version: 66.08
glider: 141
mission: 15
dive: 616
start: 5 14 111 10 10 9
data:
$ID,141
$MISSION,15
$DIVE,616
$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,29
$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
$GPS1,140511,083752,6709.784,-5658.051,0,4097.2,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.29
$_SM_ANGLEo,-1.3
$GPS2,140511,083752,6709.784,-5658.051,0,4097.2,0,-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,187.8,14509,-17.5,-10.000
$D_GRID,425
$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,-5.53,0.000,2,0.000,0.000,2886,3685,3104,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.5,-0.0,1,52,0.65,4.20,-13.90,0.000,4,0.127,0.062,2670,1075,3630,0,0,0,0,0,0
$GC,135,-0.56,-146.0,21.3,-13.4,19,142,0.00,2.30,0.00,0.000,6,0.000,0.063,2670,2488,3630,0,0,0,0,0,0
$GC,480,-0.47,-146.0,73.5,-15.5,80,488,0.15,2.33,0.00,0.000,4,0.220,0.068,2705,1074,3629,0,0,0,0,0,0
$GC,498,-0.39,-146.0,75.9,-15.6,82,505,0.10,2.30,0.00,0.000,6,0.226,0.065,2728,2497,3629,0,0,0,0,0,0
$GC,843,-0.47,-146.0,113.2,-10.4,132,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2497,3628,0,0,0,0,0,0
$GC,1163,-0.56,-146.0,143.5,-8.8,162,1170,0.15,0.00,0.00,0.000,6,0.116,0.000,2674,2497,3626,0,0,0,0,0,0
$GC,1489,-0.54,-146.0,182.1,-11.8,193,1493,0.00,2.33,0.00,0.000,4,0.000,0.082,2674,3902,3624,0,0,0,0,0,0
$GC,1508,-0.52,-146.0,184.3,-11.8,194,1512,0.00,2.25,0.00,0.000,6,0.000,0.053,2674,2488,3624,0,0,0,0,0,0
$GC,1834,-0.52,-146.0,221.3,-10.2,224,1838,0.00,2.25,0.00,0.000,4,0.000,0.066,2674,1075,3623,0,0,0,0,0,0
$GC,1852,-0.52,-146.0,223.4,-10.9,225,1856,0.00,2.30,0.00,0.000,6,0.000,0.065,2674,2496,3623,0,0,0,0,0,0
$GC,2179,-0.52,-146.0,257.5,-10.7,255,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2496,3623,0,0,0,0,0,0
$GC,2497,-0.52,-146.0,290.7,-10.9,285,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2496,3623,0,0,0,0,0,0
$GC,2816,-0.52,-146.0,322.8,-9.5,315,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2496,3624,0,0,0,0,0,0
$GC,3141,-0.52,-146.0,354.1,-10.2,346,3145,0.00,2.33,0.00,0.000,4,0.000,0.076,2674,3905,3624,0,0,0,0,0,0
$GC,3162,-0.52,-146.0,356.4,-10.2,347,3169,0.00,2.22,0.00,0.000,6,0.000,0.047,2674,2486,3624,0,0,0,0,0,0
$GC,3488,-0.52,-146.0,385.9,-9.1,378,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2486,3624,0,0,0,0,0,0
$GC,3811,-0.52,-146.0,415.1,-9.3,408,3815,0.00,2.20,0.00,0.000,4,0.000,0.060,2674,1082,3625,0,0,0,0,0,0
$STATE,3819,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3819,begin apogee
$GC,3827,-0.12,0.0,416.8,9.3,408,3955,0.47,0.00,120.30,1.138,6,0.179,0.000,2811,2287,3030,0,0,0,0,0,0
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3956,begin climb
$GC,3958,0.62,146.0,420.5,0.0,420,4087,0.77,0.00,124.80,1.095,6,0.129,0.000,3053,2287,2434,0,0,0,0,0,0
$GC,4405,0.58,146.0,377.0,10.6,462,4409,0.00,2.30,0.00,0.000,4,0.000,0.068,3053,3694,2428,0,0,0,0,0,0
