version: 66.08
glider: 141
mission: 15
dive: 621
start: 5 14 111 21 36 39
data:
$ID,141
$MISSION,15
$DIVE,621
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,140511,203824,6705.788,-5652.546,0,4121.2,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.61
$_SM_ANGLEo,0.5
$GPS2,140511,203824,6705.788,-5652.546,0,4121.2,0,-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,185.0,6118,-17.5,-10.000
$D_GRID,454
$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,-5.95,0.000,2,0.000,0.000,2884,3686,3105,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.9,-0.0,1,46,0.62,0.38,-14.20,0.000,4,0.110,0.174,2668,3900,3628,0,0,0,0,0,0
$GC,70,-0.54,-146.0,12.8,-10.4,8,77,0.00,2.20,0.00,0.000,6,0.000,0.049,2668,2484,3630,0,0,0,0,0,0
$GC,416,-0.46,-146.0,66.8,-15.3,69,423,0.17,2.28,0.00,0.000,4,0.210,0.063,2712,1075,3629,0,0,0,0,0,0
$GC,431,-0.38,-146.0,68.9,-14.3,71,438,0.00,2.28,0.00,0.000,6,0.000,0.063,2711,2488,3629,0,0,0,0,0,0
$GC,776,-0.42,-146.0,102.9,-8.3,129,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2488,3628,0,0,0,0,0,0
$GC,1096,-0.48,-146.0,130.7,-9.3,159,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2488,3626,0,0,0,0,0,0
$GC,1424,-0.54,-146.0,159.6,-8.3,190,1428,0.00,2.35,0.00,0.000,4,0.000,0.080,2712,3907,3625,0,0,0,0,0,0
$GC,1447,-0.62,-146.0,161.8,-8.6,192,1452,0.15,2.22,0.00,0.000,6,0.114,0.051,2661,2488,3625,0,0,0,0,0,0
$GC,1773,-0.56,-146.0,200.0,-12.0,222,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2488,3624,0,0,0,0,0,0
$GC,2095,-0.52,-146.0,236.5,-11.7,252,2100,0.12,2.30,0.00,0.000,4,0.207,0.063,2690,1073,3624,0,0,0,0,0,0
$GC,2159,-0.57,-146.0,243.3,-9.6,257,2163,0.00,2.28,0.00,0.000,6,0.000,0.063,2689,2489,3624,0,0,0,0,0,0
$GC,2486,-0.61,-146.0,273.4,-9.2,287,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2489,3624,0,0,0,0,0,0
$GC,2815,-0.65,-146.0,302.7,-9.0,318,2819,0.10,2.35,0.00,0.000,4,0.132,0.075,2654,3904,3624,0,0,0,0,0,0
$GC,2847,-0.62,-146.0,306.5,-11.1,320,2854,0.00,2.22,0.00,0.000,6,0.000,0.048,2654,2489,3624,0,0,0,0,0,0
$GC,3174,-0.57,-146.0,344.2,-11.4,351,3178,0.00,2.22,0.00,0.000,4,0.000,0.062,2654,1080,3625,0,0,0,0,0,0
$GC,3184,-0.52,-146.0,345.7,-11.2,351,3192,0.15,2.30,0.00,0.000,6,0.200,0.061,2689,2498,3625,0,0,0,0,0,0
$GC,3510,-0.56,-146.0,372.4,-8.2,382,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2498,3625,0,0,0,0,0,0
$GC,3832,-0.61,-146.0,398.5,-8.1,412,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2498,3625,0,0,0,0,0,0
$GC,4159,-0.66,-146.0,425.5,-7.9,443,4166,0.12,0.00,0.00,0.000,6,0.119,0.000,2643,2498,3626,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.12,0.0,454.8,10.8,467,4548,0.60,0.00,121.70,1.162,6,0.190,0.000,2810,2258,3029,0,0,0,0,0,0
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4551,0.62,146.0,457.5,0.0,479,4688,0.77,2.47,125.70,1.119,4,0.128,0.063,3058,870,2433,0,0,0,0,0,0
$GC,4891,0.62,146.0,440.2,10.2,509,4895,0.00,2.30,0.00,0.000,6,0.000,0.056,3058,2278,2429,0,0,0,0,0,0
