version: 66.08
glider: 141
mission: 15
dive: 620
start: 5 14 111 19 19 27
data:
$ID,141
$MISSION,15
$DIVE,620
$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,-48070.324
$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,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
$GPS1,140511,185607,6701.566,-5641.163,31,1.1,31,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-77.2
$GPS2,140511,191856,6701.474,-5641.226,10,1.0,10,-37.5
$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,337.5,5650,-17.5,-10.000
$D_GRID,443
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-146.0,0.0,0.0,0,151,0.00,0.00,-130.40,0.000,2,0.000,0.000,110,2506,3361,0,0,0,0,0,0
$GC,156,-0.62,-146.0,5.7,-8.6,23,182,13.12,2.33,-5.78,0.000,4,0.321,0.090,2651,3893,3629,0,0,0,0,0,0
$GC,223,-0.48,-146.0,26.2,-19.3,34,231,0.20,2.25,0.00,0.000,6,0.191,0.054,2703,2491,3631,0,0,0,0,0,0
$GC,571,-0.48,-146.0,67.8,-12.3,95,577,0.00,2.30,0.00,0.000,4,0.000,0.068,2703,1072,3630,0,0,0,0,0,0
$GC,675,-0.54,-146.0,80.8,-11.0,113,682,0.00,2.30,0.00,0.000,6,0.000,0.067,2703,2485,3630,0,0,0,0,0,0
$GC,1012,-0.56,-146.0,117.3,-10.5,159,1016,0.00,2.35,0.00,0.000,4,0.000,0.083,2703,3902,3630,0,0,0,0,0,0
$GC,1087,-0.63,-146.0,124.5,-9.6,165,1091,0.12,2.22,0.00,0.000,6,0.123,0.054,2661,2489,3629,0,0,0,0,0,0
$GC,1412,-0.56,-146.0,165.5,-12.7,195,1416,0.00,2.28,0.00,0.000,4,0.000,0.070,2661,1082,3628,0,0,0,0,0,0
$GC,1508,-0.54,-146.0,177.5,-12.4,203,1514,0.00,2.30,0.00,0.000,6,0.000,0.067,2661,2494,3628,0,0,0,0,0,0
$GC,1833,-0.49,-146.0,216.3,-12.3,234,1838,0.15,2.35,0.00,0.000,4,0.206,0.082,2698,3897,3628,0,0,0,0,0,0
$GC,1924,-0.57,-146.0,224.8,-9.0,242,1928,0.00,2.25,0.00,0.000,6,0.000,0.051,2698,2478,3628,0,0,0,0,0,0
$GC,2251,-0.63,-146.0,254.1,-8.6,272,2255,0.12,2.28,0.00,0.000,4,0.129,0.067,2655,1082,3629,0,0,0,0,0,0
$GC,2318,-0.60,-146.0,261.4,-11.7,277,2324,0.00,2.30,0.00,0.000,6,0.000,0.065,2655,2489,3629,0,0,0,0,0,0
$GC,2643,-0.55,-146.0,297.2,-11.5,308,2648,0.12,2.35,0.00,0.000,4,0.204,0.078,2685,3906,3630,0,0,0,0,0,0
$GC,2735,-0.61,-146.0,305.4,-8.2,315,2741,0.00,2.25,0.00,0.000,6,0.000,0.050,2684,2488,3630,0,0,0,0,0,0
$GC,3061,-0.64,-146.0,335.1,-9.8,346,3065,0.00,2.25,0.00,0.000,4,0.000,0.064,2684,1071,3631,0,0,0,0,0,0
$GC,3147,-0.69,-146.0,343.8,-10.0,353,3152,0.12,2.28,0.00,0.000,6,0.124,0.061,2642,2492,3631,0,0,0,0,0,0
$GC,3473,-0.62,-146.0,384.2,-11.9,383,3477,0.00,2.33,0.00,0.000,4,0.000,0.076,2642,3900,3632,0,0,0,0,0,0
$GC,3587,-0.59,-146.0,397.7,-11.5,392,3594,0.12,2.22,0.00,0.000,6,0.193,0.048,2672,2488,3633,0,0,0,0,0,0
$STATE,3910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3910,begin apogee
$GC,3917,-0.12,0.0,428.2,9.2,423,4049,0.47,0.00,122.90,1.152,6,0.177,0.000,2812,2249,3029,0,0,0,0,0,0
$STATE,4050,end apogee,CONTROL_FINISHED_OK
$STATE,4050,begin climb
$GC,4054,0.62,146.0,431.9,0.0,435,4193,0.77,2.67,125.72,1.106,4,0.131,0.067,3052,3683,2433,0,0,0,0,0,0
$GC,4401,0.53,146.0,394.1,13.2,466,4408,0.00,2.28,0.00,0.000,6,0.000,0.053,3063,2285,2429,0,0,0,0,0,0
$GC,4727,0.46,146.0,354.3,11.8,497,4732,0.17,2.33,0.00,0.000,4,0.177,0.067,3016,3689,2428,0,0,0,0,0,0
$GC,4916,0.44,146.0,334.1,10.4,513,4922,0.00,2.25,0.00,0.000,6,0.000,0.051,3024,2269,2428,0,0,0,0,0,0
$GC,5241,0.49,191.6,305.8,7.9,544,5286,0.00,2.42,38.70,1.035,4,0.000,0.066,3024,3696,2249,0,0,0,0,0,0
