version: 66.08
glider: 141
mission: 15
dive: 615
start: 5 14 111 7 49 56
data:
$ID,141
$MISSION,15
$DIVE,615
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.96
$_SM_ANGLEo,1.9
$GPS2,140511,043355,6707.438,-5701.776,0,5108.4,0,-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,167.4,12903,-17.5,-10.000
$D_GRID,502
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.32,0.000,2,0.000,0.000,2885,857,3096,0,0,0,0,0,0
$GC,28,-0.62,-146.0,7.3,-0.0,1,53,0.60,5.03,-16.10,0.000,4,0.096,0.073,2668,3893,3627,0,0,0,0,0,0
$GC,269,-0.57,-146.0,41.1,-15.0,43,276,0.00,2.20,0.00,0.000,6,0.000,0.047,2668,2473,3629,0,0,0,0,0,0
$GC,616,-0.47,-146.0,94.4,-16.1,104,623,0.15,2.25,0.00,0.000,4,0.205,0.063,2704,1079,3627,0,0,0,0,0,0
$GC,659,-0.47,-146.0,100.3,-12.0,111,666,0.00,2.28,0.00,0.000,6,0.000,0.062,2704,2487,3628,0,0,0,0,0,0
$GC,985,-0.51,-146.0,132.6,-9.4,142,989,0.00,2.33,0.00,0.000,4,0.000,0.079,2704,3899,3626,0,0,0,0,0,0
$GC,997,-0.54,-146.0,133.8,-9.3,143,1001,0.00,2.20,0.00,0.000,6,0.000,0.050,2704,2490,3625,0,0,0,0,0,0
$GC,1324,-0.58,-146.0,165.3,-9.1,173,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2490,3624,0,0,0,0,0,0
$GC,1642,-0.64,-146.0,191.4,-8.0,203,1647,0.15,2.28,0.00,0.000,4,0.118,0.066,2652,1075,3623,0,0,0,0,0,0
$GC,1653,-0.67,-146.0,192.4,-7.9,203,1660,0.00,2.28,0.00,0.000,6,0.000,0.063,2651,2489,3623,0,0,0,0,0,0
$GC,1981,-0.60,-146.0,230.2,-11.7,234,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2489,3622,0,0,0,0,0,0
$GC,2297,-0.54,-146.0,268.6,-12.4,264,2302,0.15,2.30,0.00,0.000,4,0.207,0.063,2688,1077,3622,0,0,0,0,0,0
$GC,2308,-0.48,-146.0,270.2,-12.3,264,2315,0.00,2.30,0.00,0.000,6,0.000,0.062,2688,2500,3622,0,0,0,0,0,0
$GC,2635,-0.51,-146.0,300.1,-8.9,295,2639,0.00,2.30,0.00,0.000,4,0.000,0.077,2688,3907,3622,0,0,0,0,0,0
$GC,2646,-0.54,-146.0,301.3,-8.7,295,2652,0.00,2.22,0.00,0.000,6,0.000,0.045,2688,2482,3622,0,0,0,0,0,0
$GC,2972,-0.58,-146.0,329.2,-7.9,326,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2482,3623,0,0,0,0,0,0
$GC,3290,-0.61,-146.0,354.1,-8.0,356,3294,0.00,2.22,0.00,0.000,4,0.000,0.060,2688,1079,3623,0,0,0,0,0,0
$GC,3313,-0.65,-146.0,356.1,-8.4,357,3321,0.10,2.28,0.00,0.000,6,0.133,0.060,2655,2492,3623,0,0,0,0,0,0
$GC,3639,-0.61,-146.0,390.3,-10.6,388,3643,0.00,2.30,0.00,0.000,4,0.000,0.075,2655,3906,3624,0,0,0,0,0,0
$GC,3658,-0.57,-146.0,392.3,-10.9,389,3662,0.00,2.20,0.00,0.000,6,0.000,0.046,2654,2489,3624,0,0,0,0,0,0
$GC,3990,-0.52,-146.0,427.8,-10.6,420,3992,0.15,0.00,0.00,0.000,6,0.194,0.000,2691,2488,3624,0,0,0,0,0,0
$STATE,4050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4050,begin apogee
$GC,4057,-0.12,0.0,433.1,7.7,426,4188,0.40,0.00,120.53,1.150,6,0.173,0.000,2813,2259,3030,0,0,0,0,0,0
$STATE,4189,end apogee,CONTROL_FINISHED_OK
$STATE,4189,begin climb
$GC,4192,0.62,146.0,436.4,0.0,438,4324,0.77,0.00,125.22,1.102,6,0.127,0.000,3055,2258,2434,0,0,0,0,0,0
$GC,4642,0.58,146.0,392.2,11.3,480,4646,0.00,2.35,0.00,0.000,4,0.000,0.066,3055,3697,2428,0,0,0,0,0,0
$GC,4722,0.49,146.0,381.4,13.8,487,4727,0.15,2.22,0.00,0.000,6,0.178,0.050,3027,2290,2428,0,0,0,0,0,0
$GC,5053,0.51,166.9,350.3,9.0,518,5075,0.00,0.00,18.23,1.008,6,0.000,0.000,3027,2290,2349,0,0,0,0,0,0
