version: 66.08
glider: 141
mission: 15
dive: 612
start: 5 14 111 0 26 15
data:
$ID,141
$MISSION,15
$DIVE,612
$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,30
$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
$GPS1,130511,204344,6710.093,-5707.109,0,3104.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.98
$_SM_ANGLEo,-0.1
$GPS2,130511,204344,6710.093,-5707.109,0,3104.7,0,-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,171.4,19052,-17.5,-10.000
$D_GRID,483
$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,-6.12,0.000,2,0.000,0.000,2884,3696,3112,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.6,-0.0,1,53,0.62,4.20,-14.52,0.000,4,0.121,0.058,2673,1077,3629,0,0,0,0,0,0
$GC,179,-0.57,-146.0,26.0,-13.5,27,186,0.00,2.25,0.00,0.000,6,0.000,0.060,2673,2487,3629,0,0,0,0,0,0
$GC,525,-0.48,-146.0,76.4,-15.4,88,532,0.12,2.25,0.00,0.000,4,0.229,0.063,2700,1082,3628,0,0,0,0,0,0
$GC,548,-0.42,-146.0,79.6,-14.8,91,555,0.00,2.25,0.00,0.000,6,0.000,0.061,2700,2491,3628,0,0,0,0,0,0
$GC,885,-0.42,-146.0,119.4,-11.8,137,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2492,3628,0,0,0,0,0,0
$GC,1205,-0.45,-146.0,153.7,-10.3,167,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2492,3625,0,0,0,0,0,0
$GC,1521,-0.49,-146.0,186.4,-10.3,197,1525,0.00,2.30,0.00,0.000,4,0.000,0.078,2701,3899,3624,0,0,0,0,0,0
$GC,1542,-0.54,-146.0,188.8,-10.2,198,1549,0.00,2.20,0.00,0.000,6,0.000,0.047,2701,2488,3624,0,0,0,0,0,0
$GC,1868,-0.60,-146.0,219.1,-8.3,229,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2488,3623,0,0,0,0,0,0
$GC,2189,-0.65,-146.0,243.6,-6.8,259,2193,0.15,2.25,0.00,0.000,4,0.119,0.060,2650,1079,3623,0,0,0,0,0,0
$GC,2213,-0.65,-146.0,245.8,-8.8,261,2217,0.00,2.25,0.00,0.000,6,0.000,0.060,2650,2490,3623,0,0,0,0,0,0
$GC,2540,-0.59,-146.0,283.4,-11.5,291,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2489,3623,0,0,0,0,0,0
$GC,2859,-0.52,-146.0,320.9,-12.1,321,2864,0.15,2.30,0.00,0.000,4,0.208,0.073,2687,3899,3623,0,0,0,0,0,0
$GC,2900,-0.58,-146.0,325.4,-9.2,324,2904,0.00,2.17,0.00,0.000,6,0.000,0.045,2687,2488,3623,0,0,0,0,0,0
$GC,3232,-0.62,-146.0,354.1,-8.6,355,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2488,3624,0,0,0,0,0,0
$GC,3553,-0.65,-146.0,383.0,-9.0,385,3559,0.10,0.00,0.00,0.000,6,0.143,0.000,2653,2488,3624,0,0,0,0,0,0
$GC,3879,-0.61,-146.0,419.1,-10.7,416,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2488,3624,0,0,0,0,0,0
$GC,4200,-0.87,-146.0,446.0,-0.1,446,4205,0.20,2.22,0.00,0.000,4,0.101,0.057,2578,1082,3626,0,0,0,0,0,0
$STATE,4283,end dive,NO_VERTICAL_VELOCITY
$STATE,4283,begin apogee
$GC,4291,-0.12,0.0,446.0,0.0,453,4423,0.75,0.00,120.80,1.160,6,0.135,0.000,2815,2287,3030,0,0,0,0,0,0
$STATE,4424,end apogee,CONTROL_FINISHED_OK
$STATE,4424,begin climb
$GC,4427,0.62,146.0,446.0,0.0,465,4563,0.77,2.58,125.60,1.115,4,0.129,0.060,3066,872,2433,0,0,0,0,0,0
$GC,4674,0.57,146.0,424.7,12.2,487,4678,0.00,2.35,0.00,0.000,6,0.000,0.053,3066,2281,2428,0,0,0,0,0,0
$GC,4999,0.50,146.0,384.1,12.2,517,5004,0.15,2.30,0.00,0.000,4,0.176,0.067,3027,3694,2428,0,0,0,0,0,0
