version: 66.08
glider: 141
mission: 15
dive: 617
start: 5 14 111 12 24 42
data:
$ID,141
$MISSION,15
$DIVE,617
$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,24
$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
$GPS1,140511,083752,6709.784,-5658.051,0,4097.2,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.92
$_SM_ANGLEo,-2.7
$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,-6.07,0.000,2,0.000,0.000,2881,863,3151,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.2,-0.0,1,48,0.60,5.03,-11.23,0.000,4,0.103,0.074,2668,3904,3629,0,0,0,0,0,0
$GC,168,-0.58,-146.0,29.8,-13.6,25,175,0.00,2.22,0.00,0.000,6,0.000,0.049,2668,2477,3631,0,0,0,0,0,0
$GC,514,-0.49,-146.0,82.4,-15.2,86,521,0.12,2.25,0.00,0.000,4,0.211,0.066,2697,1077,3629,0,0,0,0,0,0
$GC,607,-0.52,-146.0,93.5,-10.8,102,614,0.00,2.30,0.00,0.000,6,0.000,0.064,2697,2489,3628,0,0,0,0,0,0
$GC,937,-0.52,-146.0,128.9,-10.8,138,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3627,0,0,0,0,0,0
$GC,1258,-0.54,-146.0,163.1,-10.4,168,1262,0.00,2.33,0.00,0.000,4,0.000,0.080,2697,3899,3626,0,0,0,0,0,0
$GC,1277,-0.57,-146.0,165.2,-10.9,169,1281,0.00,2.20,0.00,0.000,6,0.000,0.049,2697,2490,3626,0,0,0,0,0,0
$GC,1608,-0.61,-146.0,196.8,-9.9,200,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3624,0,0,0,0,0,0
$GC,1931,-0.65,-146.0,225.7,-8.5,230,1936,0.15,2.28,0.00,0.000,4,0.118,0.064,2645,1074,3624,0,0,0,0,0,0
$GC,1952,-0.63,-146.0,228.5,-10.0,231,1959,0.00,2.30,0.00,0.000,6,0.000,0.063,2644,2497,3624,0,0,0,0,0,0
$GC,2278,-0.55,-146.0,270.3,-12.7,262,2280,0.15,0.00,0.00,0.000,6,0.209,0.000,2680,2497,3623,0,0,0,0,0,0
$GC,2596,-0.55,-146.0,298.8,-8.2,292,2600,0.00,2.30,0.00,0.000,4,0.000,0.076,2680,3903,3624,0,0,0,0,0,0
$GC,2615,-0.55,-146.0,300.3,-8.4,293,2619,0.00,2.20,0.00,0.000,6,0.000,0.045,2681,2481,3624,0,0,0,0,0,0
$GC,2941,-0.57,-146.0,328.6,-9.2,323,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2480,3625,0,0,0,0,0,0
$GC,3262,-0.59,-146.0,357.0,-8.7,353,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2481,3625,0,0,0,0,0,0
$GC,3591,-0.62,-146.0,386.6,-8.8,384,3595,0.00,2.22,0.00,0.000,4,0.000,0.059,2681,1078,3626,0,0,0,0,0,0
$GC,3608,-0.62,-146.0,388.4,-8.9,385,3613,0.00,2.25,0.00,0.000,6,0.000,0.057,2681,2494,3625,0,0,0,0,0,0
$STATE,3838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3838,begin apogee
$GC,3845,-0.12,0.0,408.9,9.1,406,3976,0.45,0.00,120.35,1.133,6,0.176,0.000,2814,2263,3029,0,0,0,0,0,0
$STATE,3976,end apogee,CONTROL_FINISHED_OK
$STATE,3976,begin climb
$GC,3979,0.62,146.0,412.7,0.0,418,4110,0.77,0.00,124.60,1.087,6,0.129,0.000,3055,2263,2434,0,0,0,0,0,0
$GC,4427,0.58,146.0,369.7,11.3,460,4431,0.00,2.35,0.00,0.000,4,0.000,0.065,3055,3694,2428,0,0,0,0,0,0
$GC,4500,0.48,146.0,360.0,13.1,466,4507,0.17,2.22,0.00,0.000,6,0.176,0.050,3020,2286,2427,0,0,0,0,0,0
