version: 66.08
glider: 141
mission: 15
dive: 613
start: 5 14 111 2 49 8
data:
$ID,141
$MISSION,15
$DIVE,613
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,140511,004656,6710.075,-5705.632,0,2111.0,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.46
$_SM_ANGLEo,-1.9
$GPS2,140511,004656,6710.075,-5705.632,0,2111.0,0,-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,173.6,18270,-17.5,-10.000
$D_GRID,468
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.70,0.000,2,0.000,0.000,2884,2260,3109,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.7,-0.0,1,47,0.60,1.95,-13.73,0.000,4,0.103,0.081,2672,1083,3627,0,0,0,0,0,0
$GC,60,-0.65,-146.0,12.0,-8.0,6,67,0.00,2.25,0.00,0.000,6,0.000,0.063,2672,2488,3629,0,0,0,0,0,0
$GC,407,-0.56,-146.0,65.6,-16.1,67,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2488,3628,0,0,0,0,0,0
$GC,747,-0.49,-146.0,114.9,-13.9,118,751,0.12,2.25,0.00,0.000,4,0.226,0.064,2699,1093,3627,0,0,0,0,0,0
$GC,764,-0.44,-146.0,117.3,-13.4,119,768,0.00,2.25,0.00,0.000,6,0.000,0.063,2700,2489,3627,0,0,0,0,0,0
$GC,1090,-0.46,-146.0,150.1,-10.0,149,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3625,0,0,0,0,0,0
$GC,1411,-0.49,-146.0,183.1,-10.2,179,1415,0.00,2.33,0.00,0.000,4,0.000,0.078,2700,3906,3623,0,0,0,0,0,0
$GC,1456,-0.57,-146.0,187.8,-9.5,182,1463,0.00,2.22,0.00,0.000,6,0.000,0.053,2700,2490,3623,0,0,0,0,0,0
$GC,1783,-0.62,-146.0,214.2,-7.3,213,1785,0.12,0.00,0.00,0.000,6,0.126,0.000,2657,2490,3623,0,0,0,0,0,0
$GC,2100,-0.58,-146.0,247.9,-10.6,243,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2490,3622,0,0,0,0,0,0
$GC,2421,-0.53,-146.0,282.0,-11.1,273,2426,0.12,2.25,0.00,0.000,4,0.203,0.059,2687,1085,3623,0,0,0,0,0,0
$GC,2450,-0.53,-146.0,285.5,-10.6,275,2454,0.00,2.25,0.00,0.000,6,0.000,0.060,2687,2497,3622,0,0,0,0,0,0
$GC,2776,-0.56,-146.0,315.4,-9.3,305,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2498,3623,0,0,0,0,0,0
$GC,3098,-0.59,-146.0,342.9,-8.5,335,3102,0.00,2.28,0.00,0.000,4,0.000,0.073,2687,3901,3624,0,0,0,0,0,0
$GC,3119,-0.64,-146.0,345.1,-8.2,336,3126,0.00,2.17,0.00,0.000,6,0.000,0.044,2686,2484,3624,0,0,0,0,0,0
$GC,3446,-0.67,-146.0,373.4,-8.9,367,3450,0.12,2.20,0.00,0.000,4,0.124,0.057,2643,1086,3625,0,0,0,0,0,0
$GC,3459,-0.70,-146.0,374.6,-8.9,367,3465,0.00,2.22,0.00,0.000,6,0.000,0.058,2643,2491,3625,0,0,0,0,0,0
$GC,3784,-0.63,-146.0,414.0,-12.1,398,3788,0.00,2.28,0.00,0.000,4,0.000,0.072,2642,3899,3625,0,0,0,0,0,0
$GC,3798,-0.55,-146.0,415.6,-11.8,399,3803,0.15,2.17,0.00,0.000,6,0.197,0.045,2678,2489,3625,0,0,0,0,0,0
$GC,4124,-0.58,-146.0,445.4,-8.8,429,4128,0.00,2.20,0.00,0.000,4,0.000,0.057,2679,1083,3625,0,0,0,0,0,0
$GC,4137,-0.60,-146.0,446.7,-9.0,430,4141,0.00,2.22,0.00,0.000,6,0.000,0.057,2679,2489,3625,0,0,0,0,0,0
$GC,4463,-0.87,-146.0,463.1,-0.2,460,4468,0.25,2.22,0.00,0.000,4,0.090,0.055,2578,1085,3626,0,0,0,0,0,0
$STATE,4479,end dive,NO_VERTICAL_VELOCITY
$STATE,4479,begin apogee
$GC,4488,-0.12,0.0,463.0,0.0,461,4618,0.75,0.00,121.20,1.167,6,0.139,0.000,2816,2286,3029,0,0,0,0,0,0
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4621,0.62,146.0,463.1,0.0,473,4757,0.75,2.53,126.03,1.123,4,0.125,0.061,3062,875,2433,0,0,0,0,0,0
$GC,4800,0.58,146.0,451.2,11.6,488,4807,0.00,2.40,0.00,0.000,6,0.000,0.052,3062,2278,2430,0,0,0,0,0,0
