version: 66.08
glider: 141
mission: 15
dive: 603
start: 5 12 111 21 44 15
data:
$ID,141
$MISSION,15
$DIVE,603
$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,-48067.812
$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,26
$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
$GPS1,120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.28
$_SM_ANGLEo,-4.3
$GPS2,120511,203238,6710.927,-5738.085,0,5111.2,0,-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,149.7,39034,-17.5,-10.000
$D_GRID,753
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.95,0.000,2,0.000,0.000,2887,861,3110,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.0,-0.0,1,53,0.62,5.00,-11.75,0.000,4,0.111,0.071,2670,3896,3627,0,0,0,0,0,0
$GC,184,-0.56,-146.0,32.7,-14.9,28,191,0.00,2.22,0.00,0.000,6,0.000,0.049,2671,2481,3628,0,0,0,0,0,0
$GC,530,-0.47,-146.0,87.7,-16.3,89,537,0.15,2.25,0.00,0.000,4,0.215,0.063,2706,1072,3627,0,0,0,0,0,0
$GC,601,-0.51,-146.0,97.4,-11.1,101,608,0.00,2.30,0.00,0.000,6,0.000,0.062,2706,2494,3627,0,0,0,0,0,0
$GC,935,-0.51,-146.0,133.0,-10.1,134,939,0.00,2.25,0.00,0.000,4,0.000,0.064,2705,1083,3625,0,0,0,0,0,0
$GC,1002,-0.55,-146.0,139.6,-9.4,139,1009,0.00,2.30,0.00,0.000,6,0.000,0.063,2706,2499,3625,0,0,0,0,0,0
$GC,1329,-0.58,-146.0,171.5,-9.7,170,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2499,3624,0,0,0,0,0,0
$GC,1648,-0.62,-146.0,201.2,-9.1,200,1655,0.12,0.00,0.00,0.000,6,0.122,0.000,2660,2499,3622,0,0,0,0,0,0
$GC,1975,-0.56,-146.0,241.3,-12.1,231,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2499,3622,0,0,0,0,0,0
$GC,2294,-0.50,-146.0,277.3,-11.3,261,2295,0.15,0.00,0.00,0.000,6,0.200,0.000,2696,2499,3623,0,0,0,0,0,0
$GC,2611,-0.54,-146.0,305.3,-8.7,291,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2499,3623,0,0,0,0,0,0
$GC,2932,-0.58,-146.0,332.8,-8.7,321,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2500,3624,0,0,0,0,0,0
$GC,3260,-0.62,-146.0,361.7,-8.9,352,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2500,3625,0,0,0,0,0,0
$GC,3588,-0.67,-146.0,389.3,-8.0,383,3593,0.15,2.30,0.00,0.000,4,0.114,0.073,2642,3904,3625,0,0,0,0,0,0
$GC,3599,-0.69,-146.0,390.5,-8.4,383,3606,0.00,2.20,0.00,0.000,6,0.000,0.043,2642,2487,3625,0,0,0,0,0,0
$GC,3925,-0.61,-146.0,431.2,-12.5,414,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2487,3626,0,0,0,0,0,0
$GC,4247,-0.53,-146.0,470.9,-12.3,444,4251,0.17,2.22,0.00,0.000,4,0.198,0.059,2686,1083,3626,0,0,0,0,0,0
$GC,4258,-0.45,-146.0,472.8,-12.2,444,4265,0.12,2.25,0.00,0.000,6,0.207,0.057,2716,2500,3626,0,0,0,0,0,0
$GC,4584,-0.55,-146.0,495.3,-6.6,475,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2500,3627,0,0,0,0,0,0
$GC,4904,-0.65,-146.0,517.4,-7.0,505,4911,0.20,0.00,0.00,0.000,6,0.096,0.000,2642,2500,3627,0,0,0,0,0,0
