version: 66.08
glider: 141
mission: 15
dive: 614
start: 5 14 111 5 21 54
data:
$ID,141
$MISSION,15
$DIVE,614
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.35
$_SM_ANGLEo,-3.1
$GPS2,140511,043355,6707.438,-5701.776,0,5108.4,0,-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,167.4,12903,-17.5,-10.000
$D_GRID,502
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.43,0.000,2,0.000,0.000,2880,865,3173,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.1,-0.0,1,48,0.57,5.00,-10.30,0.000,4,0.096,0.073,2671,3896,3629,0,0,0,0,0,0
$GC,258,-0.58,-146.0,42.3,-14.2,41,265,0.00,2.17,0.00,0.000,6,0.000,0.047,2671,2486,3629,0,0,0,0,0,0
$GC,604,-0.50,-146.0,97.1,-15.3,102,611,0.12,2.22,0.00,0.000,4,0.220,0.063,2699,1086,3629,0,0,0,0,0,0
$GC,619,-0.42,-146.0,99.7,-15.1,104,626,0.00,2.25,0.00,0.000,6,0.000,0.060,2699,2496,3628,0,0,0,0,0,0
$GC,945,-0.42,-146.0,133.3,-9.2,135,949,0.00,2.30,0.00,0.000,4,0.000,0.079,2699,3903,3627,0,0,0,0,0,0
$GC,962,-0.42,-146.0,134.9,-8.9,136,966,0.00,2.20,0.00,0.000,6,0.000,0.048,2699,2488,3627,0,0,0,0,0,0
$GC,1289,-0.46,-146.0,163.7,-9.1,166,1293,0.00,2.22,0.00,0.000,4,0.000,0.064,2699,1082,3626,0,0,0,0,0,0
$GC,1301,-0.48,-146.0,165.0,-9.2,166,1307,0.00,2.28,0.00,0.000,6,0.000,0.061,2699,2490,3625,0,0,0,0,0,0
$GC,1627,-0.53,-146.0,193.1,-8.6,197,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2491,3624,0,0,0,0,0,0
$GC,1948,-0.57,-146.0,221.9,-9.0,227,1952,0.00,2.25,0.00,0.000,4,0.000,0.062,2699,1085,3623,0,0,0,0,0,0
$GC,1978,-0.63,-146.0,224.8,-9.5,229,1982,0.12,2.28,0.00,0.000,6,0.125,0.061,2656,2493,3623,0,0,0,0,0,0
$GC,2303,-0.58,-146.0,262.8,-11.7,259,2307,0.00,2.30,0.00,0.000,4,0.000,0.076,2656,3905,3623,0,0,0,0,0,0
$GC,2321,-0.53,-146.0,265.0,-11.9,260,2326,0.15,2.20,0.00,0.000,6,0.192,0.046,2692,2484,3623,0,0,0,0,0,0
$GC,2647,-0.57,-146.0,293.0,-7.8,290,2652,0.00,2.20,0.00,0.000,4,0.000,0.060,2692,1079,3624,0,0,0,0,0,0
$GC,2659,-0.61,-146.0,294.0,-7.7,290,2665,0.00,2.28,0.00,0.000,6,0.000,0.066,2692,2499,3623,0,0,0,0,0,0
$GC,2985,-0.65,-146.0,318.7,-7.6,321,2987,0.12,0.00,0.00,0.000,6,0.119,0.000,2646,2499,3624,0,0,0,0,0,0
$GC,3304,-0.58,-146.0,354.3,-11.8,351,3308,0.12,2.30,0.00,0.000,4,0.203,0.073,2674,3906,3624,0,0,0,0,0,0
$GC,3322,-0.53,-146.0,356.5,-11.7,352,3326,0.00,2.20,0.00,0.000,6,0.000,0.044,2675,2475,3625,0,0,0,0,0,0
$GC,3648,-0.53,-146.0,386.5,-8.7,382,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2474,3625,0,0,0,0,0,0
$GC,3966,-0.53,-146.0,414.9,-8.7,412,3969,0.00,2.17,0.00,0.000,4,0.000,0.057,2674,1083,3626,0,0,0,0,0,0
$GC,3978,-0.53,-146.0,416.0,-8.7,413,3982,0.00,2.22,0.00,0.000,6,0.000,0.056,2675,2492,3626,0,0,0,0,0,0
$GC,4304,-0.53,-146.0,444.0,-8.9,443,4308,0.00,2.28,0.00,0.000,4,0.000,0.071,2674,3899,3626,0,0,0,0,0,0
$GC,4314,-0.53,-146.0,445.1,-8.7,443,4321,0.00,2.17,0.00,0.000,6,0.000,0.041,2674,2486,3626,0,0,0,0,0,0
$STATE,4414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4414,begin apogee
$GC,4421,-0.12,0.0,454.1,8.9,453,4553,0.47,0.00,121.03,1.161,6,0.182,0.000,2813,2252,3029,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4557,0.62,146.0,457.6,0.0,465,4693,0.77,2.47,125.62,1.116,4,0.129,0.066,3065,896,2433,0,0,0,0,0,0
