version: 66.08
glider: 141
mission: 15
dive: 606
start: 5 13 111 8 46 50
data:
$ID,141
$MISSION,15
$DIVE,606
$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,400
$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,-48069.07
$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,30
$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
$GPS1,130511,082806,6709.627,-5712.636,35,1.7,40,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-73.4
$GPS2,130511,084619,6709.597,-5712.555,9,1.4,14,-37.8
$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,162.4,21533,-17.5,-10.000
$D_GRID,595
$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,16,-0.62,-146.0,0.0,0.0,0,192,0.00,0.00,-172.68,0.000,2,0.000,0.000,115,2495,3399,0,0,0,0,0,0
$GC,195,-0.62,-146.0,6.0,-10.0,30,220,13.23,2.33,-5.12,0.000,4,0.324,0.076,2654,1079,3629,0,0,0,0,0,0
$GC,407,-0.50,-146.0,51.5,-16.6,67,415,0.17,2.30,0.00,0.000,6,0.215,0.067,2697,2483,3631,0,0,0,0,0,0
$GC,754,-0.47,-146.0,97.7,-11.5,128,761,0.00,2.38,0.00,0.000,4,0.000,0.083,2697,3906,3630,0,0,0,0,0,0
$GC,769,-0.44,-146.0,99.6,-11.8,130,775,0.00,2.25,0.00,0.000,6,0.000,0.054,2697,2484,3630,0,0,0,0,0,0
$GC,1096,-0.44,-146.0,135.5,-10.4,161,1100,0.00,2.28,0.00,0.000,4,0.000,0.070,2697,1082,3630,0,0,0,0,0,0
$GC,1137,-0.47,-146.0,139.9,-10.9,164,1141,0.00,2.30,0.00,0.000,6,0.000,0.067,2697,2496,3630,0,0,0,0,0,0
$GC,1463,-0.47,-146.0,174.3,-10.1,194,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2496,3629,0,0,0,0,0,0
$GC,1783,-0.51,-146.0,204.8,-9.6,224,1788,0.00,2.35,0.00,0.000,4,0.000,0.082,2697,3909,3629,0,0,0,0,0,0
$GC,1813,-0.55,-146.0,207.8,-9.5,226,1817,0.00,2.28,0.00,0.000,6,0.000,0.053,2697,2480,3629,0,0,0,0,0,0
$GC,2139,-0.59,-146.0,237.1,-9.0,256,2143,0.00,2.25,0.00,0.000,4,0.000,0.067,2697,1073,3629,0,0,0,0,0,0
$GC,2151,-0.63,-146.0,238.1,-8.5,256,2159,0.12,2.30,0.00,0.000,6,0.128,0.064,2656,2496,3629,0,0,0,0,0,0
$GC,2477,-0.58,-146.0,275.9,-11.4,287,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2496,3630,0,0,0,0,0,0
$GC,2799,-0.53,-146.0,310.4,-10.8,317,2805,0.15,0.00,0.00,0.000,6,0.199,0.000,2691,2496,3631,0,0,0,0,0,0
$GC,3125,-0.57,-146.0,336.5,-7.8,348,3129,0.00,2.33,0.00,0.000,4,0.000,0.076,2692,3899,3632,0,0,0,0,0,0
$GC,3154,-0.62,-146.0,338.8,-8.3,350,3158,0.00,2.22,0.00,0.000,6,0.000,0.049,2692,2488,3632,0,0,0,0,0,0
$GC,3480,-0.67,-146.0,365.4,-8.3,380,3482,0.15,0.00,0.00,0.000,6,0.112,0.000,2638,2488,3634,0,0,0,0,0,0
$GC,3799,-0.58,-146.0,403.8,-12.1,410,3803,0.15,2.25,0.00,0.000,4,0.200,0.062,2675,1082,3634,0,0,0,0,0,0
$GC,3831,-0.58,-146.0,407.6,-10.2,412,3838,0.00,2.25,0.00,0.000,6,0.000,0.060,2675,2489,3635,0,0,0,0,0,0
$GC,4158,-0.58,-146.0,436.6,-9.2,443,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2489,3635,0,0,0,0,0,0
$GC,4477,-0.58,-146.0,464.6,-8.7,473,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2490,3636,0,0,0,0,0,0
$GC,4796,-0.58,-146.0,493.0,-9.3,503,4800,0.00,2.33,0.00,0.000,4,0.000,0.074,2674,3899,3638,0,0,0,0,0,0
$GC,4818,-0.58,-146.0,495.5,-9.1,504,4825,0.00,2.20,0.00,0.000,6,0.000,0.047,2674,2484,3638,0,0,0,0,0,0
$GC,5145,-0.58,-146.0,524.9,-8.9,535,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2484,3638,0,0,0,0,0,0
$GC,5463,-0.60,-146.0,552.7,-8.5,565,5467,0.00,2.22,0.00,0.000,4,0.000,0.061,2674,1078,3639,0,0,0,0,0,0
$GC,5486,-0.63,-146.0,554.8,-9.2,566,5493,0.00,2.25,0.00,0.000,6,0.000,0.060,2674,2490,3639,0,0,0,0,0,0
$STATE,5735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5737,begin apogee
$GC,5743,-0.12,0.0,576.5,9.0,590,5876,0.47,0.00,126.12,1.250,6,0.176,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,5877,end apogee,CONTROL_FINISHED_OK
