version: 66.08
glider: 141
mission: 15
dive: 630
start: 5 15 111 19 25 6
data:
$ID,141
$MISSION,15
$DIVE,630
$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,29
$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
$GPS1,150511,163512,6708.455,-5658.881,0,4107.8,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.05
$_SM_ANGLEo,0.4
$GPS2,150511,163512,6708.455,-5658.881,0,4107.8,0,-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,179.6,12798,-17.5,-10.000
$D_GRID,451
$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,-5.82,0.000,2,0.000,0.000,2888,3693,3115,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.6,-0.0,1,46,0.62,0.35,-13.15,0.000,4,0.113,0.178,2672,3897,3629,0,0,0,0,0,0
$GC,64,-0.62,-146.0,13.0,-10.1,7,71,0.00,2.20,0.00,0.000,6,0.000,0.045,2672,2478,3630,0,0,0,0,0,0
$GC,410,-0.54,-146.0,65.1,-14.5,68,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2478,3629,0,0,0,0,0,0
$GC,755,-0.47,-146.0,116.1,-14.7,120,760,0.15,2.25,0.00,0.000,4,0.213,0.066,2707,1079,3628,0,0,0,0,0,0
$GC,829,-0.53,-146.0,125.0,-10.8,126,834,0.00,2.28,0.00,0.000,6,0.000,0.063,2707,2492,3627,0,0,0,0,0,0
$GC,1155,-0.59,-146.0,158.5,-9.8,156,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2492,3626,0,0,0,0,0,0
$GC,1478,-0.65,-146.0,186.8,-8.6,186,1483,0.15,2.33,0.00,0.000,4,0.112,0.078,2654,3899,3624,0,0,0,0,0,0
$GC,1518,-0.61,-146.0,191.6,-12.4,189,1523,0.00,2.20,0.00,0.000,6,0.000,0.049,2654,2489,3623,0,0,0,0,0,0
$GC,1844,-0.55,-146.0,231.1,-11.8,219,1846,0.12,0.00,0.00,0.000,6,0.206,0.000,2683,2489,3623,0,0,0,0,0,0
$GC,2165,-0.55,-146.0,260.4,-8.8,249,2169,0.00,2.25,0.00,0.000,4,0.000,0.062,2683,1085,3622,0,0,0,0,0,0
$GC,2221,-0.60,-146.0,265.7,-8.7,253,2227,0.00,2.28,0.00,0.000,6,0.000,0.060,2683,2493,3623,0,0,0,0,0,0
$GC,2548,-0.62,-146.0,293.6,-9.0,284,2552,0.00,2.30,0.00,0.000,4,0.000,0.075,2682,3904,3623,0,0,0,0,0,0
$GC,2560,-0.65,-146.0,294.8,-8.8,284,2567,0.00,2.22,0.00,0.000,6,0.000,0.044,2683,2480,3623,0,0,0,0,0,0
$GC,2886,-0.68,-146.0,324.6,-8.7,315,2888,0.12,0.00,0.00,0.000,6,0.128,0.000,2640,2480,3624,0,0,0,0,0,0
$GC,3204,-0.60,-146.0,362.3,-12.3,345,3206,0.12,0.00,0.00,0.000,6,0.204,0.000,2668,2480,3624,0,0,0,0,0,0
$GC,3522,-0.60,-146.0,393.9,-9.7,375,3526,0.00,2.20,0.00,0.000,4,0.000,0.059,2669,1076,3625,0,0,0,0,0,0
$GC,3541,-0.60,-146.0,395.7,-9.8,376,3545,0.00,2.25,0.00,0.000,6,0.000,0.057,2668,2494,3625,0,0,0,0,0,0
$GC,3867,-0.60,-146.0,426.3,-9.6,406,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2493,3625,0,0,0,0,0,0
$STATE,4131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4131,begin apogee
$GC,4137,-0.12,0.0,452.0,9.4,431,4269,0.50,0.00,121.12,1.164,6,0.184,0.000,2813,2261,3029,0,0,0,0,0,0
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4270,begin climb
$GC,4272,0.62,146.0,456.1,0.0,443,4407,0.77,2.45,125.28,1.119,4,0.132,0.065,3063,885,2433,0,0,0,0,0,0
$GC,4453,0.58,146.0,442.9,11.5,459,4460,0.00,2.40,0.00,0.000,6,0.000,0.051,3063,2285,2430,0,0,0,0,0,0
$GC,4781,0.52,146.0,404.6,11.6,490,4786,0.12,2.28,0.00,0.000,4,0.180,0.067,3031,3684,2429,0,0,0,0,0,0
$GC,4902,0.47,146.0,390.1,12.2,500,4906,0.00,2.20,0.00,0.000,6,0.000,0.050,3039,2283,2428,0,0,0,0,0,0
$GC,5232,0.45,146.0,353.8,10.8,531,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2283,2428,0,0,0,0,0,0
$GC,5554,0.42,146.0,321.1,10.0,561,5561,0.15,0.00,0.00,0.000,6,0.177,0.000,3000,2282,2428,0,0,0,0,0,0
