version: 66.08
glider: 141
mission: 15
dive: 619
start: 5 14 111 16 44 16
data:
$ID,141
$MISSION,15
$DIVE,619
$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,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
$GPS1,140511,124344,6709.852,-5653.967,0,3105.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.07
$_SM_ANGLEo,2.6
$GPS2,140511,124344,6709.852,-5653.967,0,3105.7,0,-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,199.0,13400,-17.5,-10.000
$D_GRID,399
$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,-6.18,0.000,2,0.000,0.000,2885,3685,3101,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.2,-0.0,1,53,0.62,4.18,-15.25,0.000,4,0.108,0.060,2667,1078,3628,0,0,0,0,0,0
$GC,201,-0.56,-146.0,30.4,-15.7,31,207,0.00,2.28,0.00,0.000,6,0.000,0.061,2666,2493,3629,0,0,0,0,0,0
$GC,546,-0.48,-146.0,81.9,-14.2,92,554,0.15,2.30,0.00,0.000,4,0.213,0.066,2703,1077,3628,0,0,0,0,0,0
$GC,562,-0.41,-146.0,84.2,-13.5,94,569,0.00,2.30,0.00,0.000,6,0.000,0.063,2703,2493,3628,0,0,0,0,0,0
$GC,902,-0.43,-146.0,122.7,-10.5,137,906,0.00,2.33,0.00,0.000,4,0.000,0.080,2703,3903,3627,0,0,0,0,0,0
$GC,992,-0.49,-146.0,132.0,-9.6,144,999,0.00,2.20,0.00,0.000,6,0.000,0.050,2703,2492,3626,0,0,0,0,0,0
$GC,1318,-0.53,-146.0,161.3,-8.9,175,1322,0.00,2.25,0.00,0.000,4,0.000,0.066,2703,1079,3624,0,0,0,0,0,0
$GC,1336,-0.57,-146.0,163.0,-9.3,176,1340,0.00,2.28,0.00,0.000,6,0.000,0.063,2703,2488,3624,0,0,0,0,0,0
$GC,1667,-0.62,-146.0,192.6,-8.9,207,1669,0.12,0.00,0.00,0.000,6,0.120,0.000,2658,2488,3623,0,0,0,0,0,0
$GC,1985,-0.57,-146.0,231.6,-11.9,237,1989,0.00,2.33,0.00,0.000,4,0.000,0.077,2658,3900,3623,0,0,0,0,0,0
$GC,2026,-0.55,-146.0,236.5,-11.6,240,2030,0.00,2.22,0.00,0.000,6,0.000,0.049,2658,2485,3623,0,0,0,0,0,0
$GC,2353,-0.50,-146.0,273.7,-11.5,270,2358,0.15,2.25,0.00,0.000,4,0.200,0.063,2694,1075,3623,0,0,0,0,0,0
$GC,2375,-0.50,-146.0,276.3,-10.1,271,2382,0.00,2.28,0.00,0.000,6,0.000,0.061,2694,2498,3623,0,0,0,0,0,0
$GC,2701,-0.55,-146.0,301.9,-7.8,302,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2498,3623,0,0,0,0,0,0
$GC,3022,-0.59,-146.0,327.0,-8.0,332,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2498,3624,0,0,0,0,0,0
$GC,3350,-0.64,-146.0,354.0,-8.4,363,3357,0.12,0.00,0.00,0.000,6,0.124,0.000,2648,2499,3624,0,0,0,0,0,0
$GC,3676,-0.59,-146.0,392.0,-11.0,394,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2499,3624,0,0,0,0,0,0
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3748,begin apogee
$GC,3754,-0.12,0.0,399.6,10.3,401,3886,0.60,0.00,120.12,1.135,6,0.190,0.000,2815,2252,3029,0,0,0,0,0,0
$STATE,3887,end apogee,CONTROL_FINISHED_OK
$STATE,3887,begin climb
$GC,3889,0.62,146.0,402.5,0.0,413,4022,0.77,0.00,125.03,1.086,6,0.135,0.000,3053,2252,2434,0,0,0,0,0,0
$GC,4341,0.58,146.0,357.7,11.2,456,4345,0.00,2.35,0.00,0.000,4,0.000,0.067,3054,3694,2428,0,0,0,0,0,0
$GC,4420,0.49,146.0,347.4,13.7,462,4427,0.15,2.25,0.00,0.000,6,0.181,0.060,3026,2285,2428,0,0,0,0,0,0
$GC,4745,0.52,173.8,316.0,8.7,493,4779,0.00,2.35,24.08,1.011,4,0.000,0.068,3034,870,2320,0,0,0,0,0,0
$GC,4819,0.60,201.7,309.5,8.7,499,4851,0.00,2.25,25.27,1.008,6,0.000,0.054,3034,2284,2206,0,0,0,0,0,0