$GC,4826,0.54,180.8,331.1,8.4,497,4857,0.00,0.00,29.65,1.025,6,0.000,0.000,3020,2285,2293,0,0,0,0,0,0
$GC,5174,0.62,211.6,300.0,8.6,530,5205,0.12,0.00,27.60,1.007,6,0.099,0.000,3082,2285,2167,0,0,0,0,0,0
$GC,5523,0.55,211.6,250.7,14.9,563,5528,0.15,2.28,0.00,0.000,4,0.183,0.065,3043,3687,2162,0,0,0,0,0,0
$GC,5562,0.55,211.6,245.2,12.6,566,5569,0.00,2.22,0.00,0.000,6,0.000,0.050,3051,2266,2161,0,0,0,0,0,0
$GC,5887,0.55,211.6,206.0,12.3,597,5891,0.00,2.22,0.00,0.000,4,0.000,0.065,3062,865,2161,0,0,0,0,0,0
$GC,5932,0.59,211.6,200.6,11.9,600,5939,0.00,2.25,0.00,0.000,6,0.000,0.052,3062,2288,2159,0,0,0,0,0,0
$GC,6259,0.59,211.6,161.5,11.6,631,6263,0.00,2.22,0.00,0.000,4,0.000,0.066,3062,3693,2159,0,0,0,0,0,0
$GC,6367,0.56,211.6,147.0,13.3,640,6371,0.00,2.20,0.00,0.000,6,0.000,0.049,3073,2276,2159,0,0,0,0,0,0
$GC,6692,0.56,211.6,107.2,11.8,670,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2277,2159,0,0,0,0,0,0
$GC,7025,0.56,211.6,69.6,10.7,724,7032,0.00,2.25,0.00,0.000,4,0.000,0.064,3083,863,2159,0,0,0,0,0,0
$GC,7068,0.56,211.6,65.3,10.3,731,7075,0.15,2.22,0.00,0.000,6,0.168,0.053,3044,2277,2160,0,0,0,0,0,0
$GC,7416,0.71,262.0,39.4,7.7,792,7453,0.15,2.38,30.05,0.989,4,0.089,0.067,3111,3690,1959,0,0,0,0,0,0
$GC,7549,0.67,262.0,22.3,13.2,815,7557,0.15,2.25,0.00,0.000,6,0.176,0.050,3083,2277,1955,0,0,0,0,0,0
$FREEZE,8.77,-1.746,-1.833,2,12,0
$STATE,7681,end climb,FINISH_DEPTH_REACHED
$STATE,7681,begin subsurface finish
$FINISH1,8.8,1.026815,34
$GC,7688,0.04,33.5,8.8,-10.0,838,7725,0.65,2.28,-29.30,0.000,4,0.155,0.074,2881,859,2894,0,0,0,0,0,0
$FINISH2,7.6
$STATE,7726,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7726,begin surface
$RAFOS_CLK,403
$RAFOS,6,1305377349,12.833333,12.819167,131,61,60,56,56,55,809,220,188,173,202,142
$RAFOS,5,1305376870,12.700000,12.686111,84,62,57,55,53,53,645,200,136,147,215,121
$RAFOS,4,1305376381,12.566667,12.550278,102,65,57,51,49,49,917,200,215,138,165,1364
$RAFOS,3,1305375915,12.433333,12.420834,59,54,52,52,47,47,226,209,131,159,175,389
$RAFOS,2,1305375426,12.300000,12.285000,60,58,58,57,55,52,190,165,151,223,205,130
$RAFOS_FIX,6709.851562,-5653.966797,140511,121244,3,106,0.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.8,17.4
$ALTIM_BOTTOM_PING,400.4,22.9
$24V_AH,22.3,81.401
$10V_AH,10.0,42.025
$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,3.800,59.575,332.250,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,1984.216,3983.468,367.141,1299.595,157.022,0.000,1063.855,0.000,1294.097,1440.000,10.643,0.000
$DEVICE_MAMPS,211.140,80.325,1132.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.779,632.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33379,844
$CAP_FILE_SIZE,84466,0
$CFSIZE,260165632,213581824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140511,124344,6709.852,-5653.967,0,3105.7,0,-37.8