$GC,5880,0.58,222.9,297.3,6.5,592,5957,0.15,2.40,65.82,1.040,4,0.092,0.065,3067,3684,2119,0,0,0,0,0,0
$GC,5995,0.53,222.9,283.8,15.0,602,6000,0.15,2.25,0.00,0.000,6,0.178,0.050,3039,2278,2117,0,0,0,0,0,0
$GC,6320,0.53,222.9,248.7,10.2,632,6324,0.00,2.25,0.00,0.000,4,0.000,0.065,3048,867,2112,0,0,0,0,0,0
$GC,6390,0.62,247.3,242.1,8.9,638,6416,0.00,2.22,21.00,0.971,6,0.000,0.052,3048,2282,2022,0,0,0,0,0,0
$GC,6739,0.65,247.3,203.5,11.7,670,6743,0.00,2.25,0.00,0.000,4,0.000,0.066,3048,3694,2016,0,0,0,0,0,0
$GC,6824,0.65,247.3,192.1,13.4,677,6828,0.00,2.22,0.00,0.000,6,0.000,0.050,3057,2273,2016,0,0,0,0,0,0
$GC,7150,0.65,247.3,151.6,11.6,707,7154,0.00,2.22,0.00,0.000,4,0.000,0.063,3068,867,2016,0,0,0,0,0,0
$GC,7202,0.70,247.3,145.7,11.1,711,7206,0.00,2.22,0.00,0.000,6,0.000,0.051,3068,2284,2014,0,0,0,0,0,0
$GC,7534,0.72,247.3,107.0,10.5,742,7538,0.00,2.22,0.00,0.000,4,0.000,0.065,3068,3684,2014,0,0,0,0,0,0
$GC,7608,0.72,247.3,98.0,12.7,749,7615,0.00,2.20,0.00,0.000,6,0.000,0.050,3078,2273,2014,0,0,0,0,0,0
$GC,7955,0.77,247.3,56.4,11.1,810,7961,0.00,2.25,0.00,0.000,4,0.000,0.066,3085,870,2013,0,0,0,0,0,0
$GC,8036,0.82,247.3,47.8,10.3,824,8044,0.12,2.22,0.00,0.000,6,0.105,0.052,3141,2288,2013,0,0,0,0,0,0
$FREEZE,8.67,-1.645,-1.832,2,3,0
$FREEZE,8.05,-1.660,-1.831,2,3,0
$FREEZE,7.34,-1.665,-1.831,2,3,0
$FREEZE,6.75,-1.646,-1.831,2,3,0
$FREEZE,6.14,-1.617,-1.830,2,3,0
$FREEZE,5.38,-1.609,-1.830,2,3,0
$FREEZE,4.54,-1.582,-1.828,2,3,0
$FREEZE,3.92,-1.511,-1.826,2,3,0
$FREEZE,3.15,-1.512,-1.826,2,3,0
$FREEZE,2.43,-1.464,-1.826,2,3,0
$STATE,8371,end climb,SURFACE_DEPTH_REACHED
$STATE,8371,begin surface coast
$FREEZE,2.43,-1.474,-1.824,2,3,0
$FREEZE,2.24,-1.513,-1.826,2,3,0
$FREEZE,2.02,-1.505,-1.825,2,3,0
$FREEZE,1.54,-1.526,-1.826,2,3,0
$FINISH,1.5,1.026790
$STATE,8394,end surface coast,CONTROL_FINISHED_OK
$STATE,8394,begin surface
$SM_CCo,8413,68.28,0.063,0,0,1399,400.08
$SM_GC,2.88,0.00,0.00,68.28,0.000,0.000,0.063,106,2502,1399,-8.62,0.34,400.08
$RAFOS_CLK,447
$RAFOS,6,1305492544,20.833334,20.817778,121,65,60,59,58,56,816,116,165,218,205,227
$RAFOS,5,1305492070,20.700001,20.686111,109,66,61,61,52,50,626,208,159,170,131,231
$RAFOS,4,1305491582,20.566668,20.550556,59,59,57,57,56,53,147,193,178,130,161,205
$RAFOS,3,1305491104,20.433332,20.417778,69,60,59,56,52,52,214,197,988,139,182,157
$RAFOS,2,1305490622,20.299999,20.283890,72,58,55,55,52,51,1071,203,223,147,134,168
$RAFOS,1,1305490145,20.166666,20.151388,86,58,58,53,53,52,1045,209,176,156,1634,191
$RAFOS,0,1305489665,20.033333,20.018055,60,56,54,53,52,50,219,162,199,110,186,134
$RAFOS_FIX,6708.105469,-5700.463867,150511,202032,4,97,0.09
$IRIDIUM_FIX,6636.54,-5644.66,150511,141424
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.10
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.2,20.3
$24V_AH,22.2,82.920
$10V_AH,10.0,42.758
$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,12.200,62.050,333.225,68.275,0.000,0.000,0.000,0.000,8.500,0.000,0.000,2149.541,4388.497,408.799,1432.177,178.712,0.000,1173.066,0.000,1422.626,2520.000,12.627,0.000
$DEVICE_MAMPS,212.670,178.245,1163.565,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.500,667.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,33428,888
$CAP_FILE_SIZE,96113,0
$CFSIZE,260165632,212893696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.2
$GPS,150511,203232,6708.105,-5700.464,0,4097.0,0,-37.5