$GC,5177,0.63,208.5,274.6,9.7,533,5190,0.10,2.33,6.60,0.813,4,0.112,0.067,3084,3686,2180,0,0,0,0,0,0
$GC,5288,0.54,208.5,258.2,15.4,542,5296,0.20,2.25,0.00,0.000,6,0.182,0.061,3042,2275,2179,0,0,0,0,0,0
$GC,5614,0.54,208.5,222.5,10.5,573,5618,0.00,2.28,0.00,0.000,4,0.000,0.066,3050,864,2177,0,0,0,0,0,0
$GC,5658,0.60,208.5,217.6,10.6,576,5665,0.00,2.25,0.00,0.000,6,0.000,0.063,3050,2282,2176,0,0,0,0,0,0
$GC,5983,0.60,208.5,182.1,10.8,607,5987,0.00,2.28,0.00,0.000,4,0.000,0.067,3050,3697,2176,0,0,0,0,0,0
$GC,6090,0.60,208.5,169.1,12.6,616,6094,0.00,2.25,0.00,0.000,6,0.000,0.049,3060,2266,2176,0,0,0,0,0,0
$GC,6420,0.60,208.5,131.6,10.8,647,6424,0.00,2.25,0.00,0.000,4,0.000,0.063,3071,859,2176,0,0,0,0,0,0
$GC,6472,0.62,208.5,126.0,10.6,651,6476,0.00,2.25,0.00,0.000,6,0.000,0.054,3071,2277,2176,0,0,0,0,0,0
$GC,6803,0.64,208.5,91.9,10.3,688,6810,0.00,2.25,0.00,0.000,4,0.000,0.066,3071,3693,2176,0,0,0,0,0,0
$GC,6868,0.59,208.5,84.4,12.4,699,6874,0.00,2.22,0.00,0.000,6,0.000,0.049,3081,2272,2176,0,0,0,0,0,0
$GC,7214,0.60,218.7,48.1,9.5,760,7226,0.00,0.00,10.38,0.835,6,0.000,0.000,3081,2272,2137,0,0,0,0,0,0
$GC,7568,0.62,230.3,15.1,9.5,822,7580,0.00,0.00,5.93,0.741,6,0.000,0.000,3081,2272,2089,0,0,0,0,0,0
$FREEZE,8.85,-1.724,-1.833,2,14,0
$FREEZE,8.48,-1.720,-1.833,2,14,0
$FREEZE,8.03,-1.720,-1.832,2,14,0
$FREEZE,7.49,-1.720,-1.832,2,14,0
$FREEZE,6.99,-1.719,-1.831,2,14,0
$FREEZE,6.54,-1.717,-1.831,2,14,0
$FREEZE,6.06,-1.720,-1.831,2,14,0
$FREEZE,5.56,-1.720,-1.830,2,14,0
$FREEZE,4.99,-1.720,-1.830,2,14,0
$FREEZE,4.39,-1.714,-1.829,2,14,0
$FREEZE,3.82,-1.712,-1.829,2,14,0
$FREEZE,3.33,-1.711,-1.829,2,14,0
$FREEZE,2.93,-1.704,-1.828,2,14,0
$STATE,7693,end climb,SURFACE_DEPTH_REACHED
$STATE,7693,begin surface coast
$FREEZE,2.37,-1.703,-1.828,2,14,0
$FREEZE,1.95,-1.699,-1.827,2,14,0
$FREEZE,1.54,-1.695,-1.827,2,14,0
$FREEZE,1.47,-1.658,-1.824,2,14,0
$FREEZE,1.49,-1.515,-1.815,2,14,0
$FREEZE,1.54,-1.534,-1.793,2,14,0
$FINISH,1.5,1.026313
$STATE,7726,end surface coast,CONTROL_FINISHED_OK
$STATE,7726,begin surface
$SM_CCo,7744,75.18,0.063,0,0,1398,400.08
$SM_GC,2.47,0.00,0.00,75.18,0.000,0.000,0.063,110,2505,1398,-8.61,0.45,400.08
$RAFOS_CLK,412
$RAFOS,6,1305391741,16.833334,16.816944,98,59,55,55,54,53,865,226,150,208,162,187
$RAFOS,5,1305391262,16.700001,16.683889,93,61,61,57,56,55,683,209,198,132,221,241
$RAFOS_FIX,6707.290527,-5651.072266,140511,161622,3,90,0.36
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,45.90
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.00
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,22.2,81.600
$10V_AH,9.9,42.125
$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,11.525,61.725,317.400,75.175,0.000,0.000,0.000,0.000,7.500,0.000,0.000,2032.425,3911.207,437.094,1340.944,170.685,0.000,1151.221,0.000,1339.736,360.000,6.153,0.000
$DEVICE_MAMPS,213.435,79.560,1135.260,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.960,638.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33368,851
$CAP_FILE_SIZE,89621,0
$CFSIZE,260165632,213483520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.6
$GPS,140511,185607,6701.566,-5641.163,31,1.1,31,-37.5