version: 66.08
glider: 141
mission: 15
dive: 629
start: 5 15 111 16 57 21
data:
$ID,141
$MISSION,15
$DIVE,629
$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,-48071.676
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,150511,143250,6704.066,-5644.688,12,1.7,12,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,8.9
$GPS2,150511,143250,6704.066,-5644.688,12,1.7,12,-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,268.0,3101,-17.5,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,109,0.00,0.40,-88.35,0.000,6,0.000,0.147,3082,2495,3626,0,0,0,0,0,0
$GC,114,-0.62,-146.0,4.6,-6.4,16,120,1.30,0.00,0.00,0.000,6,0.142,0.000,2673,2495,3626,0,0,0,0,0,0
$GC,460,-0.54,-146.0,54.3,-15.5,77,466,0.00,2.28,0.00,0.000,4,0.000,0.064,2672,1080,3626,0,0,0,0,0,0
$GC,530,-0.52,-146.0,64.7,-14.1,89,537,0.00,2.30,0.00,0.000,6,0.000,0.063,2673,2493,3626,0,0,0,0,0,0
$GC,877,-0.45,-146.0,114.2,-14.2,142,882,0.15,2.38,0.00,0.000,4,0.220,0.080,2708,3907,3625,0,0,0,0,0,0
$GC,946,-0.53,-146.0,122.2,-10.4,147,952,0.00,2.25,0.00,0.000,6,0.000,0.050,2709,2480,3625,0,0,0,0,0,0
$GC,1272,-0.59,-146.0,153.7,-8.7,178,1277,0.12,2.25,0.00,0.000,4,0.131,0.067,2666,1082,3623,0,0,0,0,0,0
$GC,1305,-0.57,-146.0,157.7,-11.7,180,1312,0.00,2.28,0.00,0.000,6,0.000,0.066,2666,2488,3622,0,0,0,0,0,0
$GC,1633,-0.53,-146.0,198.6,-12.0,211,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2488,3621,0,0,0,0,0,0
$GC,1961,-0.49,-146.0,237.4,-11.9,242,1966,0.15,2.38,0.00,0.000,4,0.207,0.079,2702,3904,3621,0,0,0,0,0,0
$GC,2006,-0.60,-146.0,242.0,-8.4,245,2013,0.00,2.22,0.00,0.000,6,0.000,0.049,2703,2479,3620,0,0,0,0,0,0
$GC,2332,-0.66,-146.0,268.3,-8.2,276,2334,0.15,0.00,0.00,0.000,6,0.117,0.000,2651,2479,3621,0,0,0,0,0,0
$GC,2649,-0.61,-146.0,307.0,-11.7,306,2653,0.00,2.22,0.00,0.000,4,0.000,0.062,2651,1079,3621,0,0,0,0,0,0
$GC,2696,-0.58,-146.0,312.7,-12.4,310,2700,0.00,2.28,0.00,0.000,6,0.000,0.061,2651,2501,3622,0,0,0,0,0,0
$GC,3021,-0.52,-146.0,352.1,-11.9,340,3026,0.15,2.30,0.00,0.000,4,0.208,0.075,2687,3899,3622,0,0,0,0,0,0
$GC,3062,-0.59,-146.0,356.3,-9.8,343,3066,0.00,2.20,0.00,0.000,6,0.000,0.046,2687,2489,3622,0,0,0,0,0,0
$GC,3389,-0.63,-146.0,386.3,-9.5,373,3393,0.00,2.22,0.00,0.000,4,0.000,0.060,2687,1084,3623,0,0,0,0,0,0
$GC,3441,-0.69,-146.0,391.2,-9.5,377,3446,0.15,2.28,0.00,0.000,6,0.116,0.060,2636,2496,3623,0,0,0,0,0,0
$GC,3767,-0.61,-146.0,429.8,-11.2,407,3771,0.00,2.30,0.00,0.000,4,0.000,0.075,2636,3899,3622,0,0,0,0,0,0
$GC,3818,-0.57,-146.0,435.7,-11.2,411,3823,0.15,2.20,0.00,0.000,6,0.197,0.046,2672,2489,3623,0,0,0,0,0,0
$GC,4144,-0.57,-146.0,465.3,-10.2,441,4148,0.00,2.20,0.00,0.000,4,0.000,0.059,2672,1083,3623,0,0,0,0,0,0
$GC,4174,-0.60,-146.0,468.1,-9.2,443,4178,0.00,2.25,0.00,0.000,6,0.000,0.059,2673,2496,3623,0,0,0,0,0,0
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4199,begin apogee
$GC,4206,-0.12,0.0,470.9,9.6,445,4338,0.50,0.00,121.50,1.176,6,0.183,0.000,2816,2266,3029,0,0,0,0,0,0
$STATE,4339,end apogee,CONTROL_FINISHED_OK
$STATE,4339,begin climb
$GC,4341,0.62,146.0,474.9,0.0,457,4478,0.77,2.53,126.30,1.131,4,0.133,0.067,3065,875,2432,0,0,0,0,0,0
$GC,4506,0.57,146.0,464.2,10.4,471,4513,0.00,2.45,0.00,0.000,6,0.000,0.053,3065,2282,2430,0,0,0,0,0,0
