version: 66.08
glider: 141
mission: 15
dive: 626
start: 5 15 111 9 38 55
data:
$ID,141
$MISSION,15
$DIVE,626
$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,-48070.324
$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,26
$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
$GPS1,150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.46
$_SM_ANGLEo,-1.6
$GPS2,150511,084322,6709.093,-5655.118,0,3115.0,0,-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,193.0,12399,-17.5,-10.000
$D_GRID,414
$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,-6.25,0.000,2,0.000,0.000,2883,868,3097,0,0,0,0,0,0
$GC,28,-0.62,-146.0,7.7,-0.0,1,47,0.62,0.35,-15.65,0.000,4,0.108,0.151,2666,1086,3627,0,0,0,0,0,0
$GC,60,-0.62,-146.0,10.4,-9.4,6,67,0.00,2.25,0.00,0.000,6,0.000,0.066,2666,2485,3630,0,0,0,0,0,0
$GC,407,-0.51,-146.0,63.1,-14.6,67,414,0.12,2.38,0.00,0.000,4,0.233,0.080,2693,3906,3629,0,0,0,0,0,0
$GC,451,-0.51,-146.0,68.6,-11.5,74,458,0.00,2.22,0.00,0.000,6,0.000,0.051,2693,2483,3629,0,0,0,0,0,0
$GC,798,-0.51,-146.0,107.2,-10.4,130,802,0.00,2.28,0.00,0.000,4,0.000,0.069,2693,1075,3628,0,0,0,0,0,0
$GC,866,-0.54,-146.0,114.1,-9.9,135,873,0.00,2.30,0.00,0.000,6,0.000,0.067,2693,2492,3628,0,0,0,0,0,0
$GC,1192,-0.54,-146.0,146.3,-9.9,166,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2491,3626,0,0,0,0,0,0
$GC,1515,-0.57,-146.0,176.9,-9.5,196,1519,0.00,2.35,0.00,0.000,4,0.000,0.081,2693,3902,3625,0,0,0,0,0,0
$GC,1533,-0.59,-146.0,178.9,-9.0,197,1537,0.00,2.22,0.00,0.000,6,0.000,0.052,2693,2486,3625,0,0,0,0,0,0
$GC,1859,-0.62,-146.0,208.8,-9.0,227,1863,0.00,2.25,0.00,0.000,4,0.000,0.067,2693,1076,3624,0,0,0,0,0,0
$GC,1870,-0.65,-146.0,210.0,-9.1,227,1878,0.12,2.28,0.00,0.000,6,0.127,0.065,2651,2489,3624,0,0,0,0,0,0
$GC,2196,-0.58,-146.0,250.1,-12.4,258,2201,0.00,2.35,0.00,0.000,4,0.000,0.080,2651,3905,3624,0,0,0,0,0,0
$GC,2215,-0.50,-146.0,252.4,-12.1,259,2220,0.17,2.25,0.00,0.000,6,0.197,0.050,2694,2482,3624,0,0,0,0,0,0
$GC,2541,-0.55,-146.0,281.1,-8.0,289,2545,0.00,2.22,0.00,0.000,4,0.000,0.064,2693,1076,3624,0,0,0,0,0,0
$GC,2551,-0.59,-146.0,282.1,-7.9,289,2558,0.00,2.28,0.00,0.000,6,0.000,0.063,2694,2491,3624,0,0,0,0,0,0
$GC,2877,-0.64,-146.0,308.1,-7.7,320,2879,0.12,0.00,0.00,0.000,6,0.125,0.000,2648,2491,3625,0,0,0,0,0,0
$GC,3196,-0.57,-146.0,344.3,-12.0,350,3201,0.12,2.33,0.00,0.000,4,0.199,0.078,2676,3900,3624,0,0,0,0,0,0
$GC,3214,-0.53,-146.0,346.5,-11.4,351,3218,0.00,2.20,0.00,0.000,6,0.000,0.049,2677,2486,3625,0,0,0,0,0,0
$GC,3540,-0.53,-146.0,376.9,-9.1,381,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3625,0,0,0,0,0,0
$GC,3860,-0.53,-146.0,405.4,-8.6,411,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3626,0,0,0,0,0,0
$STATE,3961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3961,begin apogee
$GC,3968,-0.12,0.0,414.6,8.9,421,4100,0.47,0.00,121.07,1.145,6,0.179,0.000,2816,2263,3029,0,0,0,0,0,0
