version: 66.08
glider: 141
mission: 15
dive: 692
start: 5 26 111 2 42 2
data:
$ID,141
$MISSION,15
$DIVE,692
$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,-2
$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,559.0387
$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,-50476.18
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,260511,002453,6652.188,-5958.187,0,6129.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.56
$_SM_ANGLEo,-3.0
$GPS2,260511,002453,6652.188,-5958.187,0,6129.8,0,-37.6
$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,119.3,138795,-17.5,-10.000
$D_GRID,775
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2902,3688,2962,0,0,0,0,0,0
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$GC,2759,-0.59,-146.0,337.1,-8.5,291,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2490,3629,0,0,0,0,0,0
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$GC,3725,-0.55,-146.0,442.7,-9.7,382,3729,0.00,2.47,0.00,0.000,4,0.000,0.090,2682,3907,3630,0,0,0,0,0,0
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$GC,6923,-0.55,-146.0,745.8,-8.7,582,6927,0.00,2.35,0.00,0.000,4,0.000,0.077,2682,1076,3632,0,0,0,0,0,0
$GC,6944,-0.55,-146.0,748.0,-9.3,582,6951,0.00,2.35,0.00,0.000,6,0.000,0.075,2682,2491,3632,0,0,0,0,0,0
$GC,7258,-0.57,-146.0,774.5,-8.3,593,7262,0.00,2.10,0.00,0.000,3,0.000,0.090,2682,3723,3631,0,0,0,0,0,0
$STATE,7263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7263,begin apogee
$GC,7272,-0.12,0.0,775.0,8.3,593,7408,0.45,0.00,130.73,1.421,6,0.187,0.000,2810,2266,3030,0,0,0,0,0,0
$STATE,7409,end apogee,CONTROL_FINISHED_OK
$STATE,7409,begin climb
$GC,7412,0.62,146.0,779.8,0.0,597,7561,0.85,2.88,139.50,1.366,4,0.145,0.081,3054,3687,2433,0,0,0,0,0,0
$GC,7708,0.52,146.0,752.9,12.7,606,7713,0.12,2.53,0.00,0.000,6,0.188,0.068,3038,2269,2428,0,0,0,0,0,0
$GC,8022,0.53,153.7,722.0,9.6,616,8036,0.00,2.50,7.07,1.055,4,0.000,0.083,3038,3694,2403,0,0,0,0,0,0
$GC,8176,0.48,153.7,704.3,11.9,620,8181,0.00,2.38,0.00,0.000,6,0.000,0.069,3046,2267,2401,0,0,0,0,0,0
$GC,8490,0.46,153.7,672.1,10.2,630,8494,0.12,2.38,0.00,0.000,4,0.188,0.084,3024,864,2401,0,0,0,0,0,0
$GC,8545,0.56,194.4,667.0,8.1,631,8589,0.00,2.33,37.53,1.300,6,0.000,0.070,3024,2278,2236,0,0,0,0,0,0
$GC,8899,0.66,227.6,637.1,8.5,643,8936,0.15,2.40,31.25,1.270,4,0.096,0.084,3090,3687,2101,0,0,0,0,0,0
$GC,8999,0.57,227.6,623.5,15.7,646,9004,0.20,2.35,0.00,0.000,6,0.199,0.070,3051,2274,2099,0,0,0,0,0,0
$GC,9322,0.57,227.6,586.1,10.9,663,9326,0.00,2.35,0.00,0.000,4,0.000,0.084,3059,860,2095,0,0,0,0,0,0
$GC,9385,0.61,227.6,578.9,10.5,668,9389,0.00,2.33,0.00,0.000,6,0.000,0.070,3059,2277,2092,0,0,0,0,0,0
$GC,9710,0.61,227.6,542.0,11.4,698,9714,0.00,2.35,0.00,0.000,4,0.000,0.085,3059,3693,2093,0,0,0,0,0,0
$GC,9754,0.59,227.6,536.4,12.5,701,9761,0.00,2.35,0.00,0.000,6,0.000,0.068,3070,2268,2092,0,0,0,0,0,0
$GC,10080,0.56,227.6,497.4,12.2,732,10084,0.00,2.33,0.00,0.000,4,0.000,0.084,3080,865,2092,0,0,0,0,0,0
$GC,10135,0.56,227.6,490.6,11.1,736,10142,0.12,2.35,0.00,0.000,6,0.177,0.070,3049,2285,2092,0,0,0,0,0,0
$GC,10461,0.58,227.6,457.5,10.8,767,10465,0.00,2.38,0.00,0.000,4,0.000,0.086,3049,3696,2092,0,0,0,0,0,0
$GC,10518,0.58,227.6,450.5,12.1,772,10522,0.00,2.35,0.00,0.000,6,0.000,0.068,3057,2270,2092,0,0,0,0,0,0
$GC,10843,0.58,227.6,414.3,11.0,802,10847,0.00,2.38,0.00,0.000,4,0.000,0.083,3068,857,2091,0,0,0,0,0,0
$GC,10904,0.61,227.6,407.4,11.3,807,10911,0.00,2.35,0.00,0.000,6,0.000,0.070,3068,2276,2090,0,0,0,0,0,0
