version: 66.08
glider: 141
mission: 15
dive: 608
start: 5 13 111 14 48 42
data:
$ID,141
$MISSION,15
$DIVE,608
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,130511,124301,6710.774,-5718.803,0,3130.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.30
$_SM_ANGLEo,-1.9
$GPS2,130511,124301,6710.774,-5718.803,0,3130.7,0,-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,160.7,26497,-17.5,-10.000
$D_GRID,646
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.75,0.000,2,0.000,0.000,2888,852,3116,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.4,-0.0,1,52,0.62,5.05,-12.70,0.000,4,0.107,0.071,2669,3896,3628,0,0,0,0,0,0
$GC,200,-0.57,-146.0,33.0,-14.7,31,207,0.00,2.20,0.00,0.000,6,0.000,0.044,2668,2481,3629,0,0,0,0,0,0
$GC,546,-0.48,-146.0,86.0,-15.2,92,553,0.15,2.22,0.00,0.000,4,0.208,0.063,2704,1082,3629,0,0,0,0,0,0
$GC,578,-0.48,-146.0,90.6,-13.5,97,585,0.00,2.25,0.00,0.000,6,0.000,0.061,2705,2492,3628,0,0,0,0,0,0
$GC,915,-0.48,-146.0,127.7,-10.4,135,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2492,3628,0,0,0,0,0,0
$GC,1237,-0.51,-146.0,161.0,-9.3,165,1241,0.00,2.30,0.00,0.000,4,0.000,0.079,2704,3899,3625,0,0,0,0,0,0
$GC,1270,-0.58,-146.0,164.5,-8.9,167,1277,0.00,2.22,0.00,0.000,6,0.000,0.048,2704,2481,3625,0,0,0,0,0,0
$GC,1596,-0.62,-146.0,192.8,-9.0,198,1598,0.12,0.00,0.00,0.000,6,0.125,0.000,2659,2481,3623,0,0,0,0,0,0
$GC,1914,-0.58,-146.0,232.5,-12.3,228,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2481,3623,0,0,0,0,0,0
$GC,2234,-0.54,-146.0,269.9,-10.8,258,2239,0.12,2.25,0.00,0.000,4,0.201,0.062,2689,1078,3623,0,0,0,0,0,0
$GC,2270,-0.57,-146.0,273.5,-9.6,261,2274,0.00,2.28,0.00,0.000,6,0.000,0.060,2690,2498,3623,0,0,0,0,0,0
$GC,2601,-0.60,-146.0,302.9,-9.1,292,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2498,3623,0,0,0,0,0,0
$GC,2922,-0.64,-146.0,331.1,-8.7,322,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2498,3623,0,0,0,0,0,0
$GC,3251,-0.68,-146.0,359.9,-9.0,353,3257,0.15,0.00,0.00,0.000,6,0.108,0.000,2635,2499,3623,0,0,0,0,0,0
$GC,3576,-0.60,-146.0,402.2,-12.6,384,3578,0.12,0.00,0.00,0.000,6,0.205,0.000,2664,2499,3625,0,0,0,0,0,0
$GC,3895,-0.60,-146.0,433.6,-9.2,414,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2499,3626,0,0,0,0,0,0
$GC,4214,-0.60,-146.0,462.9,-9.4,444,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2499,3626,0,0,0,0,0,0
$GC,4535,-0.60,-146.0,493.0,-9.1,474,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2499,3627,0,0,0,0,0,0
$STATE,4593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4593,begin apogee
$GC,4599,-0.12,0.0,499.0,9.4,480,4732,0.50,0.00,121.78,1.188,6,0.179,0.000,2811,2264,3029,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4735,0.62,146.0,502.5,0.0,492,4872,0.77,2.50,126.25,1.146,4,0.129,0.065,3063,889,2433,0,0,0,0,0,0
$GC,4906,0.58,146.0,489.3,12.1,507,4912,0.00,2.38,0.00,0.000,6,0.000,0.053,3063,2276,2431,0,0,0,0,0,0
$GC,5234,0.52,146.0,450.7,11.4,538,5238,0.12,2.30,0.00,0.000,4,0.178,0.067,3031,3689,2428,0,0,0,0,0,0
$GC,5354,0.47,146.0,437.1,11.4,548,5358,0.00,2.20,0.00,0.000,6,0.000,0.050,3040,2284,2427,0,0,0,0,0,0
$GC,5686,0.47,146.0,403.8,10.2,579,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2284,2427,0,0,0,0,0,0
