version: 66.08
glider: 141
mission: 15
dive: 605
start: 5 13 111 4 56 56
data:
$ID,141
$MISSION,15
$DIVE,605
$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,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,-48067.812
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.41
$_SM_ANGLEo,-3.0
$GPS2,130511,043928,6709.512,-5724.338,0,2104.0,0,-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,152.3,28880,-17.5,-10.000
$D_GRID,716
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.50,0.000,2,0.000,0.000,2890,2271,3061,0,0,0,0,0,0
$GC,28,-0.62,-146.0,7.2,-0.0,1,53,0.62,2.70,-17.55,0.000,4,0.100,0.083,2668,3900,3625,0,0,0,0,0,0
$GC,95,-0.52,-146.0,15.5,-16.1,12,102,0.00,2.20,0.00,0.000,6,0.000,0.048,2667,2488,3627,0,0,0,0,0,0
$GC,441,-0.41,-146.0,72.6,-15.2,73,448,0.22,2.25,0.00,0.000,4,0.205,0.061,2724,1075,3626,0,0,0,0,0,0
$GC,513,-0.47,-146.0,80.9,-10.2,85,520,0.00,2.30,0.00,0.000,6,0.000,0.063,2724,2493,3627,0,0,0,0,0,0
$GC,856,-0.53,-146.0,116.4,-9.2,132,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2493,3626,0,0,0,0,0,0
$GC,1175,-0.59,-146.0,146.6,-9.4,162,1180,0.15,2.35,0.00,0.000,4,0.116,0.080,2671,3907,3624,0,0,0,0,0,0
$GC,1217,-0.56,-146.0,151.6,-13.0,165,1221,0.00,2.25,0.00,0.000,6,0.000,0.050,2671,2484,3624,0,0,0,0,0,0
$GC,1544,-0.51,-146.0,196.0,-14.0,195,1548,0.00,2.28,0.00,0.000,4,0.000,0.066,2671,1069,3622,0,0,0,0,0,0
$GC,1585,-0.49,-146.0,202.0,-14.6,198,1590,0.12,2.30,0.00,0.000,6,0.213,0.064,2699,2492,3622,0,0,0,0,0,0
$GC,1911,-0.52,-146.0,235.3,-9.2,228,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2492,3621,0,0,0,0,0,0
$GC,2232,-0.56,-146.0,264.0,-8.8,258,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2492,3621,0,0,0,0,0,0
$GC,2560,-0.60,-146.0,294.0,-9.4,289,2564,0.00,2.33,0.00,0.000,4,0.000,0.076,2699,3907,3622,0,0,0,0,0,0
$GC,2571,-0.64,-146.0,295.2,-9.0,289,2579,0.15,2.22,0.00,0.000,6,0.113,0.044,2649,2486,3621,0,0,0,0,0,0
$GC,2897,-0.57,-146.0,336.7,-13.0,320,2902,0.12,2.25,0.00,0.000,4,0.207,0.060,2678,1072,3622,0,0,0,0,0,0
$GC,2930,-0.57,-146.0,340.9,-11.0,322,2937,0.00,2.28,0.00,0.000,6,0.000,0.060,2678,2499,3622,0,0,0,0,0,0
$GC,3256,-0.57,-146.0,372.7,-9.2,353,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2499,3623,0,0,0,0,0,0
$GC,3577,-0.57,-146.0,403.2,-9.8,383,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2500,3624,0,0,0,0,0,0
$GC,3906,-0.57,-146.0,434.0,-8.8,414,3910,0.00,2.28,0.00,0.000,4,0.000,0.074,2678,3899,3624,0,0,0,0,0,0
$GC,3961,-0.61,-146.0,439.3,-8.5,418,3968,0.00,2.22,0.00,0.000,6,0.000,0.045,2678,2480,3624,0,0,0,0,0,0
$GC,4287,-0.61,-146.0,466.6,-8.4,449,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2480,3625,0,0,0,0,0,0
$GC,4606,-0.61,-146.0,494.5,-9.1,479,4610,0.00,2.20,0.00,0.000,4,0.000,0.059,2678,1081,3625,0,0,0,0,0,0
$GC,4626,-0.61,-146.0,496.4,-9.5,480,4630,0.00,2.28,0.00,0.000,6,0.000,0.057,2677,2499,3625,0,0,0,0,0,0