$GC,5217,0.56,146.0,404.0,11.1,539,5221,0.00,2.28,0.00,0.000,4,0.000,0.070,3058,3690,2428,0,0,0,0,0,0
$GC,5382,0.46,146.0,382.0,14.0,553,5389,0.20,2.25,0.00,0.000,6,0.175,0.063,3015,2276,2428,0,0,0,0,0,0
$GC,5708,0.53,179.2,353.6,8.5,584,5744,0.00,2.30,28.35,1.052,4,0.000,0.067,3023,865,2299,0,0,0,0,0,0
$GC,5780,0.65,216.6,347.5,8.3,590,5824,0.15,2.28,33.62,1.045,6,0.093,0.054,3092,2280,2146,0,0,0,0,0,0
$GC,6142,0.56,216.6,291.7,15.4,624,6147,0.17,2.28,0.00,0.000,4,0.175,0.068,3045,3686,2141,0,0,0,0,0,0
$GC,6249,0.56,216.6,277.3,13.5,633,6253,0.00,2.22,0.00,0.000,6,0.000,0.053,3053,2276,2139,0,0,0,0,0,0
$GC,6581,0.56,216.6,237.4,11.8,664,6585,0.00,2.30,0.00,0.000,4,0.000,0.067,3064,860,2139,0,0,0,0,0,0
$GC,6632,0.59,216.6,231.5,11.7,668,6637,0.00,2.22,0.00,0.000,6,0.000,0.054,3064,2278,2137,0,0,0,0,0,0
$GC,6958,0.56,216.6,189.5,13.3,698,6962,0.00,2.25,0.00,0.000,4,0.000,0.069,3064,3689,2137,0,0,0,0,0,0
$GC,7070,0.52,216.6,172.9,14.4,707,7078,0.15,2.25,0.00,0.000,6,0.177,0.053,3035,2267,2137,0,0,0,0,0,0
$GC,7397,0.61,238.8,141.9,9.0,738,7423,0.00,2.30,19.12,0.927,4,0.000,0.068,3042,872,2055,0,0,0,0,0,0
$GC,7470,0.74,265.0,135.5,8.8,744,7501,0.17,2.22,24.30,0.932,6,0.089,0.053,3117,2281,1949,0,0,0,0,0,0
$GC,7826,0.67,265.0,80.6,15.4,788,7834,0.12,2.28,0.00,0.000,4,0.182,0.069,3086,3691,1944,0,0,0,0,0,0
$GC,7886,0.67,265.0,72.2,12.9,798,7892,0.00,2.25,0.00,0.000,6,0.000,0.052,3094,2270,1943,0,0,0,0,0,0
$GC,8231,0.70,265.0,31.8,11.5,859,8238,0.00,2.22,0.00,0.000,4,0.000,0.067,3103,869,1943,0,0,0,0,0,0
$GC,8274,0.74,265.0,27.3,10.6,866,8280,0.00,2.22,0.00,0.000,6,0.000,0.054,3104,2283,1942,0,0,0,0,0,0
$FREEZE,8.78,-1.730,-1.833,2,2,0
$FREEZE,8.19,-1.729,-1.832,2,2,0
$FREEZE,7.65,-1.729,-1.832,2,2,0
$FREEZE,7.14,-1.730,-1.831,2,2,0
$FREEZE,6.51,-1.729,-1.831,2,2,0
$FREEZE,5.96,-1.729,-1.831,2,2,0
$FREEZE,5.43,-1.729,-1.830,2,2,0
$FREEZE,4.96,-1.730,-1.830,2,2,0
$FREEZE,4.32,-1.729,-1.829,2,2,0
$FREEZE,3.84,-1.729,-1.829,2,2,0
$STATE,8490,end climb,FINISH_DEPTH_REACHED
$STATE,8490,begin subsurface finish
$FINISH1,3.8,1.026812,34
$GC,8497,0.04,33.7,3.8,-10.7,905,8567,0.70,2.28,-62.08,0.000,4,0.150,0.083,2885,3682,2893,0,0,0,0,0,0
$FINISH2,2.0
$STATE,8569,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8569,begin surface
$RAFOS_CLK,451
$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,45.78
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,22.2,81.872
$10V_AH,10.0,42.251
$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,4.500,68.925,352.800,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,2143.259,4390.172,417.341,1501.539,174.819,0.000,1230.436,0.000,1487.789,0.000,15.110,0.000
$DEVICE_MAMPS,209.610,173.655,1162.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.755,683.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,33420,917
$CAP_FILE_SIZE,98908,0
$CFSIZE,260165632,213364736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,140511,203824,6705.788,-5652.546,0,4121.2,0,-37.5