,0.00,2.33,0.00,0.000,4,0.000,0.076,3110,3690,2113,0,0,0,0,0,0
$GC,2968,0.70,222.2,95.3,11.7,341,2975,0.00,2.30,0.00,0.000,6,0.000,0.060,3120,2274,2112,0,0,0,0,0,0
$GC,3315,0.70,222.2,57.6,10.8,402,3322,0.00,2.30,0.00,0.000,4,0.000,0.074,3129,862,2113,0,0,0,0,0,0
$GC,3352,0.72,222.2,53.7,10.6,408,3360,0.12,2.30,0.00,0.000,6,0.186,0.060,3099,2278,2113,0,0,0,0,0,0
$GC,3703,0.86,276.8,26.0,7.5,469,3739,0.12,2.38,28.45,0.910,4,0.102,0.074,3152,3689,1899,0,0,0,0,0,0
$GC,3789,0.83,276.8,16.5,12.9,483,3797,0.12,2.33,0.00,0.000,6,0.196,0.060,3133,2267,1895,0,0,0,0,0,0
$FREEZE,8.48,-0.495,-1.814,0,173,0
$FREEZE,8.03,-0.478,-1.814,0,173,0
$FREEZE,7.56,-0.465,-1.813,0,173,0
$FREEZE,7.12,-0.464,-1.813,0,173,0
$FREEZE,6.62,-0.463,-1.813,0,173,0
$FREEZE,6.08,-0.440,-1.813,0,173,0
$FREEZE,5.64,-0.433,-1.812,0,173,0
$FREEZE,5.15,-0.426,-1.812,0,173,0
$FREEZE,4.64,-0.414,-1.811,0,173,0
$FREEZE,4.08,-0.414,-1.811,0,173,0
$FREEZE,3.59,-0.410,-1.810,0,173,0
$FREEZE,3.07,-0.405,-1.809,0,173,0
$FREEZE,2.60,-0.402,-1.809,0,173,0
$STATE,3921,end climb,SURFACE_DEPTH_REACHED
$STATE,3921,begin surface coast
$FREEZE,2.04,-0.403,-1.809,0,173,0
$FREEZE,1.89,-0.379,-1.807,0,173,0
$FREEZE,1.95,-0.395,-1.808,0,173,0
$FREEZE,1.77,-0.341,-1.804,0,173,0
$FREEZE,1.93,-0.346,-0.898,0,173,0
$FINISH,1.9,1.013245
$STATE,3948,end surface coast,CONTROL_FINISHED_OK
$STATE,3948,begin surface
$SM_CCo,4090,124.07,0.067,0,0,751,559.04
$SM_GC,2.85,0.00,0.00,124.07,0.000,0.000,0.067,109,2494,751,-8.61,0.11,559.04
$RAFOS_CLK,278
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5632.72,060611,040420
$TT8_MAMPS,0.028462
$HUMID,46.33
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.4,17.5
$24V_AH,22.2,107.376
$10V_AH,9.8,53.701
$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,24.325,48.025,340.375,124.075,0.000,96.738,34.054,0.000,10.000,0.000,185.255,1186.862,1696.121,608.611,1126.894,558.168,0.000,1114.655,0.000,808.756,360.000,2.614,0.000
$DEVICE_MAMPS,322.830,86.445,1037.340,66.555,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.541,370.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20146,512
$CAP_FILE_SIZE,64991,0
$CFSIZE,260165632,202629120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6