$GC,4832,0.50,146.0,426.9,11.0,502,4837,0.15,2.33,0.00,0.000,4,0.181,0.069,3027,3690,2428,0,0,0,0,0,0
$GC,4928,0.45,146.0,416.2,11.2,510,4933,0.00,2.25,0.00,0.000,6,0.000,0.051,3035,2278,2427,0,0,0,0,0,0
$GC,5254,0.45,146.0,383.2,10.3,540,5258,0.00,2.28,0.00,0.000,4,0.000,0.066,3035,3690,2427,0,0,0,0,0,0
$GC,5294,0.40,146.0,378.5,11.7,543,5302,0.20,2.22,0.00,0.000,6,0.184,0.054,2994,2274,2427,0,0,0,0,0,0
$GC,5620,0.53,193.1,353.2,7.8,574,5663,0.12,0.00,40.58,1.063,6,0.101,0.000,3055,2274,2242,0,0,0,0,0,0
$GC,5980,0.49,193.1,309.1,12.7,608,5982,0.12,0.00,0.00,0.000,6,0.182,0.000,3025,2275,2237,0,0,0,0,0,0
$GC,6299,0.55,213.5,278.1,9.1,638,6319,0.00,0.00,18.27,0.985,6,0.000,0.000,3025,2274,2159,0,0,0,0,0,0
$GC,6635,0.60,213.5,246.4,10.1,670,6639,0.00,2.28,0.00,0.000,4,0.000,0.065,3024,3691,2156,0,0,0,0,0,0
$GC,6665,0.64,213.5,243.0,11.5,672,6670,0.12,2.22,0.00,0.000,6,0.099,0.050,3086,2276,2156,0,0,0,0,0,0
$GC,6996,0.57,213.5,194.1,14.7,703,7000,0.15,2.28,0.00,0.000,4,0.186,0.065,3057,869,2155,0,0,0,0,0,0
$GC,7017,0.54,213.5,191.0,13.8,704,7024,0.00,2.25,0.00,0.000,6,0.000,0.062,3057,2280,2154,0,0,0,0,0,0
$GC,7342,0.54,213.5,150.4,12.1,735,7346,0.00,2.25,0.00,0.000,4,0.000,0.067,3057,3685,2155,0,0,0,0,0,0
$GC,7401,0.54,213.5,142.9,14.2,740,7405,0.00,2.22,0.00,0.000,6,0.000,0.050,3067,2272,2154,0,0,0,0,0,0
$GC,7726,0.54,213.5,104.5,10.9,770,7730,0.00,2.28,0.00,0.000,4,0.000,0.063,3067,3686,2154,0,0,0,0,0,0
$GC,7749,0.54,213.5,102.0,11.1,772,7753,0.15,2.22,0.00,0.000,6,0.172,0.048,3038,2269,2154,0,0,0,0,0,0
$GC,8094,0.68,251.3,74.4,8.3,830,8135,0.12,0.00,33.90,0.914,6,0.101,0.000,3097,2269,2004,0,0,0,0,0,0
$GC,8474,0.68,251.3,30.9,11.4,897,8481,0.00,2.25,0.00,0.000,4,0.000,0.067,3108,860,2000,0,0,0,0,0,0
$GC,8528,0.70,251.3,25.0,11.2,906,8535,0.00,2.25,0.00,0.000,6,0.000,0.054,3108,2275,1998,0,0,0,0,0,0
$FREEZE,8.65,-1.703,-1.833,2,2,0
$FREEZE,7.91,-1.696,-1.832,2,2,0
$FREEZE,7.30,-1.694,-1.832,2,2,0
$STATE,8684,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8684,begin subsurface finish
$FINISH1,7.3,1.026814,34
$GC,8691,0.04,33.6,7.3,-11.8,933,8733,0.73,2.30,-33.58,0.000,4,0.160,0.083,2887,3693,2896,0,0,0,0,0,0
$FINISH2,5.6
$STATE,8733,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8734,begin surface
$RAFOS_CLK,459
$RAFOS,6,1305478146,16.833334,16.818333,100,61,60,58,57,55,806,181,162,152,128,196
$RAFOS_FIX,6708.454590,-5658.881348,150511,161612,4,108,1.78
$IRIDIUM_FIX,6636.54,-5644.66,150511,141424
$TT8_MAMPS,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,27
$ALTIM_TOP_PING,20.0,17.5
$24V_AH,22.2,82.814
$10V_AH,9.9,42.703
$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,5.475,80.375,340.550,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,2207.771,4466.526,438.912,1497.682,197.408,0.000,1259.944,0.000,1489.807,0.000,12.573,0.000
$DEVICE_MAMPS,219.555,146.880,1175.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.607,703.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150572
$DATA_FILE_SIZE,36699,940
$CAP_FILE_SIZE,103011,0
$CFSIZE,260165632,212942848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150511,163512,6708.455,-5658.881,0,4107.8,0,-37.5