$GC,5125,0.52,146.0,413.8,10.9,519,5130,0.12,2.30,0.00,0.000,4,0.181,0.067,3031,3693,2428,0,0,0,0,0,0
$GC,5271,0.47,146.0,397.2,11.3,531,5279,0.00,2.25,0.00,0.000,6,0.000,0.057,3039,2278,2427,0,0,0,0,0,0
$GC,5598,0.46,158.5,365.7,9.4,562,5616,0.00,0.00,11.10,0.972,6,0.000,0.000,3039,2277,2383,0,0,0,0,0,0
$GC,5935,0.46,158.5,331.2,10.6,594,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2277,2382,0,0,0,0,0,0
$GC,6254,0.49,182.5,300.3,8.9,624,6280,0.00,2.33,21.62,1.021,4,0.000,0.063,3039,3695,2285,0,0,0,0,0,0
$GC,6332,0.45,182.5,292.2,12.0,630,6339,0.15,2.28,0.00,0.000,6,0.177,0.048,3011,2268,2284,0,0,0,0,0,0
$GC,6659,0.56,218.1,265.5,8.4,661,6697,0.10,2.33,31.70,1.014,4,0.115,0.063,3073,866,2139,0,0,0,0,0,0
$GC,6743,0.56,218.1,255.7,12.4,668,6750,0.00,2.28,0.00,0.000,6,0.000,0.061,3073,2282,2136,0,0,0,0,0,0
$GC,7070,0.52,218.1,212.5,13.0,699,7075,0.15,2.25,0.00,0.000,4,0.174,0.065,3032,3684,2134,0,0,0,0,0,0
$GC,7169,0.52,218.1,201.0,11.0,707,7176,0.00,2.20,0.00,0.000,6,0.000,0.053,3041,2275,2133,0,0,0,0,0,0
$GC,7495,0.55,218.1,167.8,10.3,738,7499,0.00,2.25,0.00,0.000,4,0.000,0.062,3048,860,2133,0,0,0,0,0,0
$GC,7558,0.61,218.1,161.5,10.8,743,7562,0.00,2.20,0.00,0.000,6,0.000,0.050,3048,2276,2132,0,0,0,0,0,0
$GC,7883,0.68,236.2,129.9,9.2,773,7907,0.10,2.25,16.08,0.911,4,0.114,0.063,3096,3684,2066,0,0,0,0,0,0
$GC,8037,0.63,236.2,108.3,14.5,786,8045,0.15,2.20,0.00,0.000,6,0.182,0.048,3069,2273,2064,0,0,0,0,0,0
$GC,8377,0.69,252.9,75.0,9.2,840,8396,0.00,0.00,16.00,0.884,6,0.000,0.000,3069,2273,1998,0,0,0,0,0,0
$GC,8736,0.77,264.7,41.9,9.5,903,8749,0.12,0.00,11.10,0.857,6,0.101,0.000,3126,2273,1950,0,0,0,0,0,0
$FREEZE,8.38,-1.750,-1.834,2,8,0
$STATE,8980,end climb,FINISH_DEPTH_REACHED
$STATE,8980,begin subsurface finish
$FINISH1,8.4,1.026829,33
$GC,8987,0.04,32.9,8.4,-13.5,946,9029,0.82,2.28,-33.47,0.000,4,0.167,0.075,2880,864,2898,0,0,0,0,0,0
$FINISH2,6.4
$STATE,9031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$RAFOS_CLK,472
$RAFOS,6,1305348543,4.833333,4.817500,137,63,61,55,52,51,819,223,194,146,176,158
$RAFOS,5,1305348061,4.700000,4.683611,109,60,55,54,53,51,677,218,142,201,188,131
$RAFOS,4,1305347588,4.566667,4.552222,116,60,58,56,55,54,856,218,152,206,988,177
$RAFOS,3,1305347110,4.433333,4.419445,114,72,58,56,55,53,964,184,225,130,171,195
$RAFOS,2,1305346624,4.300000,4.284444,61,53,53,50,49,48,153,199,211,181,130,113
$RAFOS,1,1305346143,4.166667,4.150833,66,64,61,60,55,52,1056,211,186,162,142,120
$RAFOS,0,1305345670,4.033333,4.019444,58,58,57,54,54,53,129,185,142,162,196,175
$RAFOS_FIX,6707.437500,-5701.775879,140511,040455,5,108,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.3,17.6
$24V_AH,22.2,80.982
$10V_AH,10.0,41.817
$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,4.725,73.975,354.825,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,2300.785,4690.915,398.685,1524.450,190.464,0.000,1215.834,0.000,1519.371,2520.000,9.685,0.000
$DEVICE_MAMPS,225.675,81.090,1167.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.222,718.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,36711,953
$CAP_FILE_SIZE,104647,0
$CFSIZE,260165632,213770240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8