version: 66.08
glider: 141
mission: 15
dive: 631
start: 5 15 111 22 14 2
data:
$ID,141
$MISSION,15
$DIVE,631
$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,-48257.59
$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,30
$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
$GPS1,150511,203232,6708.105,-5700.464,0,4097.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-76.6
$GPS2,150511,221331,6702.919,-5651.361,41,1.3,41,-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,124.0,2432,-20.4,-10.000
$D_GRID,534
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.65,-109.6,0.0,0.0,0,156,0.00,0.00,-134.73,0.000,2,0.000,0.000,105,2502,3391,0,0,0,0,0,0
$GC,161,-0.68,-140.1,5.1,-8.1,24,186,13.00,2.33,-4.62,0.000,4,0.319,0.089,2630,3892,3605,0,0,0,0,0,0
$GC,402,-0.63,-140.1,58.8,-17.8,66,409,0.00,2.25,0.00,0.000,6,0.000,0.053,2630,2485,3606,0,0,0,0,0,0
$GC,741,-0.54,-140.1,123.9,-18.2,115,746,0.22,2.30,0.00,0.000,4,0.212,0.068,2686,1076,3605,0,0,0,0,0,0
$GC,752,-0.46,-140.1,126.2,-18.3,115,759,0.00,2.28,0.00,0.000,6,0.000,0.066,2686,2481,3605,0,0,0,0,0,0
$GC,1079,-0.51,-142.0,162.8,-9.9,146,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2480,3604,0,0,0,0,0,0
$GC,1398,-0.58,-146.0,193.1,-9.1,176,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2480,3603,0,0,0,0,0,0
$GC,1726,-0.65,-146.0,221.4,-8.7,207,1730,0.00,2.35,0.00,0.000,4,0.000,0.080,2686,3900,3603,0,0,0,0,0,0
$GC,1745,-0.72,-146.0,223.2,-8.7,208,1750,0.17,2.25,0.00,0.000,6,0.110,0.050,2626,2480,3603,0,0,0,0,0,0
$GC,2071,-0.66,-146.0,266.0,-13.3,238,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2479,3603,0,0,0,0,0,0
$GC,2393,-0.60,-146.0,309.2,-14.0,268,2398,0.15,2.25,0.00,0.000,4,0.213,0.064,2662,1079,3604,0,0,0,0,0,0
$GC,2433,-0.64,-146.0,314.6,-11.3,271,2437,0.00,2.30,0.00,0.000,6,0.000,0.063,2661,2491,3605,0,0,0,0,0,0
$GC,2760,-0.67,-146.0,349.2,-10.8,301,2764,0.00,2.33,0.00,0.000,4,0.000,0.076,2662,3907,3606,0,0,0,0,0,0
$GC,2782,-0.70,-146.0,352.0,-11.0,302,2788,0.00,2.22,0.00,0.000,6,0.000,0.047,2662,2488,3606,0,0,0,0,0,0
$GC,3108,-0.73,-146.0,385.4,-10.0,333,3112,0.00,2.25,0.00,0.000,4,0.000,0.061,2662,1076,3608,0,0,0,0,0,0
$GC,3142,-0.77,-146.0,389.2,-10.4,335,3149,0.15,2.28,0.00,0.000,6,0.112,0.061,2610,2492,3607,0,0,0,0,0,0
$GC,3468,-0.69,-146.0,435.1,-14.3,366,3469,0.12,0.00,0.00,0.000,6,0.227,0.000,2638,2492,3608,0,0,0,0,0,0
$GC,3786,-0.69,-146.0,474.0,-11.9,396,3790,0.00,2.33,0.00,0.000,4,0.000,0.076,2638,3902,3609,0,0,0,0,0,0
$GC,3815,-0.69,-146.0,477.4,-12.0,398,3819,0.00,2.22,0.00,0.000,6,0.000,0.046,2638,2481,3608,0,0,0,0,0,0
$STATE,4034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4034,begin apogee
$GC,4040,-0.12,0.0,503.5,12.2,418,4166,0.62,0.00,119.18,1.199,6,0.188,0.000,2816,2255,3030,0,0,0,0,0,0
$STATE,4167,end apogee,CONTROL_FINISHED_OK
$STATE,4167,begin climb
$GC,4170,0.69,146.0,506.9,0.0,429,4305,0.85,0.00,127.93,1.155,6,0.130,0.000,3077,2254,2433,0,0,0,0,0,0
$GC,4624,0.66,146.0,456.2,12.5,472,4628,0.00,2.38,0.00,0.000,4,0.000,0.067,3077,3691,2428,0,0,0,0,0,0
$GC,4737,0.58,146.0,438.9,15.4,482,4742,0.15,2.25,0.00,0.000,6,0.192,0.051,3051,2288,2428,0,0,0,0,0,0
$GC,5063,0.58,146.0,400.8,11.2,512,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2288,2428,0,0,0,0,0,0
