version: 66.08
glider: 141
mission: 15
dive: 812
start: 6 6 111 9 51 53
data:
$ID,141
$MISSION,15
$DIVE,812
$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,-61560.113
$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,16
$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,2.85
$_SM_ANGLEo,-75.5
$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,-158.52,0.000,2,0.000,0.000,113,2490,3233,0,0,0,0,0,0
$GC,184,-0.62,-146.0,5.5,-7.7,28,215,14.10,2.40,-8.32,0.000,4,0.334,0.093,2655,1082,3630,0,0,0,0,0,0
$GC,308,-0.52,-146.0,36.0,-16.4,49,315,0.15,2.35,0.00,0.000,6,0.218,0.076,2690,2491,3631,0,0,0,0,0,0
$GC,656,-0.47,-146.0,84.6,-14.0,110,663,0.00,2.38,0.00,0.000,4,0.000,0.084,2690,3910,3630,0,0,0,0,0,0
$GC,694,-0.45,-146.0,89.5,-12.4,116,701,0.00,2.28,0.00,0.000,6,0.000,0.055,2690,2493,3630,0,0,0,0,0,0
$GC,1026,-0.42,-146.0,130.9,-12.3,154,1031,0.12,2.35,0.00,0.000,4,0.217,0.073,2720,1077,3630,0,0,0,0,0,0
$GC,1050,-0.42,-146.0,133.6,-11.4,156,1054,0.00,2.35,0.00,0.000,6,0.000,0.069,2720,2494,3630,0,0,0,0,0,0
$GC,1378,-0.48,-146.0,163.8,-8.8,186,1382,0.00,2.38,0.00,0.000,4,0.000,0.084,2721,3912,3629,0,0,0,0,0,0
$GC,1443,-0.57,-146.0,169.7,-9.8,191,1448,0.12,2.28,0.00,0.000,6,0.122,0.057,2677,2487,3629,0,0,0,0,0,0
$GC,1771,-0.84,-146.0,191.8,0.2,221,1776,0.25,2.40,0.00,0.000,4,0.099,0.080,2581,3906,3629,0,0,0,0,0,0
$STATE,1779,end dive,NO_VERTICAL_VELOCITY
$STATE,1779,begin apogee
$GC,1788,-0.12,0.0,191.8,0.0,221,1917,0.73,0.00,121.12,1.038,6,0.133,0.000,2812,2268,3030,0,0,0,0,0,0
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1920,0.62,146.0,191.8,0.0,233,2060,0.80,2.65,124.18,0.985,4,0.149,0.073,3050,3689,2432,0,0,0,0,0,0
$GC,2112,0.73,217.0,186.6,6.7,250,2185,0.12,2.42,62.53,0.948,6,0.099,0.060,3108,2279,2144,0,0,0,0,0,0
$GC,2503,0.73,217.0,145.5,10.8,287,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2279,2136,0,0,0,0,0,0
$GC,2826,0.73,217.0,112.3,10.1,317,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2280,2135,0,0,0,0,0,0
$GC,3165,0.75,217.0,77.0,10.0,367,3172,0.00,2.33,0.00,0.000,4,0.000,0.074,3117,857,2134,0,0,0,0,0,0
$GC,3208,0.78,218.2,72.8,9.9,374,3215,0.00,2.33,0.00,0.000,6,0.000,0.060,3117,2290,2133,0,0,0,0,0,0
$GC,3555,0.85,254.3,39.1,8.3,435,3585,0.00,2.35,22.80,0.957,4,0.000,0.074,3118,3691,1992,0,0,0,0,0,0
$GC,3669,0.88,254.3,28.6,10.4,454,3676,0.00,2.30,0.00,0.000,6,0.000,0.067,3126,2268,1989,0,0,0,0,0,0
$FREEZE,8.81,-0.669,-1.812,0,175,1
$FREEZE,8.39,-0.652,-1.812,0,175,1
$FREEZE,7.94,-0.660,-1.812,0,175,1
$FREEZE,7.52,-0.625,-1.811,0,175,1
$FREEZE,7.11,-0.611,-1.811,0,175,1
$FREEZE,6.48,-0.543,-1.809,0,175,1
$FREEZE,6.10,-0.547,-1.809,0,175,1
$FREEZE,5.68,-0.549,-1.809,0,175,1
$FREEZE,5.29,-0.538,-1.808,0,175,1
$FREEZE,4.87,-0.540,-1.808,0,175,1
$FREEZE,4.50,-0.544,-1.808,0,175,1
$FREEZE,4.13,-0.542,-1.808,0,175,1
$FREEZE,3.74,-0.543,-1.807,0,175,1
$FREEZE,3.52,-0.544,-1.807,0,175,1
$FREEZE,2.96,-0.547,-1.807,0,175,1
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FREEZE,2.26,-0.545,-1.806,0,175,1
$FREEZE,1.91,-0.538,-1.806,0,175,1
$FREEZE,1.83,-0.540,-1.804,0,175,1
$FREEZE,1.78,-0.493,-1.035,0,175,1
$FREEZE,1.76,-0.509,-1.761,0,175,1
$FREEZE,1.90,-0.504,-1.770,0,175,1
$FREEZE,1.85,-0.521,-1.781,0,175,1
$FREEZE,1.83,-0.537,-1.687,0,175,1
$FINISH,1.8,1.024772
$STATE,4007,end surface coast,CONTROL_FINISHED_OK
$STATE,4007,begin surface
$SM_CCo,4148,134.55,0.066,0,0,750,559.04
$SM_GC,2.75,0.00,0.00,134.55,0.000,0.000,0.066,116,2495,750,-8.59,0.17,559.04
$RAFOS_CLK,275
$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,45.94
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.3,107.651
$10V_AH,9.8,53.790
$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,25.050,38.550,330.625,134.550,0.000,97.906,29.957,0.000,13.750,0.000,185.279,1199.059,1783.206,580.278,1124.991,549.115,0.000,1080.397,0.000,808.587,0.000,2.818,0.000
$DEVICE_MAMPS,334.305,93.330,1038.105,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.332,373.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20113,515
$CAP_FILE_SIZE,62610,0
$CFSIZE,260165632,202567680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,060611,041820,6709.499,-5632.717,181,99.0,181,-37.6