$GC,11229,0.61,227.6,370.5,11.2,838,11233,0.00,2.35,0.00,0.000,4,0.000,0.084,3068,3687,2090,0,0,0,0,0,0
$GC,11291,0.58,227.6,362.7,13.3,843,11295,0.00,2.33,0.00,0.000,6,0.000,0.068,3078,2272,2091,0,0,0,0,0,0
$GC,11622,0.58,227.6,321.9,12.2,874,11626,0.00,2.35,0.00,0.000,4,0.000,0.083,3089,860,2091,0,0,0,0,0,0
$GC,11700,0.58,227.6,312.0,12.5,880,11708,0.15,2.33,0.00,0.000,6,0.177,0.069,3051,2280,2090,0,0,0,0,0,0
$GC,12026,0.65,242.9,279.7,9.3,911,12049,0.00,2.45,13.20,1.041,4,0.000,0.084,3050,3695,2039,0,0,0,0,0,0
$GC,12078,0.67,242.9,274.5,10.4,915,12085,0.00,2.35,0.00,0.000,6,0.000,0.068,3059,2267,2038,0,0,0,0,0,0
$GC,12404,0.75,270.6,244.3,8.7,946,12439,0.12,2.38,27.25,1.067,4,0.106,0.083,3127,862,1925,0,0,0,0,0,0
$GC,12508,0.72,270.6,231.3,12.5,955,12513,0.12,2.35,0.00,0.000,6,0.201,0.069,3098,2275,1922,0,0,0,0,0,0
$GC,12834,0.72,270.6,194.7,11.4,985,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2275,1920,0,0,0,0,0,0
$GC,13157,0.72,270.6,157.6,11.6,1015,13161,0.00,2.42,0.00,0.000,4,0.000,0.083,3107,857,1920,0,0,0,0,0,0
$GC,13197,0.75,270.6,152.5,11.3,1018,13201,0.00,2.35,0.00,0.000,6,0.000,0.071,3106,2286,1919,0,0,0,0,0,0
$GC,13522,0.76,277.7,118.8,9.7,1048,13535,0.00,2.35,6.45,0.855,4,0.000,0.084,3107,3690,1899,0,0,0,0,0,0
$GC,13570,0.76,277.7,113.4,11.8,1052,13575,0.00,2.35,0.00,0.000,6,0.000,0.070,3116,2268,1899,0,0,0,0,0,0
$GC,13908,0.79,277.7,73.9,11.7,1101,13915,0.00,2.35,0.00,0.000,4,0.000,0.085,3125,864,1898,0,0,0,0,0,0
$GC,14014,0.85,296.0,62.9,9.2,1119,14039,0.00,2.35,18.88,0.986,6,0.000,0.071,3125,2277,1823,0,0,0,0,0,0
$GC,14380,0.89,296.0,29.3,10.5,1183,14387,0.00,2.38,0.00,0.000,4,0.000,0.087,3124,3695,1819,0,0,0,0,0,0
$GC,14422,0.89,296.0,24.3,12.0,1190,14429,0.00,2.38,0.00,0.000,6,0.000,0.070,3135,2264,1818,0,0,0,0,0,0
$FREEZE,8.53,-1.743,-1.773,2,55,1
$FREEZE,7.93,-1.743,-1.772,2,55,1
$FREEZE,7.41,-1.743,-1.772,2,55,1
$FREEZE,6.74,-1.743,-1.772,2,55,1
$STATE,14590,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14590,begin subsurface finish
$FINISH1,6.7,1.025963,75
$GC,14598,0.09,75.4,6.7,-10.6,1220,14653,0.77,2.40,-45.25,0.000,4,0.163,0.094,2901,856,2724,0,0,0,0,0,0
$FINISH2,5.1
$STATE,14653,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14653,begin surface
$RAFOS_CLK,797
$RAFOS,6,1306385343,4.833333,4.817500,95,57,57,53,53,53,735,218,207,123,153,187
$RAFOS,5,1306384885,4.700000,4.690278,62,61,56,54,47,44,181,151,212,196,134,227
$RAFOS,4,1306384396,4.566667,4.554444,112,54,53,53,51,50,598,162,200,146,222,190
$RAFOS,3,1306383906,4.433333,4.418334,83,71,63,61,54,53,784,168,209,192,145,130
$RAFOS,2,1306383447,4.300000,4.290833,105,64,58,57,56,50,564,203,141,179,216,117
$RAFOS,1,1306382943,4.166667,4.150833,113,62,58,56,55,49,582,206,222,158,130,184
$RAFOS,0,1306382461,4.033333,4.016944,151,60,58,56,54,49,701,174,199,147,214,119
$RAFOS_FIX,6652.577148,-5954.542969,260511,040432,6,110,0.19
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,20.8,92.564
$10V_AH,9.8,47.744
$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,4.700,133.600,411.850,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,3082.115,8765.636,481.454,2108.429,290.999,0.000,1619.797,0.000,2085.222,2520.000,20.289,0.000
$DEVICE_MAMPS,226.440,184.365,1421.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.687,940.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,46687,1229
$CAP_FILE_SIZE,150449,0
$CFSIZE,260165632,208158720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,260511,042432,6652.577,-5954.543,0,6109.8,0,-37.6