version: 66.08
glider: 141
mission: 15
dive: 618
start: 5 14 111 14 35 34
data:
$ID,141
$MISSION,15
$DIVE,618
$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,28
$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
$GPS1,140511,124344,6709.852,-5653.967,0,3105.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.20
$_SM_ANGLEo,-3.0
$GPS2,140511,124344,6709.852,-5653.967,0,3105.7,0,-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,199.0,13400,-17.5,-10.000
$D_GRID,399
$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,-6.30,0.000,2,0.000,0.000,2881,859,3164,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.7,-0.0,1,47,0.60,5.00,-10.55,0.000,4,0.111,0.069,2672,3898,3628,0,0,0,0,0,0
$GC,202,-0.58,-146.0,33.4,-13.6,31,208,0.00,2.22,0.00,0.000,6,0.000,0.048,2672,2484,3629,0,0,0,0,0,0
$GC,548,-0.51,-146.0,83.8,-13.7,92,555,0.00,2.22,0.00,0.000,4,0.000,0.065,2672,1081,3629,0,0,0,0,0,0
$GC,636,-0.48,-146.0,95.5,-12.7,107,644,0.15,2.28,0.00,0.000,6,0.214,0.063,2706,2485,3628,0,0,0,0,0,0
$GC,967,-0.52,-146.0,128.3,-10.0,141,971,0.00,2.35,0.00,0.000,4,0.000,0.080,2706,3900,3626,0,0,0,0,0,0
$GC,1007,-0.59,-146.0,132.0,-8.8,144,1014,0.12,2.20,0.00,0.000,6,0.125,0.050,2664,2489,3626,0,0,0,0,0,0
$GC,1333,-0.55,-146.0,174.2,-13.0,175,1337,0.00,2.25,0.00,0.000,4,0.000,0.066,2664,1076,3625,0,0,0,0,0,0
$GC,1343,-0.50,-146.0,175.7,-13.0,175,1351,0.15,2.30,0.00,0.000,6,0.215,0.064,2698,2488,3625,0,0,0,0,0,0
$GC,1670,-0.54,-146.0,208.0,-9.8,206,1674,0.00,2.35,0.00,0.000,4,0.000,0.079,2699,3905,3623,0,0,0,0,0,0
$GC,1699,-0.60,-146.0,211.0,-10.1,208,1703,0.00,2.20,0.00,0.000,6,0.000,0.049,2699,2487,3624,0,0,0,0,0,0
$GC,2025,-0.65,-146.0,240.0,-8.1,238,2027,0.15,0.00,0.00,0.000,6,0.118,0.000,2647,2488,3624,0,0,0,0,0,0
$GC,2344,-0.58,-146.0,279.5,-12.6,268,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2488,3623,0,0,0,0,0,0
$GC,2663,-0.51,-146.0,319.5,-12.3,298,2670,0.17,0.00,0.00,0.000,6,0.191,0.000,2691,2488,3624,0,0,0,0,0,0
$GC,2989,-0.56,-146.0,349.1,-9.1,329,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2487,3625,0,0,0,0,0,0
$GC,3310,-0.60,-146.0,375.8,-8.8,359,3314,0.00,2.20,0.00,0.000,4,0.000,0.060,2690,1085,3624,0,0,0,0,0,0
$GC,3322,-0.65,-146.0,377.2,-8.9,359,3329,0.12,2.28,0.00,0.000,6,0.123,0.058,2648,2501,3624,0,0,0,0,0,0
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3524,-0.12,0.0,399.6,11.9,378,3655,0.60,0.00,120.07,1.134,6,0.190,0.000,2816,2253,3030,0,0,0,0,0,0
$STATE,3656,end apogee,CONTROL_FINISHED_OK
$STATE,3656,begin climb
$GC,3659,0.62,146.0,404.5,0.0,390,3790,0.75,0.00,124.93,1.084,6,0.129,0.000,3050,2253,2434,0,0,0,0,0,0
$GC,4108,0.59,146.0,365.2,10.5,432,4112,0.00,2.35,0.00,0.000,4,0.000,0.067,3050,3690,2428,0,0,0,0,0,0
$GC,4180,0.50,146.0,356.1,13.1,438,4187,0.12,2.22,0.00,0.000,6,0.187,0.054,3030,2284,2428,0,0,0,0,0,0
