version: 66.08
glider: 141
mission: 15
dive: 628
start: 5 15 111 14 33 23
data:
$ID,141
$MISSION,15
$DIVE,628
$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,-48071.676
$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,31
$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
$GPS1,150511,140536,6704.205,-5644.623,38,1.1,38,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-78.1
$GPS2,150511,143250,6704.066,-5644.688,12,1.7,12,-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,268.0,3101,-17.5,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-141.88,0.000,2,0.000,0.000,115,2483,3531,0,0,0,0,0,0
$GC,166,-0.62,-146.0,6.0,-9.6,25,186,13.23,2.45,-1.85,0.000,4,0.323,0.086,2652,3899,3628,0,0,0,0,0,0
$GC,251,-0.55,-146.0,33.6,-16.8,39,258,0.12,2.25,0.00,0.000,6,0.197,0.051,2684,2493,3631,0,0,0,0,0,0
$GC,598,-0.51,-146.0,82.5,-14.0,100,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2493,3631,0,0,0,0,0,0
$GC,931,-0.51,-146.0,125.5,-11.3,142,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2493,3629,0,0,0,0,0,0
$GC,1252,-0.51,-146.0,163.0,-11.8,172,1256,0.00,2.28,0.00,0.000,4,0.000,0.067,2684,1082,3629,0,0,0,0,0,0
$GC,1292,-0.53,-146.0,167.9,-11.7,175,1297,0.00,2.28,0.00,0.000,6,0.000,0.065,2684,2485,3628,0,0,0,0,0,0
$GC,1618,-0.53,-146.0,200.7,-9.6,205,1623,0.00,2.35,0.00,0.000,4,0.000,0.079,2684,3899,3628,0,0,0,0,0,0
$GC,1675,-0.59,-146.0,206.2,-9.3,209,1681,0.00,2.22,0.00,0.000,6,0.000,0.050,2684,2489,3628,0,0,0,0,0,0
$GC,2001,-0.59,-146.0,234.7,-9.0,240,2005,0.00,2.28,0.00,0.000,4,0.000,0.064,2684,1070,3629,0,0,0,0,0,0
$GC,2053,-0.63,-146.0,239.4,-9.1,244,2057,0.00,2.30,0.00,0.000,6,0.000,0.063,2684,2499,3629,0,0,0,0,0,0
$GC,2379,-0.65,-146.0,269.0,-9.2,274,2383,0.00,2.30,0.00,0.000,4,0.000,0.076,2684,3900,3630,0,0,0,0,0,0
$GC,2419,-0.70,-146.0,272.8,-9.5,277,2427,0.15,2.22,0.00,0.000,6,0.115,0.047,2632,2485,3630,0,0,0,0,0,0
$GC,2745,-0.60,-146.0,316.6,-14.1,308,2750,0.15,2.25,0.00,0.000,4,0.211,0.062,2667,1081,3631,0,0,0,0,0,0
$GC,2772,-0.57,-146.0,320.2,-12.1,310,2779,0.00,2.30,0.00,0.000,6,0.000,0.060,2667,2500,3631,0,0,0,0,0,0
$GC,3098,-0.57,-146.0,353.6,-10.8,341,3102,0.00,2.30,0.00,0.000,4,0.000,0.074,2667,3900,3632,0,0,0,0,0,0
$GC,3149,-0.60,-146.0,358.9,-10.2,345,3154,0.00,2.20,0.00,0.000,6,0.000,0.046,2667,2482,3632,0,0,0,0,0,0
$GC,3481,-0.60,-146.0,389.8,-9.9,376,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2482,3633,0,0,0,0,0,0
$GC,3799,-0.60,-146.0,421.4,-8.7,406,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2482,3633,0,0,0,0,0,0
$STATE,4073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4073,begin apogee
$GC,4082,-0.12,0.0,447.9,10.2,432,4214,0.50,0.00,123.32,1.164,6,0.179,0.000,2813,2252,3030,0,0,0,0,0,0
$STATE,4215,end apogee,CONTROL_FINISHED_OK
$STATE,4215,begin climb
$GC,4218,0.62,146.0,451.9,0.0,444,4353,0.77,0.00,126.30,1.118,6,0.131,0.000,3053,2252,2433,0,0,0,0,0,0
$GC,4673,0.56,146.0,401.6,13.4,487,4677,0.00,2.35,0.00,0.000,4,0.000,0.063,3053,3694,2429,0,0,0,0,0,0
$GC,4752,0.46,146.0,390.6,13.5,494,4757,0.17,2.22,0.00,0.000,6,0.181,0.050,3019,2284,2428,0,0,0,0,0,0
$GC,5084,0.51,167.4,359.1,9.0,525,5105,0.00,0.00,18.73,1.023,6,0.000,0.000,3019,2284,2347,0,0,0,0,0,0
$GC,5422,0.57,185.4,327.8,9.2,557,5442,0.00,0.00,16.42,0.998,6,0.000,0.000,3019,2284,2273,0,0,0,0,0,0
