version: 66.08
glider: 141
mission: 15
dive: 609
start: 5 13 111 17 24 52
data:
$ID,141
$MISSION,15
$DIVE,609
$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,-48069.07
$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,29
$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
$GPS1,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.21
$_SM_ANGLEo,-4.1
$GPS2,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8
$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,162.0,20551,-17.5,-10.000
$D_GRID,586
$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,-5.78,0.000,2,0.000,0.000,2879,863,3041,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.4,-0.0,1,57,0.57,0.32,-22.12,0.000,4,0.085,0.143,2666,1081,3627,0,0,0,0,0,0
$GC,158,-0.54,-146.0,22.2,-14.9,23,165,0.00,2.22,0.00,0.000,6,0.000,0.060,2665,2487,3628,0,0,0,0,0,0
$GC,504,-0.45,-146.0,78.5,-15.5,84,511,0.20,0.00,0.00,0.000,6,0.213,0.000,2714,2487,3627,0,0,0,0,0,0
$GC,842,-0.48,-146.0,115.4,-9.7,131,846,0.00,2.33,0.00,0.000,4,0.000,0.078,2715,3906,3626,0,0,0,0,0,0
$GC,854,-0.52,-146.0,116.6,-9.7,131,860,0.00,2.22,0.00,0.000,6,0.000,0.047,2715,2479,3626,0,0,0,0,0,0
$GC,1180,-0.58,-146.0,146.5,-8.2,162,1181,0.12,0.00,0.00,0.000,6,0.126,0.000,2672,2479,3624,0,0,0,0,0,0
$GC,1497,-0.54,-146.0,185.0,-12.1,192,1501,0.00,2.22,0.00,0.000,4,0.000,0.065,2672,1075,3623,0,0,0,0,0,0
$GC,1527,-0.51,-146.0,188.7,-12.6,194,1531,0.00,2.28,0.00,0.000,6,0.000,0.063,2672,2496,3623,0,0,0,0,0,0
$GC,1852,-0.49,-146.0,226.1,-10.9,224,1854,0.12,0.00,0.00,0.000,6,0.216,0.000,2700,2496,3622,0,0,0,0,0,0
$GC,2172,-0.54,-146.0,252.4,-7.1,254,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2496,3622,0,0,0,0,0,0
$GC,2492,-0.61,-146.0,277.3,-8.4,284,2496,0.00,2.30,0.00,0.000,4,0.000,0.075,2701,3906,3622,0,0,0,0,0,0
$GC,2516,-0.68,-146.0,279.5,-8.0,285,2524,0.17,2.20,0.00,0.000,6,0.106,0.046,2641,2484,3621,0,0,0,0,0,0
$GC,2842,-0.60,-146.0,320.0,-12.3,316,2846,0.00,2.22,0.00,0.000,4,0.000,0.061,2641,1082,3622,0,0,0,0,0,0
$GC,2853,-0.52,-146.0,321.8,-12.6,316,2860,0.20,2.25,0.00,0.000,6,0.204,0.059,2689,2493,3622,0,0,0,0,0,0
$GC,3179,-0.56,-146.0,350.5,-8.6,347,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2493,3622,0,0,0,0,0,0
$GC,3501,-0.61,-146.0,377.3,-8.5,377,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2493,3623,0,0,0,0,0,0
$GC,3829,-0.65,-146.0,404.3,-8.3,408,3834,0.10,2.30,0.00,0.000,4,0.136,0.073,2654,3899,3624,0,0,0,0,0,0
$GC,3847,-0.65,-146.0,406.0,-8.5,409,3851,0.00,2.17,0.00,0.000,6,0.000,0.045,2654,2489,3623,0,0,0,0,0,0
$GC,4172,-0.61,-146.0,441.7,-11.3,439,4176,0.00,2.20,0.00,0.000,4,0.000,0.059,2653,1085,3624,0,0,0,0,0,0
$GC,4193,-0.56,-146.0,444.3,-11.1,440,4200,0.00,2.28,0.00,0.000,6,0.000,0.060,2653,2489,3624,0,0,0,0,0,0
$STATE,4445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4445,begin apogee
$GC,4451,-0.12,0.0,471.3,10.8,464,4583,0.55,0.00,120.88,1.177,6,0.183,0.000,2811,2259,3031,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4587,0.62,146.0,475.4,0.0,476,4723,0.77,2.45,126.72,1.132,4,0.131,0.065,3061,884,2432,0,0,0,0,0,0
