version: 66.08
glider: 141
mission: 15
dive: 625
start: 5 15 111 7 14 20
data:
$ID,141
$MISSION,15
$DIVE,625
$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,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
$GPS1,150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,9.6
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,126,0.00,0.38,-104.47,0.000,6,0.000,0.154,3114,2495,3626,0,0,0,0,0,0
$GC,131,-0.62,-146.0,4.6,-8.0,19,139,1.38,2.30,0.00,0.000,4,0.136,0.063,2675,1078,3627,0,0,0,0,0,0
$GC,186,-0.58,-146.0,9.8,-10.8,28,193,0.00,2.28,0.00,0.000,6,0.000,0.064,2674,2488,3627,0,0,0,0,0,0
$GC,533,-0.52,-146.0,59.7,-13.6,89,540,0.00,2.33,0.00,0.000,4,0.000,0.079,2674,3900,3626,0,0,0,0,0,0
$GC,637,-0.52,-146.0,73.3,-12.4,107,644,0.00,2.22,0.00,0.000,6,0.000,0.051,2675,2487,3626,0,0,0,0,0,0
$GC,976,-0.48,-146.0,116.8,-12.1,155,980,0.12,2.28,0.00,0.000,4,0.216,0.067,2705,1076,3624,0,0,0,0,0,0
$GC,1089,-0.53,-146.0,129.1,-10.4,164,1097,0.00,2.33,0.00,0.000,6,0.000,0.067,2705,2491,3624,0,0,0,0,0,0
$GC,1415,-0.58,-146.0,162.5,-10.0,195,1419,0.00,2.33,0.00,0.000,4,0.000,0.081,2705,3899,3622,0,0,0,0,0,0
$GC,1483,-0.67,-146.0,169.0,-9.4,200,1490,0.17,2.20,0.00,0.000,6,0.106,0.051,2644,2491,3622,0,0,0,0,0,0
$GC,1808,-0.57,-146.0,214.0,-14.5,231,1813,0.12,2.30,0.00,0.000,4,0.215,0.067,2672,1074,3621,0,0,0,0,0,0
$GC,1876,-0.57,-146.0,222.6,-11.6,237,1881,0.00,2.30,0.00,0.000,6,0.000,0.065,2672,2499,3621,0,0,0,0,0,0
$GC,2202,-0.57,-146.0,260.2,-11.1,267,2206,0.00,2.33,0.00,0.000,4,0.000,0.080,2672,3900,3621,0,0,0,0,0,0
$GC,2292,-0.60,-146.0,269.6,-9.9,274,2299,0.00,2.22,0.00,0.000,6,0.000,0.051,2672,2483,3621,0,0,0,0,0,0
$GC,2618,-0.60,-146.0,304.2,-11.2,305,2622,0.00,2.22,0.00,0.000,4,0.000,0.066,2672,1082,3621,0,0,0,0,0,0
$GC,2662,-0.60,-146.0,309.5,-11.2,308,2669,0.00,2.30,0.00,0.000,6,0.000,0.063,2672,2497,3621,0,0,0,0,0,0
$GC,2987,-0.60,-146.0,344.9,-10.9,339,2991,0.00,2.30,0.00,0.000,4,0.000,0.079,2672,3899,3622,0,0,0,0,0,0
$GC,3059,-0.64,-146.0,352.8,-10.7,345,3066,0.00,2.22,0.00,0.000,6,0.000,0.049,2672,2488,3622,0,0,0,0,0,0
$GC,3385,-0.64,-146.0,386.0,-9.6,376,3389,0.00,2.22,0.00,0.000,4,0.000,0.063,2672,1081,3623,0,0,0,0,0,0
$GC,3448,-0.66,-146.0,392.1,-9.8,381,3452,0.00,2.28,0.00,0.000,6,0.000,0.063,2672,2499,3622,0,0,0,0,0,0
$GC,3773,-0.66,-146.0,423.3,-9.5,411,3777,0.00,2.30,0.00,0.000,4,0.000,0.077,2672,3905,3622,0,0,0,0,0,0
$GC,3830,-0.71,-146.0,428.7,-9.1,415,3838,0.12,2.22,0.00,0.000,6,0.120,0.048,2630,2488,3622,0,0,0,0,0,0
$STATE,4028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4028,begin apogee
$GC,4034,-0.12,0.0,453.7,13.3,434,4167,0.68,0.00,121.00,1.176,6,0.195,0.000,2815,2265,3029,0,0,0,0,0,0
$STATE,4168,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4170,0.62,146.0,458.2,0.0,446,4307,0.77,2.62,125.80,1.128,4,0.134,0.067,3053,3680,2433,0,0,0,0,0,0
$GC,4342,0.52,146.0,444.7,13.4,461,4349,0.12,2.42,0.00,0.000,6,0.182,0.062,3036,2289,2431,0,0,0,0,0,0
$GC,4668,0.52,146.0,410.4,10.3,492,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2288,2428,0,0,0,0,0,0
$GC,4989,0.52,146.0,378.0,10.0,522,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2289,2428,0,0,0,0,0,0
$GC,5314,0.52,146.0,342.8,11.0,553,5318,0.00,2.28,0.00,0.000,4,0.000,0.068,3044,866,2428,0,0,0,0,0,0
$GC,5331,0.52,146.0,341.0,10.6,554,5335,0.00,2.25,0.00,0.000,6,0.000,0.056,3044,2286,2428,0,0,0,0,0,0