$GC,4952,-0.61,-146.0,526.6,-9.3,510,4956,0.00,2.28,0.00,0.000,4,0.000,0.074,2678,3899,3626,0,0,0,0,0,0
$GC,4962,-0.61,-146.0,527.8,-9.4,510,4969,0.00,2.17,0.00,0.000,6,0.000,0.043,2678,2487,3626,0,0,0,0,0,0
$GC,5288,-0.61,-146.0,558.4,-9.7,541,5292,0.00,2.22,0.00,0.000,4,0.000,0.058,2677,1082,3627,0,0,0,0,0,0
$GC,5298,-0.61,-146.0,559.5,-9.2,541,5305,0.00,2.25,0.00,0.000,6,0.000,0.057,2678,2497,3626,0,0,0,0,0,0
$GC,5624,-0.61,-146.0,589.5,-9.4,572,5628,0.00,2.30,0.00,0.000,4,0.000,0.076,2677,3905,3627,0,0,0,0,0,0
$GC,5645,-0.61,-146.0,591.8,-9.9,573,5652,0.00,2.20,0.00,0.000,6,0.000,0.045,2678,2492,3627,0,0,0,0,0,0
$GC,5983,-0.61,-146.0,622.5,-8.8,590,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2492,3627,0,0,0,0,0,0
$GC,6289,-0.76,-146.0,645.4,-4.8,600,6294,0.17,2.25,0.00,0.000,4,0.115,0.063,2619,1085,3627,0,0,0,0,0,0
$GC,6356,-1.01,-146.0,645.6,-0.5,602,6361,0.22,2.25,0.00,0.000,6,0.092,0.060,2533,2492,3627,0,0,0,0,0,0
$STATE,6443,end dive,NO_VERTICAL_VELOCITY
$STATE,6444,begin apogee
$GC,6451,-0.12,0.0,645.5,0.0,605,6582,0.90,0.00,124.95,1.309,6,0.142,0.000,2816,2263,3030,0,0,0,0,0,0
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6586,0.62,146.0,645.4,0.0,609,6726,0.77,2.55,131.25,1.260,4,0.122,0.067,3057,3674,2433,0,0,0,0,0,0
$GC,6922,0.53,146.0,612.1,12.0,619,6927,0.12,2.30,0.00,0.000,6,0.181,0.054,3038,2288,2428,0,0,0,0,0,0
$GC,7244,0.55,161.6,582.6,9.3,641,7263,0.00,0.00,13.57,1.132,6,0.000,0.000,3038,2288,2370,0,0,0,0,0,0
$GC,7582,0.57,178.6,551.0,9.2,673,7605,0.00,2.30,16.35,1.157,4,0.000,0.069,3038,3687,2301,0,0,0,0,0,0
$GC,7640,0.57,178.6,544.9,11.0,678,7644,0.00,2.28,0.00,0.000,6,0.000,0.056,3046,2277,2300,0,0,0,0,0,0
$GC,7966,0.57,178.6,511.2,10.1,708,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2277,2298,0,0,0,0,0,0
$GC,8286,0.57,181.6,479.0,9.9,738,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2277,2297,0,0,0,0,0,0
$GC,8604,0.57,181.6,446.5,10.3,768,8608,0.00,2.30,0.00,0.000,4,0.000,0.070,3046,3697,2296,0,0,0,0,0,0
$GC,8649,0.54,181.6,441.1,11.7,771,8655,0.00,2.28,0.00,0.000,6,0.000,0.054,3056,2271,2296,0,0,0,0,0,0
$GC,8975,0.51,181.6,405.0,11.7,802,8979,0.00,2.30,0.00,0.000,4,0.000,0.069,3056,3696,2295,0,0,0,0,0,0
$GC,9019,0.45,181.6,399.1,12.9,805,9027,0.20,2.25,0.00,0.000,6,0.177,0.053,3014,2266,2296,0,0,0,0,0,0
$GC,9345,0.55,204.0,369.5,9.0,836,9374,0.00,0.00,22.70,1.102,6,0.000,0.000,3014,2266,2197,0,0,0,0,0,0
$GC,9696,0.69,249.8,340.1,7.9,869,9744,0.20,0.00,41.85,1.095,6,0.078,0.000,3101,2266,2011,0,0,0,0,0,0
$GC,10062,0.60,249.8,280.6,16.5,904,10067,0.17,2.33,0.00,0.000,4,0.185,0.067,3055,3690,2003,0,0,0,0,0,0
$GC,10131,0.60,249.8,271.1,12.7,910,10135,0.00,2.22,0.00,0.000,6,0.000,0.053,3063,2277,2003,0,0,0,0,0,0
$GC,10458,0.60,249.8,231.9,11.8,940,10462,0.00,2.25,0.00,0.000,4,0.000,0.065,3074,863,2001,0,0,0,0,0,0