$GC,4759,0.58,146.0,463.0,11.2,491,4763,0.00,2.40,0.00,0.000,6,0.000,0.052,3061,2275,2429,0,0,0,0,0,0
$GC,5086,0.53,146.0,426.1,11.1,521,5090,0.00,2.30,0.00,0.000,4,0.000,0.068,3061,3684,2427,0,0,0,0,0,0
$GC,5242,0.42,146.0,406.0,13.9,534,5247,0.25,2.22,0.00,0.000,6,0.177,0.051,3004,2284,2427,0,0,0,0,0,0
$GC,5568,0.53,191.4,379.4,7.9,564,5613,0.00,2.38,38.50,1.076,4,0.000,0.066,3012,870,2248,0,0,0,0,0,0
$GC,5666,0.66,220.9,371.4,8.6,572,5699,0.17,2.28,26.90,1.045,6,0.087,0.056,3089,2280,2128,0,0,0,0,0,0
$GC,6019,0.58,220.9,317.9,15.7,605,6024,0.15,2.30,0.00,0.000,4,0.177,0.067,3049,3693,2123,0,0,0,0,0,0
$GC,6137,0.58,220.9,300.8,14.0,615,6142,0.00,2.22,0.00,0.000,6,0.000,0.050,3057,2275,2121,0,0,0,0,0,0
$GC,6468,0.58,220.9,256.7,13.1,646,6472,0.00,2.22,0.00,0.000,4,0.000,0.064,3069,864,2121,0,0,0,0,0,0
$GC,6513,0.60,220.9,250.8,12.3,649,6519,0.00,2.22,0.00,0.000,6,0.000,0.053,3069,2276,2119,0,0,0,0,0,0
$GC,6839,0.57,220.9,208.1,13.2,680,6843,0.00,2.25,0.00,0.000,4,0.000,0.067,3068,3683,2119,0,0,0,0,0,0
$GC,6959,0.52,220.9,191.6,13.4,690,6963,0.17,2.22,0.00,0.000,6,0.181,0.050,3032,2263,2119,0,0,0,0,0,0
$GC,7289,0.59,229.1,159.0,9.6,721,7302,0.00,2.33,6.97,0.808,4,0.000,0.063,3041,854,2095,0,0,0,0,0,0
$GC,7354,0.68,231.0,152.8,9.9,726,7362,0.12,2.28,0.00,0.000,6,0.108,0.061,3098,2280,2093,0,0,0,0,0,0
$GC,7680,0.62,231.0,107.5,14.3,757,7685,0.12,2.25,0.00,0.000,4,0.183,0.065,3066,3683,2093,0,0,0,0,0,0
$GC,7760,0.62,231.0,97.4,12.3,765,7767,0.00,2.20,0.00,0.000,6,0.000,0.049,3075,2270,2094,0,0,0,0,0,0
$GC,8106,0.66,233.9,61.3,9.9,826,8119,0.00,2.25,5.82,0.728,4,0.000,0.061,3084,868,2076,0,0,0,0,0,0
$GC,8154,0.70,233.9,56.4,10.1,834,8161,0.00,2.20,0.00,0.000,6,0.000,0.051,3084,2278,2075,0,0,0,0,0,0
$GC,8500,0.71,237.9,23.9,9.8,895,8508,0.00,2.33,2.17,0.271,4,0.000,0.067,3084,3683,2060,0,0,0,0,0,0
$GC,8578,0.76,283.6,15.6,7.9,908,8609,0.00,2.20,24.08,0.878,6,0.000,0.050,3094,2273,1872,0,0,0,0,0,0
$FREEZE,8.69,-1.755,-1.833,2,4,0
$STATE,8637,end climb,FINISH_DEPTH_REACHED
$STATE,8637,begin subsurface finish
$FINISH1,8.7,1.026820,33
$GC,8645,0.04,33.3,8.7,-11.4,918,8687,0.70,2.25,-34.08,0.000,4,0.158,0.074,2882,867,2897,0,0,0,0,0,0
$FINISH2,7.1
$STATE,8688,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8688,begin surface
$RAFOS_CLK,451
$RAFOS_FIX,6709.231934,-5711.547363,130511,161628,4,121,0.42
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.3,16.6
$ALTIM_BOTTOM_PING,450.7,34.7
$24V_AH,22.2,80.553
$10V_AH,10.0,41.601
$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,4.525,77.625,352.050,0.000,0.000,0.000,0.000,0.000,8.750,0.000,0.000,2176.990,4484.131,401.462,1504.172,178.033,0.000,1211.107,0.000,1487.064,0.000,12.436,0.000
$DEVICE_MAMPS,216.495,143.055,1177.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.687,688.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,36778,925
$CAP_FILE_SIZE,100403,0
$CFSIZE,260165632,213979136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,130511,163928,6709.232,-5711.547,0,4121.2,0,-37.8