$GC,5657,0.50,146.0,304.7,11.5,584,5661,0.00,2.25,0.00,0.000,4,0.000,0.069,3045,3687,2428,0,0,0,0,0,0
$GC,5731,0.42,146.0,295.4,12.8,590,5736,0.20,2.25,0.00,0.000,6,0.177,0.053,3002,2262,2428,0,0,0,0,0,0
$GC,6059,0.56,195.9,269.3,7.7,620,6108,0.12,2.38,42.75,1.030,4,0.099,0.067,3063,3694,2230,0,0,0,0,0,0
$GC,6122,0.51,195.9,262.3,13.0,625,6127,0.17,2.30,0.00,0.000,6,0.176,0.052,3029,2273,2229,0,0,0,0,0,0
$GC,6448,0.56,203.7,228.3,9.6,655,6461,0.00,2.35,7.35,0.845,4,0.000,0.067,3037,860,2198,0,0,0,0,0,0
$GC,6489,0.62,203.7,224.1,10.1,658,6496,0.00,2.25,0.00,0.000,6,0.000,0.057,3037,2278,2197,0,0,0,0,0,0
$GC,6815,0.68,212.8,192.9,9.6,689,6831,0.12,2.33,9.50,0.881,4,0.102,0.070,3097,3678,2161,0,0,0,0,0,0
$GC,6919,0.57,212.8,177.8,15.5,698,6924,0.20,2.22,0.00,0.000,6,0.186,0.054,3056,2275,2161,0,0,0,0,0,0
$GC,7249,0.57,212.8,141.0,10.6,729,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2274,2160,0,0,0,0,0,0
$GC,7571,0.59,212.8,108.7,10.0,759,7575,0.00,2.28,0.00,0.000,4,0.000,0.067,3055,3687,2160,0,0,0,0,0,0
$GC,7589,0.63,227.4,106.7,9.3,760,7612,0.00,2.25,14.38,0.895,6,0.000,0.051,3064,2263,2101,0,0,0,0,0,0
$GC,7948,0.70,257.9,73.7,8.6,818,7984,0.00,2.33,27.45,0.909,4,0.000,0.067,3072,862,1978,0,0,0,0,0,0
$GC,7992,0.79,288.2,69.7,8.6,825,8028,0.12,2.25,28.40,0.890,6,0.102,0.054,3127,2278,1855,0,0,0,0,0,0
$GC,8368,0.77,288.2,19.4,13.3,891,8374,0.00,2.30,0.00,0.000,4,0.000,0.070,3127,3694,1847,0,0,0,0,0,0
$GC,8393,0.73,288.2,15.7,14.1,895,8400,0.15,2.28,0.00,0.000,6,0.187,0.054,3100,2267,1847,0,0,0,0,0,0
$FREEZE,8.79,-1.730,-1.833,2,6,0
$FREEZE,8.26,-1.730,-1.832,2,6,0
$FREEZE,7.76,-1.730,-1.832,2,6,0
$FREEZE,7.23,-1.730,-1.832,2,6,0
$FREEZE,6.60,-1.730,-1.831,2,6,0
$FREEZE,6.13,-1.730,-1.831,2,6,0
$FREEZE,5.56,-1.730,-1.830,2,6,0
$STATE,8478,end climb,FINISH_DEPTH_REACHED
$STATE,8478,begin subsurface finish
$FINISH1,5.6,1.026812,34
$GC,8485,0.04,33.7,5.6,-10.9,910,8544,0.70,2.30,-49.05,0.000,4,0.158,0.078,2883,868,2894,0,0,0,0,0,0
$FINISH2,3.9
$STATE,8545,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8545,begin surface
$RAFOS_CLK,441
$RAFOS,6,1305449344,8.833333,8.817778,145,65,58,57,54,51,827,113,155,215,190,204
$RAFOS,5,1305448865,8.700000,8.684722,112,69,60,58,57,54,665,222,196,118,154,179
$RAFOS,4,1305448388,8.566667,8.552222,88,59,58,57,55,52,876,195,160,148,183,207
$RAFOS,3,1305447905,8.433333,8.418056,60,57,54,53,52,50,155,170,233,211,143,201
$RAFOS,2,1305447421,8.300000,8.283611,63,59,57,53,53,51,202,184,220,140,109,166
$RAFOS,1,1305446946,8.166667,8.151667,55,52,52,51,50,49,215,202,171,151,141,115
$RAFOS,0,1305446464,8.033334,8.017777,65,65,63,52,51,50,197,214,159,127,115,183
$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,45.74
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,30
$ALTIM_TOP_PING,20.0,18.3
$ALTIM_BOTTOM_PING,450.8,16.6
$24V_AH,22.1,82.328
$10V_AH,10.0,42.474
$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,5.300,90.050,376.625,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,2153.569,4250.589,504.655,1508.015,198.643,0.000,1345.810,0.000,1492.356,2520.000,16.849,0.000
$DEVICE_MAMPS,216.495,153.765,1175.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.185,686.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36750,920
$CAP_FILE_SIZE,104291,0
$CFSIZE,260165632,213151744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.1
$GPS,150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5