$GC,5125,0.46,146.0,369.7,11.4,528,5129,0.00,2.22,0.00,0.000,6,0.000,0.048,3035,2270,2427,0,0,0,0,0,0
$GC,5456,0.46,146.8,335.7,10.0,559,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2270,2427,0,0,0,0,0,0
$GC,5777,0.48,165.2,305.5,9.2,589,5800,0.00,2.30,16.85,0.998,4,0.000,0.063,3035,3689,2355,0,0,0,0,0,0
$GC,5852,0.44,165.2,297.5,11.8,595,5859,0.15,2.22,0.00,0.000,6,0.183,0.047,3007,2276,2354,0,0,0,0,0,0
$GC,6178,0.59,225.0,272.7,7.2,626,6237,0.12,2.35,52.17,1.028,4,0.099,0.063,3079,869,2111,0,0,0,0,0,0
$GC,6270,0.59,225.0,262.0,12.4,634,6278,0.00,2.28,0.00,0.000,6,0.000,0.054,3079,2282,2107,0,0,0,0,0,0
$GC,6596,0.53,225.0,214.8,15.3,665,6601,0.15,2.22,0.00,0.000,4,0.175,0.064,3039,3686,2104,0,0,0,0,0,0
$GC,6704,0.53,225.0,200.1,13.6,674,6708,0.00,2.20,0.00,0.000,6,0.000,0.048,3047,2276,2103,0,0,0,0,0,0
$GC,7034,0.55,225.0,162.7,10.7,705,7038,0.00,2.22,0.00,0.000,4,0.000,0.061,3056,862,2103,0,0,0,0,0,0
$GC,7064,0.60,225.0,159.7,10.2,707,7068,0.00,2.20,0.00,0.000,6,0.000,0.050,3056,2277,2101,0,0,0,0,0,0
$GC,7389,0.64,225.0,127.9,10.3,737,7393,0.00,2.22,0.00,0.000,4,0.000,0.064,3056,3686,2101,0,0,0,0,0,0
$GC,7463,0.64,225.0,118.9,12.9,743,7468,0.00,2.20,0.00,0.000,6,0.000,0.048,3067,2267,2101,0,0,0,0,0,0
$GC,7799,0.68,226.7,80.9,9.9,788,7806,0.00,2.22,0.00,0.000,4,0.000,0.063,3075,868,2101,0,0,0,0,0,0
$GC,7881,0.77,240.2,73.2,9.4,802,7901,0.10,2.22,12.88,0.871,6,0.120,0.051,3121,2275,2050,0,0,0,0,0,0
$GC,8241,0.73,240.2,30.3,13.0,865,8248,0.00,2.30,0.00,0.000,4,0.000,0.067,3121,3686,2049,0,0,0,0,0,0
$GC,8393,0.65,240.2,9.5,14.2,891,8401,0.20,2.17,0.00,0.000,6,0.197,0.041,3080,2260,2048,0,0,0,0,0,0
$FREEZE,7.04,-1.759,-1.832,2,7,0
$STATE,8407,end climb,FINISH_DEPTH_REACHED
$STATE,8407,begin subsurface finish
$FINISH1,7.0,1.026826,33
$GC,8414,0.04,33.0,7.0,-13.5,893,8450,0.62,0.00,-31.33,0.000,6,0.154,0.000,2885,2260,2897,0,0,0,0,0,0
$FINISH2,6.2
$STATE,8451,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8451,begin surface
$RAFOS_CLK,444
$RAFOS,6,1305334145,0.833333,0.818056,111,63,56,55,55,55,798,190,113,145,203,157
$RAFOS,5,1305333667,0.700000,0.685278,111,65,61,61,58,56,638,203,217,193,147,123
$RAFOS,4,1305333184,0.566667,0.551111,70,68,55,54,50,50,204,881,154,165,115,143
$RAFOS_FIX,6710.074707,-5705.631836,140511,000056,2,111,0.07
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.24
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,22.2,80.873
$10V_AH,10.1,41.759
$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,4.375,69.400,328.300,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,2159.751,4369.459,365.720,1442.746,175.073,0.000,1142.151,0.000,1437.199,1080.000,10.563,0.000
$DEVICE_MAMPS,228.735,78.030,1159.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.523,678.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33424,899
$CAP_FILE_SIZE,94198,0
$CFSIZE,260165632,213831680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,140511,004656,6710.075,-5705.632,0,2111.0,0,-37.8