$GC,5305,0.52,193.2,300.0,9.9,549,5311,0.00,2.28,0.00,0.000,6,0.000,0.050,3034,2269,2248,0,0,0,0,0,0
$GC,5630,0.56,202.4,269.0,9.6,580,5646,0.00,2.28,10.52,0.919,4,0.000,0.067,3042,860,2204,0,0,0,0,0,0
$GC,5652,0.61,217.9,266.8,9.3,581,5673,0.00,2.25,15.25,0.953,6,0.000,0.054,3043,2279,2141,0,0,0,0,0,0
$GC,5999,0.61,217.9,229.1,11.3,614,6003,0.00,2.28,0.00,0.000,4,0.000,0.068,3042,3684,2136,0,0,0,0,0,0
$GC,6072,0.61,217.9,219.9,12.9,620,6077,0.00,2.25,0.00,0.000,6,0.000,0.052,3052,2268,2136,0,0,0,0,0,0
$GC,6398,0.61,217.9,181.0,11.6,650,6402,0.00,2.22,0.00,0.000,4,0.000,0.065,3062,866,2136,0,0,0,0,0,0
$GC,6408,0.61,217.9,179.6,12.0,650,6415,0.00,2.25,0.00,0.000,6,0.000,0.054,3062,2286,2135,0,0,0,0,0,0
$GC,6734,0.61,217.9,141.6,11.7,681,6738,0.00,2.22,0.00,0.000,4,0.000,0.067,3062,3686,2135,0,0,0,0,0,0
$GC,6797,0.59,217.9,133.7,12.4,686,6801,0.00,2.25,0.00,0.000,6,0.000,0.050,3072,2263,2135,0,0,0,0,0,0
$GC,7125,0.59,217.9,96.8,10.8,718,7132,0.00,2.33,0.00,0.000,4,0.000,0.065,3072,3694,2134,0,0,0,0,0,0
$GC,7138,0.59,217.9,95.1,10.9,720,7145,0.00,2.25,0.00,0.000,6,0.000,0.049,3082,2265,2135,0,0,0,0,0,0
$GC,7484,0.59,217.9,57.4,10.2,781,7491,0.00,2.33,0.00,0.000,4,0.000,0.066,3082,3697,2135,0,0,0,0,0,0
$GC,7521,0.56,217.9,53.5,11.5,787,7529,0.17,2.22,0.00,0.000,6,0.177,0.050,3046,2274,2135,0,0,0,0,0,0
$GC,7870,0.74,289.7,29.0,6.7,848,7918,0.17,2.30,40.05,0.946,4,0.087,0.066,3131,862,1846,0,0,0,0,0,0
$GC,7943,0.74,289.7,20.9,12.6,860,7950,0.00,2.30,0.00,0.000,6,0.000,0.056,3131,2278,1842,0,0,0,0,0,0
$FREEZE,8.53,-1.665,-1.832,2,1,0
$FREEZE,7.80,-1.664,-1.832,2,1,0
$STATE,8039,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8039,begin subsurface finish
$FINISH1,7.8,1.026808,34
$GC,8048,0.04,33.9,7.8,-14.2,877,8096,0.82,2.38,-40.28,0.000,4,0.165,0.084,2884,3686,2894,0,0,0,0,0,0
$FINISH2,5.5
$STATE,8097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8098,begin surface
$RAFOS_CLK,371
$RAFOS,6,1305406150,20.833334,20.819445,96,63,62,60,58,54,799,189,203,153,169,111
$RAFOS,5,1305405665,20.700001,20.684723,164,61,59,57,55,55,662,173,193,151,206,124
$RAFOS,4,1305405183,20.566668,20.550833,134,56,55,54,53,52,907,126,209,221,156,167
$RAFOS,3,1305404705,20.433332,20.418056,61,60,59,58,56,50,185,146,199,173,114,225
$RAFOS,2,1305404226,20.299999,20.285000,91,57,54,54,53,49,1066,216,166,197,124,143
$RAFOS,1,1305403750,20.166666,20.152779,59,57,57,55,53,52,204,174,156,194,138,184
$RAFOS,0,1305403269,20.033333,20.019167,61,60,54,54,52,51,192,206,162,178,127,93
$RAFOS_FIX,6705.788086,-5652.545898,140511,202024,4,121,2.40
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.1,16.1
$ALTIM_BOTTOM_PING,400.6,42.1
$24V_AH,22.1,81.762
$10V_AH,9.9,42.196
$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,16.700,89.850,353.150,0.000,0.000,59.398,57.970,774.434,5.750,0.000,12.766,2085.854,3984.848,511.406,2313.937,590.510,0.000,1336.743,0.000,1479.678,2520.000,10.691,0.000
$DEVICE_MAMPS,321.300,90.270,1152.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.703,658.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150416
$DATA_FILE_SIZE,33474,885
$CAP_FILE_SIZE,116262,0
$CFSIZE,260165632,213405696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,140511,203824,6705.788,-5652.546,0,4121.2,0,-37.5