$GC,5383,0.60,146.0,364.0,11.4,542,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2287,2428,0,0,0,0,0,0
$GC,5702,0.60,146.0,328.5,10.8,572,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2288,2428,0,0,0,0,0,0
$GC,6030,0.62,146.0,292.8,10.7,603,6034,0.00,2.28,0.00,0.000,4,0.000,0.066,3051,3700,2428,0,0,0,0,0,0
$GC,6080,0.60,146.0,286.2,12.9,607,6087,0.00,2.28,0.00,0.000,6,0.000,0.050,3059,2263,2428,0,0,0,0,0,0
$GC,6406,0.60,146.0,248.2,11.2,638,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2263,2428,0,0,0,0,0,0
$GC,6727,0.60,146.0,213.2,10.6,668,6731,0.00,2.30,0.00,0.000,4,0.000,0.064,3059,3698,2428,0,0,0,0,0,0
$GC,6805,0.57,146.0,203.5,12.7,674,6811,0.00,2.28,0.00,0.000,6,0.000,0.059,3070,2264,2428,0,0,0,0,0,0
$GC,7130,0.57,146.0,170.0,10.1,705,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2264,2428,0,0,0,0,0,0
$GC,7451,0.57,148.7,138.6,9.8,735,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2264,2428,0,0,0,0,0,0
$GC,7779,0.59,167.5,108.1,8.8,766,7801,0.00,0.00,18.70,0.913,6,0.000,0.000,3070,2264,2346,0,0,0,0,0,0
$GC,8133,0.65,180.9,74.3,9.2,822,8151,0.00,0.00,12.90,0.868,6,0.000,0.000,3070,2264,2291,0,0,0,0,0,0
$GC,8492,0.75,215.7,43.5,7.9,885,8527,0.10,0.00,27.95,0.928,6,0.115,0.000,3118,2263,2150,0,0,0,0,0,0
$FREEZE,8.53,-1.635,-1.832,2,1,0
$FREEZE,7.87,-1.636,-1.831,2,1,0
$FREEZE,7.22,-1.636,-1.831,2,1,0
$FREEZE,6.48,-1.639,-1.830,2,1,0
$FREEZE,5.69,-1.641,-1.830,2,1,0
$FREEZE,5.18,-1.642,-1.829,2,1,0
$FREEZE,4.66,-1.636,-1.829,2,1,0
$FREEZE,4.16,-1.623,-1.828,2,1,0
$FREEZE,3.52,-1.610,-1.828,2,1,0
$FREEZE,2.96,-1.581,-1.826,2,1,0
$STATE,8852,end climb,SURFACE_DEPTH_REACHED
$STATE,8852,begin surface coast
$FREEZE,2.42,-1.575,-1.826,2,1,0
$FREEZE,2.31,-1.541,-1.824,2,1,0
$FREEZE,2.14,-1.568,-1.824,2,1,0
$FREEZE,2.19,-1.541,-1.822,2,1,0
$FREEZE,2.21,-1.567,-1.824,2,1,0
$FINISH,2.2,1.026755
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8941,81.82,0.063,0,0,1399,400.08
$SM_GC,2.46,0.00,0.00,81.82,0.000,0.000,0.063,105,2499,1399,-8.62,0.25,400.08
$RAFOS_CLK,423
$RAFOS,4,1305505983,0.566667,0.550833,69,65,65,59,57,56,192,161,881,137,215,182
$RAFOS,3,1305505503,0.433333,0.417500,80,65,56,50,50,49,995,198,170,209,112,181
$RAFOS,2,1305505024,0.300000,0.284444,62,59,56,56,54,53,212,190,156,171,137,226
$RAFOS,1,1305504546,0.166667,0.151667,125,62,60,56,55,52,1031,195,221,136,178,145
$RAFOS,0,1305504066,0.033333,0.018333,67,66,65,63,63,55,219,128,174,198,228,152
$RAFOS_FIX,6701.376953,-5656.416504,160511,000012,2,102,0.62
$IRIDIUM_FIX,6631.12,-5646.10,150511,212100
$TT8_MAMPS,0.029211
$HUMID,45.47
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,501.0,16.6
$24V_AH,22.1,83.072
$10V_AH,10.0,42.834
$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,24.275,46.375,306.650,81.825,0.000,53.082,54.859,764.330,11.500,0.000,43.300,2244.187,4778.758,510.787,2295.319,593.246,0.000,1291.654,0.000,1456.715,2160.000,14.356,0.000
$DEVICE_MAMPS,319.005,88.740,1198.755,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.393,712.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150464
$DATA_FILE_SIZE,36736,954
$CAP_FILE_SIZE,109361,0
$CFSIZE,260165632,212828160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,160511,004600,6704.509,-5652.200,36,1.3,36,-37.6