$GC,5395,0.54,169.1,318.0,9.9,550,5399,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,865,2347,0,0,0,0,0,0
$GC,5441,0.60,186.7,313.6,9.2,553,5469,0.00,2.25,18.15,0.996,6,0.000,0.053,3035,2280,2268,0,0,0,0,0,0
$GC,5787,0.60,186.7,277.2,10.5,586,5791,0.00,2.25,0.00,0.000,4,0.000,0.067,3035,3692,2265,0,0,0,0,0,0
$GC,5889,0.60,186.7,264.5,12.6,595,5893,0.00,2.22,0.00,0.000,6,0.000,0.050,3045,2270,2265,0,0,0,0,0,0
$GC,6215,0.60,186.7,226.0,11.2,625,6219,0.00,2.25,0.00,0.000,4,0.000,0.065,3056,861,2264,0,0,0,0,0,0
$GC,6284,0.62,186.7,218.6,10.5,631,6288,0.00,2.22,0.00,0.000,6,0.000,0.053,3057,2279,2263,0,0,0,0,0,0
$GC,6611,0.62,186.7,181.5,11.6,661,6615,0.00,2.28,0.00,0.000,4,0.000,0.067,3056,3695,2263,0,0,0,0,0,0
$GC,6758,0.58,186.7,161.7,14.1,673,6765,0.00,2.22,0.00,0.000,6,0.000,0.050,3066,2273,2263,0,0,0,0,0,0
$GC,7084,0.58,186.7,124.0,10.5,704,7088,0.00,2.22,0.00,0.000,4,0.000,0.064,3077,867,2263,0,0,0,0,0,0
$GC,7135,0.58,186.7,118.8,10.5,708,7139,0.00,2.22,0.00,0.000,6,0.000,0.053,3077,2284,2263,0,0,0,0,0,0
$GC,7469,0.56,188.0,84.7,9.9,751,7476,0.12,2.28,0.00,0.000,4,0.174,0.067,3044,3692,2264,0,0,0,0,0,0
$GC,7528,0.57,196.9,78.9,9.6,761,7547,0.00,2.25,9.85,0.828,6,0.000,0.049,3052,2262,2228,0,0,0,0,0,0
$GC,7889,0.71,258.5,51.6,7.2,824,7950,0.12,2.30,54.83,0.911,4,0.105,0.066,3117,868,1975,0,0,0,0,0,0
$GC,7997,0.71,258.5,40.1,11.5,842,8004,0.00,2.25,0.00,0.000,6,0.000,0.054,3117,2277,1969,0,0,0,0,0,0
$FREEZE,8.95,-1.753,-1.834,2,10,0
$STATE,8236,end climb,FINISH_DEPTH_REACHED
$STATE,8237,begin subsurface finish
$FINISH1,8.9,1.026827,33
$GC,8244,0.04,33.0,8.9,-13.7,884,8281,0.77,2.38,-30.42,0.000,4,0.168,0.086,2886,3684,2896,0,0,0,0,0,0
$FINISH2,7.1
$STATE,8283,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8283,begin surface
$RAFOS_CLK,431
$RAFOS,6,1305362949,8.833333,8.819167,88,61,58,57,55,54,801,225,210,134,151,177
$RAFOS,5,1305362461,8.700000,8.683611,136,57,57,55,50,48,688,210,191,170,234,133
$RAFOS,4,1305361987,8.566667,8.551945,94,65,62,58,54,53,881,196,181,165,213,140
$RAFOS,3,1305361510,8.433333,8.419444,62,59,58,57,57,51,213,195,983,177,168,139
$RAFOS,2,1305361024,8.300000,8.284445,71,63,57,56,56,56,1081,214,205,142,227,125
$RAFOS,1,1305360546,8.166667,8.151667,66,60,57,56,50,49,199,140,165,181,215,149
$RAFOS,0,1305360070,8.033334,8.019444,61,61,60,58,57,52,139,197,206,174,154,122
$RAFOS_FIX,6709.783691,-5658.050781,140511,080852,4,97,0.35
$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,33
$ALTIM_TOP_PING,19.5,15.5
$ALTIM_BOTTOM_PING,400.7,46.8
$24V_AH,22.2,81.195
$10V_AH,10.0,41.926
$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,3.650,77.725,346.800,0.000,0.000,0.000,0.000,0.000,9.500,0.000,0.000,2119.897,4258.661,387.116,1404.641,181.889,0.000,1150.987,0.000,1402.250,2520.000,12.368,0.000
$DEVICE_MAMPS,207.315,85.680,1149.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.212,670.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33417,890
$CAP_FILE_SIZE,94607,0
$CFSIZE,260165632,213667840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,140511,083752,6709.784,-5658.051,0,4097.2,0,-37.8