$STATE,5877,begin climb
$GC,5880,0.62,146.0,580.8,0.0,602,6023,0.77,2.60,129.18,1.208,4,0.128,0.069,3063,876,2432,0,0,0,0,0,0
$GC,6129,0.58,146.0,561.0,11.7,624,6133,0.00,2.38,0.00,0.000,6,0.000,0.056,3064,2277,2429,0,0,0,0,0,0
$GC,6455,0.52,146.0,523.2,11.6,654,6460,0.12,2.33,0.00,0.000,4,0.184,0.072,3032,3694,2427,0,0,0,0,0,0
$GC,6577,0.46,146.0,509.2,12.0,664,6581,0.00,2.25,0.00,0.000,6,0.000,0.055,3041,2280,2427,0,0,0,0,0,0
$GC,6903,0.44,146.0,475.1,10.3,694,6908,0.12,2.28,0.00,0.000,4,0.182,0.070,3018,870,2426,0,0,0,0,0,0
$GC,6947,0.53,178.4,470.9,8.5,697,6980,0.00,2.28,28.02,1.132,6,0.000,0.060,3018,2284,2302,0,0,0,0,0,0
$GC,7301,0.60,202.5,440.0,8.9,730,7328,0.12,2.30,22.02,1.105,4,0.101,0.070,3075,3687,2203,0,0,0,0,0,0
$GC,7410,0.52,202.5,424.7,15.9,739,7415,0.20,2.25,0.00,0.000,6,0.191,0.055,3034,2278,2201,0,0,0,0,0,0
$GC,7735,0.52,202.5,388.1,11.1,769,7739,0.00,2.30,0.00,0.000,4,0.000,0.070,3042,858,2198,0,0,0,0,0,0
$GC,7785,0.56,202.5,382.5,11.3,773,7792,0.00,2.28,0.00,0.000,6,0.000,0.057,3042,2289,2197,0,0,0,0,0,0
$GC,8110,0.56,202.5,344.4,12.1,804,8114,0.00,2.25,0.00,0.000,4,0.000,0.070,3042,3682,2197,0,0,0,0,0,0
$GC,8206,0.53,202.5,331.7,13.5,812,8213,0.00,2.22,0.00,0.000,6,0.000,0.054,3052,2273,2197,0,0,0,0,0,0
$GC,8532,0.51,202.5,291.9,12.2,843,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2272,2196,0,0,0,0,0,0
$GC,8854,0.51,202.5,252.6,12.4,873,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2273,2196,0,0,0,0,0,0
$GC,9181,0.51,202.5,213.3,11.9,904,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2273,2196,0,0,0,0,0,0
$GC,9500,0.51,202.5,177.8,10.9,934,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2272,2196,0,0,0,0,0,0
$GC,9829,0.51,202.5,143.4,10.2,965,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2273,2196,0,0,0,0,0,0
$GC,10157,0.54,208.6,112.1,9.7,996,10170,0.00,2.28,6.00,0.754,4,0.000,0.066,3062,860,2178,0,0,0,0,0,0
$GC,10217,0.62,219.4,106.2,9.5,1001,10233,0.00,2.25,11.05,0.879,6,0.000,0.054,3062,2279,2135,0,0,0,0,0,0
$GC,10572,0.74,270.7,74.1,7.6,1057,10626,0.12,2.30,46.05,0.926,4,0.102,0.067,3119,3682,1924,0,0,0,0,0,0
$GC,10684,0.67,270.7,59.5,14.9,1076,10692,0.17,2.25,0.00,0.000,6,0.187,0.052,3085,2270,1921,0,0,0,0,0,0
$GC,11033,0.72,272.3,24.9,9.9,1137,11040,0.00,2.25,0.00,0.000,4,0.000,0.068,3093,867,1918,0,0,0,0,0,0
$GC,11094,0.78,272.3,18.5,10.2,1147,11100,0.00,2.22,0.00,0.000,6,0.000,0.054,3094,2281,1916,0,0,0,0,0,0
$FREEZE,8.83,-1.767,-1.831,2,1,0
$STATE,11179,end climb,FINISH_DEPTH_REACHED
$STATE,11179,begin subsurface finish
$FINISH1,8.8,1.026786,35
$GC,11186,0.04,35.0,8.8,-11.3,1162,11221,0.65,0.00,-29.42,0.000,6,0.132,0.000,2883,2281,2891,0,0,0,0,0,0
$FINISH2,8.5
$STATE,11222,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11222,begin surface
$RAFOS_CLK,530
$RAFOS,6,1305276546,8.833333,8.818334,98,62,61,61,57,53,738,137,214,205,195,227
$RAFOS_FIX,6710.815430,-5728.173828,130511,040401,3,93,17.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.6,16.8
$ALTIM_BOTTOM_PING,550.1,40.6
$24V_AH,21.8,80.218
$10V_AH,10.0,41.424
$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,16.750,82.650,368.450,0.000,0.000,24.833,36.668,609.902,9.750,0.000,16.832,2717.373,5971.707,546.104,2450.257,624.990,0.000,1548.292,0.000,1828.406,360.000,17.735,0.000
$DEVICE_MAMPS,324.360,83.385,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.121,882.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150456
$DATA_FILE_SIZE,46616,1168
$CAP_FILE_SIZE,133218,0
$CFSIZE,260165632,214126592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,130511,084619,6709.597,-5712.555,9,1.4,14,-37.8