$GC,4734,0.58,146.0,444.7,11.1,481,4739,0.00,2.38,0.00,0.000,6,0.000,0.051,3064,2282,2429,0,0,0,0,0,0
$GC,5066,0.52,146.0,405.7,12.0,512,5070,0.00,2.30,0.00,0.000,4,0.000,0.067,3063,3696,2427,0,0,0,0,0,0
$GC,5215,0.41,146.0,385.3,13.8,524,5223,0.28,2.20,0.00,0.000,6,0.177,0.050,2999,2295,2427,0,0,0,0,0,0
$GC,5541,0.55,205.0,360.0,7.3,555,5597,0.12,2.42,49.95,1.066,4,0.099,0.065,3072,860,2193,0,0,0,0,0,0
$GC,5637,0.55,205.0,349.1,11.8,563,5644,0.00,2.30,0.00,0.000,6,0.000,0.051,3072,2288,2190,0,0,0,0,0,0
$GC,5963,0.50,205.0,303.5,14.3,594,5968,0.17,2.25,0.00,0.000,4,0.174,0.065,3024,3691,2187,0,0,0,0,0,0
$GC,6064,0.52,205.0,291.2,11.8,602,6071,0.00,2.25,0.00,0.000,6,0.000,0.049,3032,2265,2186,0,0,0,0,0,0
$GC,6391,0.55,205.2,257.8,10.0,633,6395,0.00,2.20,0.00,0.000,4,0.000,0.063,3042,867,2186,0,0,0,0,0,0
$GC,6447,0.61,209.4,252.1,9.8,637,6457,0.00,2.22,4.25,0.652,6,0.000,0.050,3042,2289,2175,0,0,0,0,0,0
$GC,6784,0.61,209.4,215.3,11.1,669,6788,0.00,2.20,0.00,0.000,4,0.000,0.063,3042,3684,2175,0,0,0,0,0,0
$GC,6884,0.61,209.4,202.2,12.9,677,6891,0.00,2.22,0.00,0.000,6,0.000,0.054,3052,2273,2174,0,0,0,0,0,0
$GC,7210,0.61,209.4,164.3,11.0,708,7214,0.00,2.22,0.00,0.000,4,0.000,0.062,3061,860,2174,0,0,0,0,0,0
$GC,7272,0.65,209.4,157.7,10.2,713,7277,0.00,2.20,0.00,0.000,6,0.000,0.049,3061,2278,2173,0,0,0,0,0,0
$GC,7598,0.65,209.4,123.5,10.1,743,7602,0.00,2.25,0.00,0.000,4,0.000,0.064,3061,3688,2173,0,0,0,0,0,0
$GC,7694,0.63,209.4,112.4,12.8,751,7698,0.00,2.20,0.00,0.000,6,0.000,0.048,3072,2272,2173,0,0,0,0,0,0
$GC,8031,0.67,242.0,79.5,8.5,800,8067,0.00,2.30,29.92,0.914,4,0.000,0.061,3081,859,2042,0,0,0,0,0,0
$GC,8109,0.73,253.7,72.3,9.5,813,8128,0.00,2.25,11.55,0.845,6,0.000,0.050,3081,2277,1994,0,0,0,0,0,0
$GC,8469,0.77,253.7,35.4,10.0,876,8475,0.00,2.28,0.00,0.000,4,0.000,0.067,3081,3681,1991,0,0,0,0,0,0
$GC,8573,0.77,253.7,23.5,11.8,894,8580,0.00,2.22,0.00,0.000,6,0.000,0.050,3090,2278,1990,0,0,0,0,0,0
$FREEZE,8.32,-1.751,-1.833,2,9,0
$STATE,8716,end climb,FINISH_DEPTH_REACHED
$STATE,8716,begin subsurface finish
$FINISH1,8.3,1.026826,33
$GC,8723,0.04,33.0,8.3,-11.5,919,8766,0.68,2.33,-31.85,0.000,4,0.160,0.075,2885,857,2899,0,0,0,0,0,0
$FINISH2,6.2
$STATE,8766,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8766,begin surface
$RAFOS_CLK,454
$RAFOS_FIX,6707.437500,-5701.775879,140511,040455,5,108,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,400.8,68.1
$24V_AH,22.2,81.089
$10V_AH,10.0,41.872
$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,3.725,95.500,342.325,0.000,0.000,0.000,0.000,0.000,9.000,0.000,0.000,2215.718,4523.987,395.906,1502.083,184.995,0.000,1211.336,0.000,1492.275,0.000,12.314,0.000
$DEVICE_MAMPS,220.320,78.795,1161.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.789,692.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150584
$DATA_FILE_SIZE,36756,926
$CAP_FILE_SIZE,102490,0
$CFSIZE,260165632,213712896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,140511,043355,6707.438,-5701.776,0,5108.4,0,-37.8