$GC,5231,-0.58,-146.0,556.8,-11.8,536,5233,0.12,0.00,0.00,0.000,6,0.201,0.000,2670,2500,3627,0,0,0,0,0,0
$GC,5550,-0.58,-146.0,587.9,-9.8,566,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2500,3627,0,0,0,0,0,0
$GC,5860,-0.58,-146.0,617.8,-9.7,584,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2500,3627,0,0,0,0,0,0
$GC,6166,-0.58,-146.0,646.9,-9.6,594,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2500,3627,0,0,0,0,0,0
$GC,6472,-0.58,-146.0,676.4,-9.7,604,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2500,3626,0,0,0,0,0,0
$STATE,6653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6653,begin apogee
$GC,6660,-0.12,0.0,694.0,9.6,610,6794,0.50,0.00,126.00,1.356,6,0.184,0.000,2815,2272,3030,0,0,0,0,0,0
$STATE,6795,end apogee,CONTROL_FINISHED_OK
$STATE,6795,begin climb
$GC,6798,0.62,146.0,698.5,0.0,614,6944,0.77,2.62,133.15,1.304,4,0.132,0.069,3060,880,2432,0,0,0,0,0,0
$GC,7029,0.59,146.0,681.5,10.1,621,7034,0.00,2.42,0.00,0.000,6,0.000,0.057,3060,2276,2428,0,0,0,0,0,0
$GC,7349,0.53,146.0,647.7,10.6,632,7353,0.00,2.33,0.00,0.000,4,0.000,0.073,3060,3696,2426,0,0,0,0,0,0
$GC,7460,0.45,146.0,633.6,12.7,635,7465,0.22,2.28,0.00,0.000,6,0.178,0.054,3011,2282,2425,0,0,0,0,0,0
$GC,7780,0.55,197.9,608.6,7.6,646,7827,0.00,0.00,45.53,1.261,6,0.000,0.000,3012,2282,2223,0,0,0,0,0,0
$GC,8128,0.68,229.4,580.1,8.5,671,8165,0.20,0.00,29.38,1.219,6,0.079,0.000,3097,2282,2093,0,0,0,0,0,0
$GC,8483,0.59,229.4,526.8,14.9,705,8488,0.15,2.33,0.00,0.000,4,0.193,0.073,3060,3688,2087,0,0,0,0,0,0
$GC,8546,0.59,229.4,518.0,13.4,710,8550,0.00,2.25,0.00,0.000,6,0.000,0.056,3067,2277,2086,0,0,0,0,0,0
$GC,8877,0.56,229.4,475.4,12.9,741,8881,0.00,2.28,0.00,0.000,4,0.000,0.070,3079,863,2085,0,0,0,0,0,0
$GC,8918,0.56,229.4,470.3,12.3,744,8923,0.12,2.28,0.00,0.000,6,0.180,0.059,3047,2278,2083,0,0,0,0,0,0
$GC,9243,0.60,229.4,434.8,11.0,774,9247,0.00,2.28,0.00,0.000,4,0.000,0.073,3047,3687,2083,0,0,0,0,0,0
$GC,9310,0.60,229.4,426.5,12.9,779,9316,0.00,2.25,0.00,0.000,6,0.000,0.055,3055,2265,2083,0,0,0,0,0,0
$GC,9635,0.60,229.4,389.4,11.3,810,9639,0.00,2.25,0.00,0.000,4,0.000,0.068,3067,858,2083,0,0,0,0,0,0
$GC,9679,0.64,229.4,384.5,10.9,813,9686,0.00,2.25,0.00,0.000,6,0.000,0.058,3067,2277,2081,0,0,0,0,0,0
$GC,10006,0.61,229.4,342.1,13.6,844,10010,0.00,2.28,0.00,0.000,4,0.000,0.072,3067,3694,2081,0,0,0,0,0,0
$GC,10084,0.57,229.4,330.0,14.9,850,10091,0.00,2.25,0.00,0.000,6,0.000,0.054,3077,2266,2081,0,0,0,0,0,0
$GC,10410,0.53,229.4,283.7,13.7,881,10415,0.15,2.25,0.00,0.000,4,0.186,0.066,3045,857,2080,0,0,0,0,0,0
$GC,10451,0.60,229.4,279.2,10.1,884,10455,0.00,2.25,0.00,0.000,6,0.000,0.056,3045,2281,2079,0,0,0,0,0,0
