version: 66.08
glider: 141
mission: 15
dive: 627
start: 5 15 111 11 53 25
data:
$ID,141
$MISSION,15
$DIVE,627
$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,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
$GPS1,150511,084322,6709.093,-5655.118,0,3115.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.32
$_SM_ANGLEo,-2.2
$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,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,-5.57,0.000,2,0.000,0.000,2883,863,3089,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.5,-0.0,1,52,0.60,5.03,-14.90,0.000,4,0.106,0.074,2671,3905,3628,0,0,0,0,0,0
$GC,178,-0.58,-146.0,27.3,-14.3,27,185,0.00,2.22,0.00,0.000,6,0.000,0.049,2671,2489,3630,0,0,0,0,0,0
$GC,524,-0.50,-146.0,79.9,-14.5,88,531,0.12,0.00,0.00,0.000,6,0.220,0.000,2699,2489,3629,0,0,0,0,0,0
$GC,866,-0.50,-146.0,116.5,-10.4,135,870,0.00,2.28,0.00,0.000,4,0.000,0.067,2699,1079,3627,0,0,0,0,0,0
$GC,943,-0.56,-146.0,124.0,-9.8,141,948,0.00,2.28,0.00,0.000,6,0.000,0.065,2699,2485,3627,0,0,0,0,0,0
$GC,1270,-0.60,-146.0,156.5,-9.8,171,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2485,3625,0,0,0,0,0,0
$GC,1588,-0.64,-146.0,185.0,-8.3,201,1593,0.12,2.38,0.00,0.000,4,0.124,0.079,2656,3904,3624,0,0,0,0,0,0
$GC,1617,-0.64,-146.0,188.0,-10.9,203,1621,0.00,2.25,0.00,0.000,6,0.000,0.050,2656,2481,3624,0,0,0,0,0,0
$GC,1942,-0.58,-146.0,228.5,-12.3,233,1946,0.00,2.22,0.00,0.000,4,0.000,0.065,2655,1080,3624,0,0,0,0,0,0
$GC,1953,-0.52,-146.0,229.9,-11.8,233,1960,0.15,2.28,0.00,0.000,6,0.200,0.063,2690,2490,3624,0,0,0,0,0,0
$GC,2279,-0.56,-146.0,257.6,-7.7,264,2283,0.00,2.25,0.00,0.000,4,0.000,0.063,2691,1080,3624,0,0,0,0,0,0
$GC,2308,-0.60,-146.0,259.9,-8.0,266,2313,0.00,2.28,0.00,0.000,6,0.000,0.063,2690,2497,3623,0,0,0,0,0,0
$GC,2635,-0.64,-146.0,285.5,-7.9,296,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2497,3624,0,0,0,0,0,0
$GC,2953,-0.68,-146.0,312.1,-8.0,326,2954,0.15,0.00,0.00,0.000,6,0.112,0.000,2637,2498,3624,0,0,0,0,0,0
$GC,3271,-0.59,-146.0,351.9,-12.7,356,3276,0.12,2.33,0.00,0.000,4,0.207,0.076,2665,3901,3624,0,0,0,0,0,0
$GC,3310,-0.59,-146.0,356.6,-10.4,359,3317,0.00,2.20,0.00,0.000,6,0.000,0.047,2665,2482,3624,0,0,0,0,0,0
$GC,3635,-0.59,-146.0,389.0,-10.1,390,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2482,3625,0,0,0,0,0,0
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3908,-0.12,0.0,414.9,9.5,415,4034,0.50,0.00,120.88,1.142,6,0.177,0.000,2813,2254,3030,0,0,0,0,0,0
$STATE,4035,end apogee,CONTROL_FINISHED_OK
$STATE,4035,begin climb
$GC,4038,0.62,146.0,418.7,0.0,426,4173,0.77,2.65,125.45,1.097,4,0.131,0.064,3053,3689,2433,0,0,0,0,0,0
$GC,4232,0.52,146.0,402.6,13.9,444,4237,0.12,2.35,0.00,0.000,6,0.181,0.050,3035,2293,2430,0,0,0,0,0,0
$GC,4557,0.53,152.0,369.5,9.7,474,4567,0.00,0.00,5.55,0.773,6,0.000,0.000,3035,2293,2410,0,0,0,0,0,0
$GC,4886,0.53,152.4,337.2,10.0,505,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2293,2409,0,0,0,0,0,0
$GC,5206,0.55,169.9,307.2,9.2,535,5229,0.00,2.28,16.65,0.992,4,0.000,0.063,3035,3695,2338,0,0,0,0,0,0
$GC,5269,0.51,169.9,300.3,11.0,540,5276,0.00,2.25,0.00,0.000,6,0.000,0.053,3044,2273,2338,0,0,0,0,0,0