$GC,5761,0.67,226.0,298.6,8.1,589,5802,0.17,0.00,36.72,1.026,6,0.083,0.000,3100,2284,2107,0,0,0,0,0,0
$GC,6121,0.57,226.0,243.7,15.8,623,6126,0.20,2.30,0.00,0.000,4,0.191,0.063,3048,3697,2102,0,0,0,0,0,0
$GC,6150,0.53,226.0,239.3,14.1,625,6155,0.00,2.25,0.00,0.000,6,0.000,0.050,3056,2278,2102,0,0,0,0,0,0
$GC,6476,0.53,226.0,200.6,11.8,655,6480,0.00,2.28,0.00,0.000,4,0.000,0.066,3067,861,2101,0,0,0,0,0,0
$GC,6504,0.53,226.0,197.1,11.9,657,6509,0.12,2.22,0.00,0.000,6,0.168,0.052,3035,2282,2099,0,0,0,0,0,0
$GC,6836,0.58,226.0,163.5,10.4,688,6840,0.00,2.25,0.00,0.000,4,0.000,0.066,3035,3687,2099,0,0,0,0,0,0
$GC,6880,0.62,226.0,158.3,11.7,691,6887,0.00,2.22,0.00,0.000,6,0.000,0.050,3042,2263,2099,0,0,0,0,0,0
$GC,7206,0.68,235.4,126.8,9.6,722,7222,0.12,2.30,8.25,0.825,4,0.101,0.064,3112,865,2069,0,0,0,0,0,0
$GC,7263,0.63,235.4,119.6,14.0,727,7267,0.15,2.22,0.00,0.000,6,0.187,0.053,3074,2283,2069,0,0,0,0,0,0
$GC,7598,0.66,235.4,81.1,10.4,773,7605,0.00,2.25,0.00,0.000,4,0.000,0.066,3074,3687,2069,0,0,0,0,0,0
$GC,7696,0.66,235.4,69.3,12.6,790,7703,0.00,2.22,0.00,0.000,6,0.000,0.049,3082,2259,2068,0,0,0,0,0,0
$GC,8043,0.69,235.4,32.1,10.5,851,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2259,2069,0,0,0,0,0,0
$FREEZE,8.62,-1.699,-1.832,2,1,0
$FREEZE,8.18,-1.699,-1.832,2,1,0
$FREEZE,7.70,-1.696,-1.831,2,1,0
$FREEZE,7.21,-1.692,-1.831,2,1,0
$FREEZE,6.76,-1.687,-1.831,2,1,0
$FREEZE,6.30,-1.690,-1.830,2,1,0
$FREEZE,5.76,-1.694,-1.830,2,1,0
$FREEZE,5.32,-1.698,-1.830,2,1,0
$FREEZE,4.77,-1.698,-1.829,2,1,0
$FREEZE,4.35,-1.696,-1.829,2,1,0
$FREEZE,3.86,-1.674,-1.828,2,1,0
$FREEZE,3.39,-1.672,-1.828,2,1,0
$FREEZE,2.97,-1.667,-1.828,2,1,0
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8347,begin surface coast
$FREEZE,2.33,-1.658,-1.827,2,1,0
$FREEZE,2.31,-1.616,-1.824,2,1,0
$FREEZE,2.30,-1.566,-1.821,2,1,0
$FREEZE,2.36,-1.647,-1.826,2,1,0
$FREEZE,2.28,-1.650,-1.826,2,1,0
$FREEZE,2.32,-1.649,-1.826,2,1,0
$FINISH,2.3,1.026785
$STATE,8380,end surface coast,CONTROL_FINISHED_OK
$STATE,8380,begin surface
$RAFOS_CLK,392
$RAFOS,5,1305477663,16.700001,16.684166,110,69,59,55,53,52,660,218,198,165,131,117
$RAFOS,4,1305477185,16.566668,16.551390,128,65,62,58,58,53,874,223,189,198,207,158
$RAFOS,3,1305476708,16.433332,16.418888,62,58,57,57,56,52,215,169,193,157,970,178
$RAFOS,2,1305476221,16.299999,16.283611,65,64,64,64,59,52,196,187,153,1076,214,228
$RAFOS,1,1305475750,16.166666,16.152779,93,70,61,55,55,54,1016,203,125,114,147,226
$RAFOS,0,1305475263,16.033333,16.017500,66,63,58,57,55,51,191,181,200,140,167,213
$RAFOS_FIX,6711.258789,-5702.276855,150511,161652,3,110,2.62
$IRIDIUM_FIX,6636.54,-5644.66,150511,141424
$TT8_MAMPS,0.028462
$HUMID,46.65
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,401.0,61.8
$24V_AH,22.2,82.706
$10V_AH,10.0,42.648
$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,15.875,59.400,329.750,0.000,0.000,72.389,100.941,895.723,10.250,0.000,14.532,2190.280,4496.580,446.319,2427.591,601.756,0.000,1225.470,0.000,1414.717,2520.000,13.705,0.000
$DEVICE_MAMPS,322.830,85.680,1164.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.167,683.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150452
$DATA_FILE_SIZE,36705,912
$CAP_FILE_SIZE,113283,0
$CFSIZE,260165632,212987904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,150511,143250,6704.066,-5644.688,12,1.7,12,-37.5