version: 66.08
glider: 141
mission: 15
dive: 622
start: 5 15 111 0 1 20
data:
$ID,141
$MISSION,15
$DIVE,622
$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,24
$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,3.75
$_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,-146.0,0.0,0.0,0,32,0.00,0.00,-13.43,0.000,2,0.000,0.000,2885,3682,3224,0,0,0,0,0,0
$GC,35,-0.62,-146.0,5.1,-3.0,2,60,0.62,4.20,-14.73,0.000,4,0.113,0.062,2670,1082,3626,0,0,0,0,0,0
$GC,185,-0.57,-146.0,24.2,-14.7,28,192,0.00,2.28,0.00,0.000,6,0.000,0.063,2669,2487,3627,0,0,0,0,0,0
$GC,530,-0.49,-146.0,76.9,-15.5,89,536,0.12,0.00,0.00,0.000,6,0.223,0.000,2698,2487,3626,0,0,0,0,0,0
$GC,867,-0.49,-146.0,116.7,-11.7,137,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2487,3625,0,0,0,0,0,0
$GC,1188,-0.52,-146.0,151.4,-10.5,167,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2487,3623,0,0,0,0,0,0
$GC,1515,-0.56,-146.0,183.7,-9.4,198,1519,0.00,2.33,0.00,0.000,4,0.000,0.080,2698,3900,3622,0,0,0,0,0,0
$GC,1544,-0.61,-146.0,186.4,-9.1,200,1548,0.00,2.22,0.00,0.000,6,0.000,0.050,2698,2479,3622,0,0,0,0,0,0
$GC,1871,-0.65,-146.0,216.3,-9.1,230,1876,0.15,2.25,0.00,0.000,4,0.121,0.066,2648,1084,3622,0,0,0,0,0,0
$GC,1916,-0.60,-146.0,221.9,-12.5,234,1920,0.00,2.28,0.00,0.000,6,0.000,0.064,2648,2494,3622,0,0,0,0,0,0
$GC,2243,-0.53,-146.0,264.5,-12.9,264,2244,0.15,0.00,0.00,0.000,6,0.210,0.000,2685,2495,3621,0,0,0,0,0,0
$GC,2560,-0.56,-146.0,295.5,-9.1,294,2564,0.00,2.30,0.00,0.000,4,0.000,0.077,2685,3899,3621,0,0,0,0,0,0
$GC,2583,-0.60,-146.0,297.6,-9.1,295,2590,0.00,2.20,0.00,0.000,6,0.000,0.047,2685,2482,3621,0,0,0,0,0,0
$GC,2909,-0.64,-146.0,325.6,-8.5,326,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2482,3621,0,0,0,0,0,0
$GC,3231,-0.67,-146.0,353.8,-8.8,356,3236,0.12,2.22,0.00,0.000,4,0.129,0.061,2643,1083,3623,0,0,0,0,0,0
$GC,3258,-0.63,-146.0,357.2,-11.3,358,3265,0.00,2.28,0.00,0.000,6,0.000,0.060,2643,2488,3623,0,0,0,0,0,0
$GC,3584,-0.56,-146.0,398.3,-12.7,389,3586,0.15,0.00,0.00,0.000,6,0.207,0.000,2679,2488,3623,0,0,0,0,0,0
$GC,3904,-0.58,-146.0,429.2,-9.9,419,3908,0.00,2.33,0.00,0.000,4,0.000,0.074,2679,3906,3623,0,0,0,0,0,0
$GC,3916,-0.61,-146.0,430.5,-9.7,420,3920,0.00,2.20,0.00,0.000,6,0.000,0.045,2679,2481,3622,0,0,0,0,0,0
$STATE,4144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4144,begin apogee
$GC,4153,-0.12,0.0,451.3,8.8,441,4284,0.45,0.00,121.05,1.166,6,0.176,0.000,2812,2254,3030,0,0,0,0,0,0
$STATE,4285,end apogee,CONTROL_FINISHED_OK
$STATE,4285,begin climb
$GC,4288,0.62,146.0,456.6,0.0,453,4425,0.77,2.50,125.78,1.121,4,0.130,0.067,3062,888,2433,0,0,0,0,0,0
$GC,4563,0.59,146.0,433.4,11.0,477,4570,0.00,2.33,0.00,0.000,6,0.000,0.056,3063,2285,2429,0,0,0,0,0,0
$GC,4889,0.53,146.0,396.2,11.6,508,4893,0.00,2.28,0.00,0.000,4,0.000,0.070,3063,3697,2428,0,0,0,0,0,0
$GC,5008,0.42,146.0,380.2,14.0,518,5013,0.25,2.22,0.00,0.000,6,0.180,0.051,3006,2282,2428,0,0,0,0,0,0
$GC,5334,0.54,203.2,354.1,7.4,548,5390,0.00,2.33,48.62,1.067,4,0.000,0.067,3014,872,2201,0,0,0,0,0,0