$GC,6006,0.47,146.0,371.6,10.1,609,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2284,2427,0,0,0,0,0,0
$GC,6333,0.45,146.0,338.6,10.4,640,6335,0.12,0.00,0.00,0.000,6,0.178,0.000,3008,2284,2427,0,0,0,0,0,0
$GC,6652,0.54,188.0,312.3,8.1,670,6694,0.00,2.30,35.65,1.052,4,0.000,0.063,3014,864,2262,0,0,0,0,0,0
$GC,6730,0.67,219.0,306.0,8.6,677,6766,0.17,2.28,28.08,1.024,6,0.086,0.051,3094,2288,2136,0,0,0,0,0,0
$GC,7083,0.58,219.0,253.2,14.9,710,7088,0.15,2.25,0.00,0.000,4,0.179,0.066,3055,3683,2130,0,0,0,0,0,0
$GC,7198,0.55,219.0,238.6,13.0,720,7202,0.00,2.20,0.00,0.000,6,0.000,0.050,3063,2275,2129,0,0,0,0,0,0
$GC,7524,0.53,219.0,196.9,12.8,750,7528,0.00,2.22,0.00,0.000,4,0.000,0.063,3074,861,2129,0,0,0,0,0,0
$GC,7567,0.53,219.0,191.3,11.8,753,7575,0.15,2.25,0.00,0.000,6,0.170,0.061,3035,2283,2127,0,0,0,0,0,0
$GC,7894,0.63,241.4,159.6,9.0,784,7920,0.00,2.28,19.35,0.936,4,0.000,0.064,3034,3674,2044,0,0,0,0,0,0
$GC,7977,0.67,241.4,150.8,11.8,791,7984,0.10,2.20,0.00,0.000,6,0.113,0.049,3086,2273,2043,0,0,0,0,0,0
$GC,8302,0.67,241.4,106.2,13.2,822,8306,0.00,2.22,0.00,0.000,4,0.000,0.062,3097,860,2042,0,0,0,0,0,0
$GC,8346,0.67,241.4,100.2,14.3,825,8353,0.00,2.25,0.00,0.000,6,0.000,0.050,3097,2276,2040,0,0,0,0,0,0
$GC,8691,0.67,241.4,58.4,11.7,886,8698,0.00,2.22,0.00,0.000,4,0.000,0.066,3097,3681,2041,0,0,0,0,0,0
$GC,8831,0.63,241.4,40.9,14.1,910,8839,0.15,2.22,0.00,0.000,6,0.181,0.048,3070,2264,2040,0,0,0,0,0,0
$FREEZE,8.62,-1.755,-1.833,2,3,0
$GC,9180,0.70,277.9,9.3,8.3,971,9189,0.00,0.00,7.78,0.791,2,0.000,0.000,3069,2264,1980,0,0,0,0,0,0
$STATE,9190,end climb,FINISH_DEPTH_REACHED
$STATE,9190,begin subsurface finish
$FINISH1,8.6,1.026820,33
$GC,9197,0.04,33.3,8.6,-8.0,972,9234,0.57,2.30,-30.40,0.000,4,0.132,0.074,2879,862,2897,0,0,0,0,0,0
$FINISH2,7.1
$STATE,9235,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9235,begin surface
$RAFOS_CLK,477
$RAFOS,6,1305305346,16.833334,16.818333,127,79,58,57,57,55,781,218,162,107,181,201
$RAFOS,5,1305304862,16.700001,16.683889,131,61,60,60,59,59,655,119,205,184,221,131
$RAFOS,4,1305304387,16.566668,16.551945,163,61,60,58,55,50,846,187,199,216,118,145
$RAFOS,3,1305303910,16.433332,16.419445,64,60,57,57,54,52,958,200,213,158,765,185
$RAFOS,2,1305303427,16.299999,16.285278,58,56,54,54,51,49,204,168,113,214,144,135
$RAFOS,1,1305302942,16.166666,16.150555,63,61,56,54,52,50,207,183,173,141,116,216
$RAFOS,0,1305302471,16.033333,16.019722,63,55,54,54,53,52,166,199,130,217,120,179
$RAFOS_FIX,6709.231934,-5711.547363,130511,161628,4,121,0.42
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.62
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,38
$ALTIM_TOP_PING,20.0,16.6
$ALTIM_BOTTOM_PING,450.1,62.9
$24V_AH,22.2,80.443
$10V_AH,10.0,41.546
$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,4.125,59.700,338.875,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,2307.495,4901.099,378.221,1532.823,185.511,0.000,1193.971,0.000,1521.019,2520.000,12.515,0.000
$DEVICE_MAMPS,208.080,78.795,1188.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.630,738.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150584
$DATA_FILE_SIZE,36743,978
$CAP_FILE_SIZE,97534,0
$CFSIZE,260165632,214040576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8