version: 66.08
glider: 141
mission: 15
dive: 624
start: 5 15 111 4 42 56
data:
$ID,141
$MISSION,15
$DIVE,624
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.00
$_SM_ANGLEo,-0.4
$GPS2,150511,043056,6659.511,-5649.232,0,2095.0,0,-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,45.3,6523,-17.5,-10.000
$D_GRID,582
$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,12,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,-5.70,0.000,2,0.000,0.000,2881,3687,3115,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.2,-0.0,1,46,0.60,0.38,-13.05,0.000,4,0.109,0.174,2672,3903,3628,0,0,0,0,0,0
$GC,60,-0.67,-146.0,12.7,-8.8,6,66,0.00,2.20,0.00,0.000,6,0.000,0.049,2673,2489,3630,0,0,0,0,0,0
$GC,405,-0.59,-146.0,64.8,-15.2,67,412,0.00,2.28,0.00,0.000,4,0.000,0.067,2673,1076,3629,0,0,0,0,0,0
$GC,483,-0.55,-146.0,76.0,-13.4,80,489,0.00,2.28,0.00,0.000,6,0.000,0.067,2672,2486,3628,0,0,0,0,0,0
$GC,824,-0.49,-146.0,123.4,-13.9,126,829,0.12,2.30,0.00,0.000,4,0.227,0.070,2701,1082,3627,0,0,0,0,0,0
$GC,869,-0.53,-146.0,129.0,-11.1,129,876,0.00,2.30,0.00,0.000,6,0.000,0.067,2700,2489,3627,0,0,0,0,0,0
$GC,1197,-0.56,-146.0,161.7,-9.6,160,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2489,3625,0,0,0,0,0,0
$GC,1525,-0.61,-146.0,190.0,-7.8,191,1529,0.00,2.35,0.00,0.000,4,0.000,0.083,2701,3899,3624,0,0,0,0,0,0
$GC,1582,-0.69,-146.0,194.5,-7.5,196,1587,0.17,2.20,0.00,0.000,6,0.108,0.051,2641,2491,3623,0,0,0,0,0,0
$GC,1908,-0.59,-146.0,234.1,-11.9,226,1913,0.12,2.28,0.00,0.000,4,0.211,0.066,2669,1085,3623,0,0,0,0,0,0
$GC,1981,-0.59,-146.0,241.9,-9.6,232,1988,0.00,2.30,0.00,0.000,6,0.000,0.066,2668,2496,3623,0,0,0,0,0,0
$GC,2307,-0.59,-146.0,272.9,-9.4,263,2311,0.00,2.33,0.00,0.000,4,0.000,0.080,2669,3899,3623,0,0,0,0,0,0
$GC,2382,-0.62,-146.0,279.7,-8.7,269,2386,0.00,2.22,0.00,0.000,6,0.000,0.049,2669,2488,3623,0,0,0,0,0,0
$GC,2708,-0.62,-146.0,309.6,-9.3,299,2712,0.00,2.25,0.00,0.000,4,0.000,0.063,2669,1071,3623,0,0,0,0,0,0
$GC,2788,-0.62,-146.0,316.8,-8.6,306,2792,0.00,2.30,0.00,0.000,6,0.000,0.063,2669,2498,3623,0,0,0,0,0,0
$GC,3119,-0.62,-146.0,344.0,-8.6,337,3123,0.00,2.30,0.00,0.000,4,0.000,0.077,2669,3905,3624,0,0,0,0,0,0
$GC,3182,-0.65,-146.0,349.1,-8.5,342,3187,0.00,2.22,0.00,0.000,6,0.000,0.047,2669,2476,3624,0,0,0,0,0,0
$GC,3514,-0.65,-146.0,377.2,-8.6,373,3518,0.00,2.20,0.00,0.000,4,0.000,0.063,2669,1085,3625,0,0,0,0,0,0
$GC,3559,-0.65,-146.0,381.3,-8.4,376,3566,0.00,2.30,0.00,0.000,6,0.000,0.071,2669,2501,3625,0,0,0,0,0,0
$GC,3885,-0.65,-146.0,409.4,-8.6,407,3889,0.00,2.30,0.00,0.000,4,0.000,0.076,2669,3909,3625,0,0,0,0,0,0
$GC,3960,-0.68,-146.0,415.9,-8.8,413,3964,0.00,2.20,0.00,0.000,6,0.000,0.047,2668,2489,3625,0,0,0,0,0,0
$GC,4285,-0.68,-146.0,445.1,-8.9,443,4289,0.00,2.22,0.00,0.000,4,0.000,0.061,2668,1076,3626,0,0,0,0,0,0
$GC,4390,-0.70,-146.0,455.0,-9.9,451,4397,0.00,2.30,0.00,0.000,6,0.000,0.061,2669,2499,3626,0,0,0,0,0,0
$STATE,4662,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4662,begin apogee
$GC,4668,-0.12,0.0,480.4,9.6,477,4801,0.50,0.00,121.43,1.183,6,0.184,0.000,2813,2255,3030,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,0.62,146.0,484.1,0.0,489,4941,0.77,2.53,126.30,1.138,4,0.133,0.068,3062,882,2433,0,0,0,0,0,0
$GC,4982,0.57,146.0,470.6,11.7,505,4987,0.00,2.42,0.00,0.000,6,0.000,0.054,3063,2280,2430,0,0,0,0,0,0