$GC,5594,0.51,169.9,267.5,10.4,571,5598,0.00,2.25,0.00,0.000,4,0.000,0.064,3054,855,2336,0,0,0,0,0,0
$GC,5650,0.51,169.9,261.6,10.1,575,5657,0.00,2.28,0.00,0.000,6,0.000,0.053,3054,2288,2336,0,0,0,0,0,0
$GC,5975,0.51,169.9,225.6,11.1,606,5979,0.00,2.22,0.00,0.000,4,0.000,0.067,3054,3686,2336,0,0,0,0,0,0
$GC,6099,0.45,169.9,209.6,13.3,616,6107,0.17,2.22,0.00,0.000,6,0.172,0.050,3017,2271,2336,0,0,0,0,0,0
$GC,6425,0.57,217.6,183.0,7.8,647,6473,0.00,2.33,42.10,0.977,4,0.000,0.067,3017,860,2141,0,0,0,0,0,0
$GC,6517,0.78,274.5,176.4,7.4,655,6576,0.28,2.28,50.85,0.957,6,0.070,0.051,3129,2283,1909,0,0,0,0,0,0
$GC,6903,0.67,274.5,108.4,18.6,691,6908,0.17,2.25,0.00,0.000,4,0.192,0.065,3082,3693,1900,0,0,0,0,0,0
$GC,6977,0.67,274.5,96.3,14.7,699,6984,0.00,2.25,0.00,0.000,6,0.000,0.050,3090,2273,1898,0,0,0,0,0,0
$GC,7323,0.70,274.5,50.4,12.2,760,7330,0.00,2.22,0.00,0.000,4,0.000,0.063,3099,866,1898,0,0,0,0,0,0
$GC,7372,0.75,274.5,44.6,12.3,768,7378,0.00,2.22,0.00,0.000,6,0.000,0.052,3098,2284,1896,0,0,0,0,0,0
$FREEZE,8.64,-1.694,-1.832,2,8,0
$FREEZE,8.15,-1.693,-1.832,2,8,0
$FREEZE,7.51,-1.689,-1.831,2,8,0
$FREEZE,7.07,-1.691,-1.831,2,8,0
$FREEZE,6.54,-1.687,-1.830,2,8,0
$FREEZE,5.93,-1.683,-1.830,2,8,0
$FREEZE,5.39,-1.682,-1.830,2,8,0
$GC,7717,0.77,274.5,5.4,10.4,829,7724,0.00,2.25,0.00,0.000,4,0.000,0.067,3099,3686,1896,0,0,0,0,0,0
$FREEZE,3.39,-1.687,-1.828,2,8,0
$FREEZE,2.78,-1.686,-1.828,2,8,0
$STATE,7735,end climb,SURFACE_DEPTH_REACHED
$STATE,7735,begin surface coast
$FREEZE,2.22,-1.675,-1.827,2,8,0
$FREEZE,2.16,-1.667,-1.826,2,8,0
$FREEZE,1.87,-1.660,-1.826,2,8,0
$FREEZE,1.38,-1.651,-1.825,2,8,0
$FREEZE,1.42,-1.598,-1.821,2,8,0
$FINISH,1.4,1.026720
$STATE,7762,end surface coast,CONTROL_FINISHED_OK
$STATE,7762,begin surface
$SM_CCo,7783,54.53,0.063,0,0,1399,400.08
$SM_GC,2.44,0.00,0.00,54.53,0.000,0.000,0.063,115,2483,1399,-8.59,-0.20,400.08
$RAFOS_CLK,414
$RAFOS,6,1305463751,12.833333,12.819722,151,65,62,58,55,53,793,203,190,120,139,174
$RAFOS,5,1305463269,12.700000,12.685833,149,58,56,55,54,53,644,204,149,115,192,174
$RAFOS,4,1305462781,12.566667,12.550278,140,56,56,51,50,50,915,209,200,170,122,151
$RAFOS,3,1305462302,12.433333,12.417222,65,63,61,53,52,51,209,167,221,126,136,146
$RAFOS,2,1305461831,12.300000,12.286389,74,61,55,52,50,50,1039,171,146,162,207,115
$RAFOS,1,1305461343,12.166667,12.150833,70,58,56,55,54,54,121,187,1070,204,170,1829
$RAFOS,0,1305460864,12.033333,12.017777,57,55,55,53,53,52,221,208,124,143,182,163
$RAFOS_FIX,6709.009766,-5655.118652,150511,121252,4,128,0.01
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.20
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,400.6,33.0
$24V_AH,22.2,82.539
$10V_AH,10.0,42.575
$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,11.925,66.525,361.475,54.525,0.000,0.000,0.000,0.000,8.250,0.000,0.000,2004.658,3962.762,431.779,1331.969,173.874,0.000,1147.276,0.000,1328.209,2520.000,10.673,0.000
$DEVICE_MAMPS,219.555,78.795,1142.145,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.555,627.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33484,837
$CAP_FILE_SIZE,90614,0
$CFSIZE,260165632,213057536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,150511,140536,6704.205,-5644.623,38,1.1,38,-37.5