$GC,5444,0.72,256.4,345.7,7.5,557,5498,0.22,2.28,47.75,1.043,6,0.079,0.057,3111,2286,1984,0,0,0,0,0,0
$GC,5825,0.60,256.4,278.8,18.5,593,5829,0.20,2.25,0.00,0.000,4,0.181,0.066,3057,3686,1974,0,0,0,0,0,0
$GC,5932,0.60,256.4,262.3,14.3,602,5936,0.00,2.22,0.00,0.000,6,0.000,0.053,3066,2275,1972,0,0,0,0,0,0
$GC,6262,0.60,256.4,217.0,13.6,633,6266,0.00,2.28,0.00,0.000,4,0.000,0.067,3077,859,1971,0,0,0,0,0,0
$GC,6337,0.64,256.4,207.3,12.7,639,6341,0.00,2.22,0.00,0.000,6,0.000,0.054,3077,2277,1969,0,0,0,0,0,0
$GC,6662,0.62,256.4,163.1,13.6,669,6666,0.00,2.25,0.00,0.000,4,0.000,0.067,3077,3681,1969,0,0,0,0,0,0
$GC,6735,0.58,256.4,152.5,13.5,675,6742,0.12,2.20,0.00,0.000,6,0.190,0.052,3056,2275,1969,0,0,0,0,0,0
$GC,7061,0.63,256.4,115.6,10.8,706,7065,0.00,2.28,0.00,0.000,4,0.000,0.067,3061,859,1969,0,0,0,0,0,0
$GC,7135,0.72,256.4,108.1,10.7,712,7140,0.10,2.25,0.00,0.000,6,0.117,0.053,3108,2279,1968,0,0,0,0,0,0
$GC,7475,0.72,256.4,61.6,11.6,767,7482,0.00,2.28,0.00,0.000,4,0.000,0.067,3108,3693,1968,0,0,0,0,0,0
$GC,7523,0.67,256.4,55.2,14.5,775,7531,0.15,2.22,0.00,0.000,6,0.180,0.051,3080,2272,1968,0,0,0,0,0,0
$GC,7871,0.75,274.1,23.0,9.2,836,7885,0.00,2.35,8.23,0.843,4,0.000,0.070,3084,864,1911,0,0,0,0,0,0
$GC,7950,0.87,301.7,15.9,8.7,849,7970,0.17,2.25,14.45,0.859,6,0.090,0.054,3155,2276,1800,0,0,0,0,0,0
$FREEZE,8.27,-1.719,-1.832,2,3,0
$FREEZE,7.32,-1.719,-1.832,2,3,0
$FREEZE,6.38,-1.723,-1.831,2,3,0
$FREEZE,5.65,-1.736,-1.830,2,3,0
$STATE,8022,end climb,FINISH_DEPTH_REACHED
$STATE,8022,begin subsurface finish
$FINISH1,5.6,1.026810,34
$GC,8029,0.04,33.8,5.6,-17.1,861,8106,0.95,2.35,-65.38,0.000,4,0.184,0.083,2883,3682,2894,0,0,0,0,0,0
$FINISH2,2.6
$STATE,8107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8108,begin surface
$RAFOS_CLK,426
$RAFOS,6,1305420544,0.833333,0.817778,130,66,62,60,56,55,834,205,186,150,123,220
$RAFOS,5,1305420067,0.700000,0.685278,116,62,60,57,52,51,648,205,187,174,164,146
$RAFOS,4,1305419583,0.566667,0.550833,103,65,56,55,51,50,902,193,217,204,179,130
$RAFOS,3,1305419106,0.433333,0.418333,61,55,55,53,52,51,199,146,215,178,190,164
$RAFOS,2,1305418629,0.300000,0.285833,72,61,60,56,56,55,1044,181,206,231,145,113
$RAFOS,1,1305418145,0.166667,0.151389,71,67,65,63,62,61,180,1054,157,191,201,115
$RAFOS,0,1305417702,0.033333,0.028333,59,56,55,53,51,49,193,167,206,140,182,1756
$RAFOS_FIX,6706.920410,-5654.187012,150511,000020,4,105,0.17
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,45.78
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,400.7,65.1
$24V_AH,22.1,81.987
$10V_AH,9.9,42.304
$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,4.725,72.725,365.875,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,2085.159,4069.955,423.281,1424.674,174.609,0.000,1206.477,0.000,1417.060,2520.000,10.758,0.000
$DEVICE_MAMPS,222.615,83.385,1165.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.920,655.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33445,874
$CAP_FILE_SIZE,96744,0
$CFSIZE,260165632,213319680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,150511,003720,6706.920,-5654.187,0,4105.2,0,-37.5