$GC,4505,0.51,152.2,324.4,9.7,469,4515,0.00,0.00,5.62,0.775,6,0.000,0.000,3030,2284,2409,0,0,0,0,0,0
$GC,4835,0.54,173.1,293.7,9.0,500,4857,0.00,0.00,19.45,0.992,6,0.000,0.000,3030,2284,2324,0,0,0,0,0,0
$GC,5172,0.57,184.5,261.5,9.5,532,5185,0.00,0.00,11.15,0.924,6,0.000,0.000,3030,2284,2277,0,0,0,0,0,0
$GC,5504,0.61,193.7,229.7,9.6,563,5520,0.00,0.00,9.35,0.890,6,0.000,0.000,3030,2284,2239,0,0,0,0,0,0
$GC,5839,0.67,206.1,198.4,9.4,595,5859,0.15,0.00,12.38,0.918,6,0.088,0.000,3102,2284,2188,0,0,0,0,0,0
$GC,6177,0.57,206.1,149.3,14.7,627,6182,0.20,2.33,0.00,0.000,4,0.185,0.065,3048,3696,2187,0,0,0,0,0,0
$GC,6221,0.57,206.1,143.7,11.4,630,6228,0.00,2.22,0.00,0.000,6,0.000,0.050,3056,2278,2187,0,0,0,0,0,0
$GC,6549,0.60,226.5,112.0,9.1,661,6574,0.00,2.30,18.95,0.907,4,0.000,0.065,3067,864,2106,0,0,0,0,0,0
$GC,6611,0.66,236.7,106.2,9.5,666,6625,0.00,2.22,10.25,0.845,6,0.000,0.052,3067,2278,2065,0,0,0,0,0,0
$GC,6966,0.71,239.2,70.7,9.9,723,6979,0.00,2.33,3.67,0.539,4,0.000,0.066,3066,3684,2054,0,0,0,0,0,0
$GC,7069,0.71,239.2,59.0,11.6,741,7076,0.00,2.22,0.00,0.000,6,0.000,0.049,3076,2273,2054,0,0,0,0,0,0
$GC,7415,0.76,243.6,26.0,9.8,802,7429,0.00,2.30,4.35,0.629,4,0.000,0.067,3084,873,2035,0,0,0,0,0,0
$GC,7476,0.83,243.6,20.1,10.3,812,7485,0.15,2.20,0.00,0.000,6,0.096,0.054,3149,2276,2035,0,0,0,0,0,0
$FREEZE,8.58,-1.734,-1.833,2,13,0
$STATE,7563,end climb,FINISH_DEPTH_REACHED
$STATE,7565,begin subsurface finish
$FINISH1,8.6,1.026814,34
$GC,7571,0.04,33.6,8.6,-15.1,827,7609,0.90,2.35,-30.98,0.000,4,0.175,0.082,2885,3684,2894,0,0,0,0,0,0
$FINISH2,5.7
$STATE,7610,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7610,begin surface
$RAFOS_CLK,397
$RAFOS,4,1305390785,16.566668,16.551390,78,64,63,61,56,52,895,173,209,196,230,307
$RAFOS,3,1305390304,16.433332,16.417778,73,59,59,58,55,53,219,157,110,138,129,185
$RAFOS,2,1305389824,16.299999,16.284445,65,60,57,54,54,53,213,187,152,129,177,201
$RAFOS,1,1305389347,16.166666,16.151945,67,57,57,57,56,54,174,120,213,226,193,133
$RAFOS,0,1305388861,16.033333,16.016945,59,57,54,53,52,51,162,114,197,174,206,217
$RAFOS_FIX,6709.851562,-5653.966797,140511,121244,3,106,0.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,46.45
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,22.3,81.502
$10V_AH,10.0,42.074
$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,4.350,55.275,340.175,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,1946.235,3905.703,386.693,1278.660,148.515,0.000,1074.730,0.000,1270.849,2160.000,9.066,0.000
$DEVICE_MAMPS,214.965,81.855,1133.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.778,621.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33410,833
$CAP_FILE_SIZE,84522,0
$CFSIZE,260165632,213532672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,140511,124344,6709.852,-5653.967,0,3105.7,0,-37.8