$GC,4518,0.49,146.0,362.3,12.9,472,4523,0.15,2.25,0.00,0.000,6,0.179,0.051,3026,2269,2428,0,0,0,0,0,0
$GC,4844,0.52,168.8,331.6,8.9,502,4865,0.00,0.00,19.75,1.004,6,0.000,0.000,3026,2269,2341,0,0,0,0,0,0
$GC,5184,0.54,168.8,298.6,10.0,534,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2269,2339,0,0,0,0,0,0
$GC,5503,0.57,168.8,267.5,10.0,564,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2269,2338,0,0,0,0,0,0
$GC,5831,0.62,180.7,236.3,9.4,595,5848,0.10,2.30,10.95,0.916,4,0.112,0.064,3078,3690,2295,0,0,0,0,0,0
$GC,5895,0.50,180.7,227.7,15.1,600,5899,0.22,2.22,0.00,0.000,6,0.181,0.051,3029,2275,2294,0,0,0,0,0,0
$GC,6225,0.57,208.1,197.8,8.7,631,6259,0.00,2.33,25.08,0.962,4,0.000,0.066,3037,864,2179,0,0,0,0,0,0
$GC,6288,0.67,219.8,192.0,9.5,636,6307,0.12,2.25,11.82,0.899,6,0.103,0.052,3096,2284,2132,0,0,0,0,0,0
$GC,6624,0.59,219.8,143.4,14.4,668,6629,0.15,2.25,0.00,0.000,4,0.178,0.066,3058,3686,2130,0,0,0,0,0,0
$GC,6709,0.59,219.8,132.4,12.7,675,6713,0.00,2.22,0.00,0.000,6,0.000,0.050,3065,2275,2129,0,0,0,0,0,0
$GC,7036,0.66,248.5,97.7,8.7,707,7067,0.00,2.35,25.73,0.908,4,0.000,0.065,3074,858,2015,0,0,0,0,0,0
$GC,7115,0.71,250.7,90.5,9.9,720,7122,0.00,2.28,0.00,0.000,6,0.000,0.053,3073,2280,2013,0,0,0,0,0,0
$GC,7460,0.77,257.6,58.1,9.7,781,7480,0.12,2.33,9.02,0.811,4,0.100,0.067,3130,3684,1978,0,0,0,0,0,0
$GC,7520,0.69,257.6,49.5,15.6,791,7528,0.20,2.25,0.00,0.000,6,0.190,0.053,3088,2275,1977,0,0,0,0,0,0
$GC,7868,0.72,257.6,14.0,10.7,852,7875,0.00,2.30,0.00,0.000,4,0.000,0.067,3097,865,1976,0,0,0,0,0,0
$FREEZE,8.92,-1.748,-1.834,2,11,0
$STATE,7915,end climb,FINISH_DEPTH_REACHED
$STATE,7915,begin subsurface finish
$FINISH1,8.9,1.026823,33
$GC,7925,0.04,33.2,8.9,-10.1,860,7962,0.70,2.38,-29.50,0.000,4,0.152,0.078,2881,863,2897,0,0,0,0,0,0
$FINISH2,7.3
$STATE,7963,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7963,begin surface
$RAFOS_CLK,418
$RAFOS,1,1305374946,12.166667,12.151667,65,56,55,52,52,52,218,201,139,191,120,176
$RAFOS,0,1305374464,12.033333,12.017777,58,57,56,54,53,52,195,220,140,167,210,118
$RAFOS_FIX,6709.783691,-5658.050781,140511,080852,4,97,0.35
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,45.74
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,350.9,80.6
$24V_AH,22.2,81.299
$10V_AH,10.0,41.976
$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,4.075,63.275,347.450,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,2029.582,4104.926,391.985,1333.296,158.148,0.000,1104.627,0.000,1328.185,1080.000,10.598,0.000
$DEVICE_MAMPS,225.675,81.855,1138.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.117,645.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33399,866
$CAP_FILE_SIZE,86652,0
$CFSIZE,260165632,213626880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,140511,083752,6709.784,-5658.051,0,4097.2,0,-37.8