$GC,10510,0.64,249.8,225.4,12.1,944,10515,0.00,2.22,0.00,0.000,6,0.000,0.054,3074,2281,2000,0,0,0,0,0,0
$GC,10836,0.64,249.8,182.3,13.0,974,10840,0.00,2.22,0.00,0.000,4,0.000,0.067,3074,3683,2000,0,0,0,0,0,0
$GC,10948,0.64,249.8,166.3,13.8,983,10955,0.00,2.22,0.00,0.000,6,0.000,0.062,3084,2275,1999,0,0,0,0,0,0
$GC,11273,0.64,249.8,123.3,12.3,1014,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2275,1999,0,0,0,0,0,0
$GC,11599,0.67,249.8,84.1,11.5,1055,11606,0.00,2.25,0.00,0.000,4,0.000,0.064,3094,856,1999,0,0,0,0,0,0
$GC,11642,0.72,249.8,79.4,10.6,1062,11649,0.00,2.22,0.00,0.000,6,0.000,0.054,3095,2275,1999,0,0,0,0,0,0
$GC,11989,0.76,260.4,44.6,9.5,1123,12003,0.00,2.35,8.82,0.832,4,0.000,0.068,3094,3688,1968,0,0,0,0,0,0
$GC,12101,0.76,260.4,31.8,11.6,1142,12108,0.00,2.25,0.00,0.000,6,0.000,0.052,3105,2272,1967,0,0,0,0,0,0
$FREEZE,8.44,-1.802,-1.826,2,140,2
$FREEZE,7.92,-1.803,-1.826,2,140,2
$FREEZE,7.53,-1.804,-1.825,2,140,2
$FREEZE,6.93,-1.806,-1.825,2,140,2
$FREEZE,6.49,-1.807,-1.825,2,140,2
$FREEZE,6.05,-1.808,-1.824,2,140,2
$FREEZE,5.55,-1.810,-1.824,2,140,2
$FREEZE,5.12,-1.808,-1.823,2,140,2
$FREEZE,4.49,-1.808,-1.823,2,140,2
$FREEZE,4.11,-1.811,-1.823,2,140,2
$FREEZE,3.61,-1.812,-1.823,2,140,2
$FREEZE,2.80,-1.812,-1.822,2,140,2
$STATE,12385,end climb,SURFACE_DEPTH_REACHED
$STATE,12385,begin surface coast
$FREEZE,2.37,-1.813,-1.822,2,140,2
$FREEZE,1.86,-1.813,-1.821,2,140,2
$FREEZE,1.72,-1.839,-1.723,2,140,2
$FREEZE,1.65,-1.848,-1.747,2,140,2
$FREEZE,1.77,-1.819,-1.715,2,140,2
$FREEZE,1.70,-1.791,-1.690,2,140,2
$FINISH,1.7,1.024847
$STATE,12418,end surface coast,CONTROL_FINISHED_OK
$STATE,12418,begin surface
$SM_CCo,12437,131.27,0.065,0,0,750,559.04
$SM_GC,2.64,0.00,0.00,131.27,0.000,0.000,0.065,115,2495,750,-8.59,0.14,559.04
$RAFOS_CLK,652
$RAFOS,2,1305274624,8.300000,8.284445,60,60,60,56,53,49,174,183,202,193,223,124
$RAFOS,1,1305274145,8.166667,8.151389,59,59,57,56,53,51,118,212,156,225,174,193
$RAFOS,0,1305273664,8.033334,8.017777,57,57,55,55,54,53,121,191,170,144,219,179
$RAFOS,6,1305262143,4.833333,4.817500,72,54,53,53,52,51,752,211,132,156,188,165
$RAFOS_FIX,6710.815430,-5728.173828,130511,040401,3,93,17.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,21.7,80.056
$10V_AH,10.0,41.342
$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,12.725,96.400,359.500,131.275,0.000,0.000,0.000,0.000,9.500,0.000,0.000,2953.261,6937.617,549.724,1948.688,253.052,0.000,1573.507,0.000,1939.534,1080.000,17.868,0.000
$DEVICE_MAMPS,213.435,82.620,1308.915,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.409,915.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,46731,1199
$CAP_FILE_SIZE,133016,0
$CFSIZE,260165632,214196224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,130511,082806,6709.627,-5712.636,35,1.7,40,-37.8