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4103,0.62,146.0,417.9,0.0,433,4235,0.77,0.00,125.28,1.099,6,0.133,0.000,3055,2262,2434,0,0,0,0,0,0
$GC,4552,0.58,146.0,373.0,11.4,475,4556,0.00,2.38,0.00,0.000,4,0.000,0.068,3055,3698,2428,0,0,0,0,0,0
$GC,4621,0.48,146.0,363.9,13.5,481,4626,0.17,2.25,0.00,0.000,6,0.181,0.053,3021,2280,2428,0,0,0,0,0,0
$GC,4946,0.50,155.8,332.0,9.5,511,4957,0.00,0.00,8.85,0.903,6,0.000,0.000,3021,2280,2394,0,0,0,0,0,0
$GC,5276,0.56,181.1,301.5,8.8,542,5305,0.00,0.00,23.30,1.016,6,0.000,0.000,3021,2280,2290,0,0,0,0,0,0
$GC,5626,0.63,202.5,268.4,9.0,575,5656,0.15,2.35,19.25,0.985,4,0.090,0.069,3102,864,2203,0,0,0,0,0,0
$GC,5692,0.56,202.5,259.9,14.2,581,5697,0.20,2.28,0.00,0.000,6,0.185,0.055,3050,2292,2201,0,0,0,0,0,0
$GC,6017,0.56,202.5,222.3,11.2,611,6021,0.00,2.22,0.00,0.000,4,0.000,0.069,3050,3682,2200,0,0,0,0,0,0
$GC,6102,0.54,202.5,211.7,12.6,618,6106,0.00,2.25,0.00,0.000,6,0.000,0.052,3058,2263,2199,0,0,0,0,0,0
$GC,6427,0.54,202.5,175.4,10.6,648,6431,0.00,2.25,0.00,0.000,4,0.000,0.066,3069,862,2199,0,0,0,0,0,0
$GC,6471,0.54,202.5,170.6,10.8,651,6478,0.00,2.25,0.00,0.000,6,0.000,0.054,3069,2277,2198,0,0,0,0,0,0
$GC,6797,0.51,202.5,131.5,13.0,682,6802,0.15,2.28,0.00,0.000,4,0.173,0.069,3029,3688,2198,0,0,0,0,0,0
$GC,6882,0.53,202.5,121.2,11.9,689,6886,0.00,2.25,0.00,0.000,6,0.000,0.051,3037,2263,2198,0,0,0,0,0,0
$GC,7214,0.62,224.5,89.1,9.0,729,7239,0.00,2.33,19.85,0.906,4,0.000,0.067,3042,864,2113,0,0,0,0,0,0
$GC,7292,0.75,237.7,82.1,9.4,742,7312,0.17,2.25,12.82,0.868,6,0.090,0.054,3120,2275,2061,0,0,0,0,0,0
$GC,7654,0.72,237.7,35.8,12.1,805,7661,0.00,2.30,0.00,0.000,4,0.000,0.069,3120,3684,2058,0,0,0,0,0,0
$GC,7758,0.64,237.7,21.3,14.3,823,7765,0.20,2.22,0.00,0.000,6,0.184,0.053,3078,2267,2058,0,0,0,0,0,0
$FREEZE,8.56,-1.719,-1.832,2,7,0
$FREEZE,8.03,-1.719,-1.832,2,7,0
$FREEZE,7.63,-1.720,-1.832,2,7,0
$FREEZE,7.24,-1.721,-1.831,2,7,0
$FREEZE,6.70,-1.721,-1.831,2,7,0
$STATE,7908,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7908,begin subsurface finish
$FINISH1,6.7,1.026811,34
$GC,7916,0.04,33.8,6.7,-8.6,850,7958,0.62,2.33,-31.20,0.000,4,0.157,0.077,2883,863,2895,0,0,0,0,0,0
$FINISH2,5.6
$STATE,7960,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7960,begin surface
$RAFOS_CLK,416
$RAFOS_FIX,6709.092773,-5655.118164,150511,080822,3,115,1.20
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.2,17.1
$24V_AH,22.2,82.428
$10V_AH,10.0,42.524
$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,4.225,69.000,330.425,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,2030.289,4095.779,378.705,1344.970,164.791,0.000,1102.383,0.000,1338.109,0.000,10.781,0.000
$DEVICE_MAMPS,233.325,150.705,1145.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.629,641.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,33432,857
$CAP_FILE_SIZE,91172,0
$CFSIZE,260165632,213106688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5