$GC,10776,0.64,229.4,245.9,10.0,914,10781,0.00,2.28,0.00,0.000,4,0.000,0.069,3045,3688,2079,0,0,0,0,0,0
$GC,10862,0.64,229.4,236.5,11.0,921,10867,0.00,2.22,0.00,0.000,6,0.000,0.052,3056,2269,2080,0,0,0,0,0,0
$GC,11188,0.64,229.4,201.1,10.9,951,11192,0.00,2.25,0.00,0.000,4,0.000,0.064,3066,856,2079,0,0,0,0,0,0
$GC,11240,0.69,229.4,195.6,10.8,955,11244,0.00,2.25,0.00,0.000,6,0.000,0.053,3066,2289,2079,0,0,0,0,0,0
$GC,11568,0.69,229.4,158.1,11.7,985,11572,0.00,2.22,0.00,0.000,4,0.000,0.068,3065,3686,2079,0,0,0,0,0,0
$GC,11665,0.69,229.4,145.4,12.9,993,11669,0.00,2.22,0.00,0.000,6,0.000,0.050,3076,2263,2080,0,0,0,0,0,0
$GC,11990,0.71,229.4,107.4,10.9,1023,11994,0.00,2.22,0.00,0.000,4,0.000,0.063,3084,856,2079,0,0,0,0,0,0
$GC,12031,0.74,229.4,103.0,10.8,1026,12038,0.00,2.25,0.00,0.000,6,0.000,0.053,3084,2278,2080,0,0,0,0,0,0
$GC,12375,0.80,254.3,65.8,8.8,1085,12406,0.10,2.33,21.25,0.908,4,0.115,0.067,3133,3683,1992,0,0,0,0,0,0
$GC,12497,0.72,254.3,49.7,14.3,1106,12504,0.17,2.22,0.00,0.000,6,0.197,0.051,3099,2275,1991,0,0,0,0,0,0
$GC,12844,0.75,254.3,12.3,10.0,1167,12851,0.00,2.28,0.00,0.000,4,0.000,0.065,3109,858,1990,0,0,0,0,0,0
$FREEZE,8.42,-1.728,-1.822,3,138,0
$STATE,12879,end climb,FINISH_DEPTH_REACHED
$STATE,12879,begin subsurface finish
$FINISH1,8.4,1.026665,41
$GC,12888,0.05,40.9,8.4,-10.1,1173,12926,0.73,2.38,-30.25,0.000,4,0.155,0.083,2886,3689,2866,0,0,0,0,0,0
$FINISH2,6.6
$STATE,12927,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12927,begin surface
$RAFOS_CLK,677
$RAFOS,6,1305247745,0.833333,0.818056,116,64,57,55,54,50,722,220,195,1243,206,183
$RAFOS,5,1305247269,0.700000,0.685833,144,61,60,58,56,52,587,195,215,162,179,145
$RAFOS,4,1305246786,0.566667,0.551667,94,64,63,61,58,55,807,190,219,162,232,204
$RAFOS,3,1305246305,0.433333,0.418056,73,57,56,53,51,51,212,194,130,221,170,160
$RAFOS,2,1305245821,0.300000,0.283611,60,59,57,56,50,50,203,218,170,130,146,115
$RAFOS,1,1305245349,0.166667,0.152500,66,59,55,51,49,48,206,951,170,221,110,132
$RAFOS,0,1305244870,0.033333,0.019444,58,55,54,54,53,51,142,162,119,175,212,197
$RAFOS_FIX,6711.362793,-5733.888672,130511,000022,3,118,0.21
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,652.8,56.0
$24V_AH,21.6,79.787
$10V_AH,10.0,41.196
$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,4.950,91.900,355.300,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,2861.647,7553.703,430.534,1921.990,227.543,0.000,1436.841,0.000,1901.977,2520.000,19.562,0.000
$DEVICE_MAMPS,214.965,83.385,1356.345,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.538,895.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,46660,1179
$CAP_FILE_SIZE,131081,0
$CFSIZE,260165632,214335488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,130511,004322,6711.363,-5733.889,0,3118.0,0,-37.6