$GC,5314,0.49,146.0,430.0,13.1,536,5318,0.15,2.30,0.00,0.000,4,0.182,0.070,3024,3687,2428,0,0,0,0,0,0
$GC,5381,0.46,146.0,421.8,11.7,541,5388,0.00,2.25,0.00,0.000,6,0.000,0.054,3031,2282,2427,0,0,0,0,0,0
$GC,5706,0.47,148.5,389.4,9.9,572,5710,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3691,2427,0,0,0,0,0,0
$GC,5727,0.44,148.5,387.0,10.5,573,5735,0.12,2.25,0.00,0.000,6,0.187,0.051,3012,2273,2428,0,0,0,0,0,0
$GC,6054,0.55,210.3,360.7,7.2,604,6119,0.00,2.40,54.85,1.079,4,0.000,0.067,3015,863,2171,0,0,0,0,0,0
$GC,6238,0.74,276.4,347.1,6.9,620,6303,0.25,2.30,58.62,1.053,6,0.074,0.064,3121,2285,1903,0,0,0,0,0,0
$GC,6624,0.62,276.4,278.1,18.9,656,6629,0.20,2.30,0.00,0.000,4,0.181,0.065,3076,866,1892,0,0,0,0,0,0
$GC,6740,0.66,276.4,263.0,12.3,665,6747,0.00,2.25,0.00,0.000,6,0.000,0.054,3076,2278,1890,0,0,0,0,0,0
$GC,7065,0.64,276.4,218.9,14.0,696,7069,0.00,2.25,0.00,0.000,4,0.000,0.069,3076,3686,1889,0,0,0,0,0,0
$GC,7111,0.61,276.4,212.0,15.3,699,7118,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2278,1887,0,0,0,0,0,0
$GC,7436,0.58,276.4,164.2,14.2,730,7441,0.12,2.25,0.00,0.000,4,0.188,0.066,3062,866,1888,0,0,0,0,0,0
$GC,7470,0.62,276.4,159.8,11.8,732,7477,0.00,2.25,0.00,0.000,6,0.000,0.057,3063,2285,1886,0,0,0,0,0,0
$GC,7795,0.66,276.4,123.6,11.9,763,7800,0.00,2.28,0.00,0.000,4,0.000,0.068,3063,3687,1886,0,0,0,0,0,0
$GC,7831,0.68,276.4,119.2,13.0,766,7835,0.00,2.22,0.00,0.000,6,0.000,0.052,3073,2275,1886,0,0,0,0,0,0
$GC,8167,0.72,276.4,77.7,12.1,813,8174,0.00,2.25,0.00,0.000,4,0.000,0.065,3083,860,1885,0,0,0,0,0,0
$GC,8239,0.77,276.4,69.8,11.1,825,8246,0.00,2.22,0.00,0.000,6,0.000,0.054,3083,2277,1886,0,0,0,0,0,0
$GC,8586,0.85,288.8,32.3,9.4,886,8600,0.15,2.30,5.25,0.779,4,0.093,0.070,3147,3684,1852,0,0,0,0,0,0
$GC,8647,0.76,288.8,23.2,16.6,896,8654,0.17,2.25,0.00,0.000,6,0.194,0.054,3114,2273,1851,0,0,0,0,0,0
$FREEZE,8.64,-1.704,-1.832,2,5,0
$FREEZE,8.05,-1.709,-1.832,2,5,0
$FREEZE,7.04,-1.707,-1.831,2,5,0
$FREEZE,6.45,-1.706,-1.831,2,5,0
$FREEZE,5.71,-1.705,-1.830,2,5,0
$FREEZE,5.10,-1.707,-1.830,2,5,0
$FREEZE,4.49,-1.710,-1.829,2,5,0
$FREEZE,3.90,-1.710,-1.829,2,5,0
$FREEZE,3.34,-1.709,-1.828,2,5,0
$FREEZE,2.72,-1.709,-1.828,2,5,0
$STATE,8804,end climb,SURFACE_DEPTH_REACHED
$STATE,8804,begin surface coast
$FREEZE,2.30,-1.662,-1.824,2,5,0
$FREEZE,2.27,-1.681,-1.825,2,5,0
$FREEZE,2.24,-1.661,-1.824,2,5,0
$FREEZE,2.28,-1.685,-1.826,2,5,0
$FREEZE,2.15,-1.708,-1.827,2,5,0
$FINISH,2.2,1.026803
$STATE,8832,end surface coast,CONTROL_FINISHED_OK
$STATE,8832,begin surface
$RAFOS_CLK,465
$RAFOS,6,1305434945,4.833333,4.818056,140,63,55,54,50,50,828,188,199,142,159,122
$RAFOS_FIX,6703.691895,-5654.819336,150511,040402,3,110,20.49
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.10
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,450.0,45.2
$24V_AH,22.1,82.212
$10V_AH,10.0,42.417
$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,3.475,94.175,366.450,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,2279.938,4609.751,392.436,1555.290,187.310,0.000,1242.693,0.000,1541.368,360.000,12.466,0.000
$DEVICE_MAMPS,227.205,173.655,1182.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.859,695.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36667,929
$CAP_FILE_SIZE,106715,0
$CFSIZE,260165632,213204992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5