version: 66.08
glider: 141
mission: 15
dive: 633
start: 5 16 111 3 45 8
data:
$ID,141
$MISSION,15
$DIVE,633
$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,-48258.941
$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
$GPS1,160511,010526,6704.598,-5652.468,12,1.2,12,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.99
$_SM_ANGLEo,0.3
$GPS2,160511,010526,6704.598,-5652.468,12,1.2,12,-37.6
$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,170.1,4378,-17.5,-10.000
$D_GRID,491
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.05,0.000,2,0.000,0.000,2887,3683,3075,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.1,-0.0,1,52,0.62,4.20,-17.10,0.000,4,0.114,0.061,2673,1074,3624,0,0,0,0,0,0
$GC,189,-0.58,-146.0,27.5,-14.5,29,196,0.00,2.28,0.00,0.000,6,0.000,0.064,2673,2485,3625,0,0,0,0,0,0
$GC,535,-0.51,-146.0,79.8,-13.7,90,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2485,3624,0,0,0,0,0,0
$GC,870,-0.45,-146.0,125.1,-13.8,134,875,0.17,2.38,0.00,0.000,4,0.213,0.083,2715,3905,3622,0,0,0,0,0,0
$GC,881,-0.40,-146.0,126.8,-13.4,134,888,0.00,2.25,0.00,0.000,6,0.000,0.050,2715,2484,3622,0,0,0,0,0,0
$GC,1207,-0.47,-146.0,154.4,-8.0,165,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2484,3621,0,0,0,0,0,0
$GC,1526,-0.55,-146.0,179.9,-7.9,195,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2484,3619,0,0,0,0,0,0
$GC,1846,-0.64,-146.0,205.5,-7.4,225,1851,0.17,2.28,0.00,0.000,4,0.110,0.068,2655,1076,3619,0,0,0,0,0,0
$GC,1858,-0.70,-146.0,206.6,-7.4,225,1864,0.00,2.30,0.00,0.000,6,0.000,0.066,2654,2497,3619,0,0,0,0,0,0
$GC,2183,-0.65,-146.0,246.4,-12.1,256,2187,0.00,2.30,0.00,0.000,4,0.000,0.080,2655,3899,3618,0,0,0,0,0,0
$GC,2202,-0.59,-146.0,248.6,-12.1,257,2206,0.00,2.22,0.00,0.000,6,0.000,0.050,2655,2488,3618,0,0,0,0,0,0
$GC,2533,-0.53,-146.0,289.0,-12.0,288,2534,0.12,0.00,0.00,0.000,6,0.202,0.000,2684,2488,3619,0,0,0,0,0,0
$GC,2852,-0.56,-146.0,320.0,-9.5,318,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2488,3620,0,0,0,0,0,0
$GC,3172,-0.60,-146.0,347.0,-7.9,348,3176,0.00,2.22,0.00,0.000,4,0.000,0.061,2684,1077,3621,0,0,0,0,0,0
$GC,3184,-0.62,-146.0,348.1,-7.8,348,3191,0.00,2.28,0.00,0.000,6,0.000,0.060,2685,2500,3620,0,0,0,0,0,0
$GC,3511,-0.66,-146.0,372.9,-7.9,379,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2500,3621,0,0,0,0,0,0
$GC,3830,-0.69,-146.0,398.3,-8.5,409,3836,0.15,2.28,0.00,0.000,4,0.114,0.075,2631,3896,3622,0,0,0,0,0,0
$GC,3859,-0.65,-146.0,401.6,-11.3,411,3866,0.00,2.17,0.00,0.000,6,0.000,0.046,2632,2488,3622,0,0,0,0,0,0
$GC,4186,-0.56,-146.0,442.4,-11.9,442,4188,0.20,0.00,0.00,0.000,6,0.201,0.000,2682,2488,3622,0,0,0,0,0,0
$GC,4504,-0.60,-146.0,470.1,-9.3,472,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2488,3622,0,0,0,0,0,0
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4745,begin apogee
$GC,4752,-0.12,0.0,491.8,9.5,495,4885,0.45,0.00,121.65,1.186,6,0.178,0.000,2814,2256,3029,0,0,0,0,0,0
$STATE,4886,end apogee,CONTROL_FINISHED_OK
$STATE,4886,begin climb
$GC,4888,0.62,146.0,496.4,0.0,507,5025,0.77,2.47,126.57,1.144,4,0.134,0.067,3063,881,2433,0,0,0,0,0,0
$GC,5077,0.58,146.0,482.1,12.0,524,5082,0.00,2.38,0.00,0.000,6,0.000,0.052,3063,2278,2429,0,0,0,0,0,0
$GC,5403,0.51,146.0,442.0,11.8,554,5408,0.12,2.30,0.00,0.000,4,0.184,0.068,3032,3691,2428,0,0,0,0,0,0
$GC,5516,0.45,146.0,428.3,12.1,563,5523,0.00,2.22,0.00,0.000,6,0.000,0.050,3040,2290,2427,0,0,0,0,0,0
$GC,5842,0.43,146.0,393.3,10.1,594,5847,0.12,2.30,0.00,0.000,4,0.181,0.066,3017,865,2428,0,0,0,0,0,0
$GC,5881,0.51,165.7,389.7,9.1,597,5903,0.00,2.28,17.38,1.030,6,0.000,0.063,3017,2287,2354,0,0,0,0,0,0
$GC,6224,0.56,166.5,357.5,10.0,629,6228,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3693,2352,0,0,0,0,0,0
$GC,6314,0.56,166.5,346.8,12.4,637,6318,0.00,2.25,0.00,0.000,6,0.000,0.050,3027,2264,2352,0,0,0,0,0,0
$GC,6640,0.58,166.5,313.4,10.1,667,6644,0.00,2.25,0.00,0.000,4,0.000,0.065,3037,861,2351,0,0,0,0,0,0
$GC,6706,0.61,166.5,306.3,10.5,672,6713,0.00,2.25,0.00,0.000,6,0.000,0.063,3037,2283,2350,0,0,0,0,0,0
$GC,7032,0.62,179.0,274.1,9.4,703,7054,0.00,2.33,12.52,0.959,4,0.000,0.067,3037,3684,2299,0,0,0,0,0,0
$GC,7137,0.60,179.0,262.5,11.8,712,7141,0.00,2.25,0.00,0.000,6,0.000,0.050,3047,2265,2299,0,0,0,0,0,0
$GC,7464,0.60,179.0,226.5,10.8,742,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2265,2299,0,0,0,0,0,0
$GC,7783,0.60,179.0,191.0,11.1,772,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2265,2298,0,0,0,0,0,0
$GC,8110,0.63,208.4,158.6,8.6,803,8139,0.00,0.00,26.33,0.956,6,0.000,0.000,3047,2265,2180,0,0,0,0,0,0
$GC,8458,0.70,244.8,128.9,8.3,836,8496,0.12,2.35,32.88,0.933,4,0.101,0.063,3106,3684,2030,0,0,0,0,0,0
$GC,8549,0.61,244.8,116.6,15.4,843,8557,0.20,2.25,0.00,0.000,6,0.187,0.049,3066,2268,2028,0,0,0,0,0,0
$GC,8886,0.66,244.8,80.5,10.5,890,8893,0.00,2.25,0.00,0.000,4,0.000,0.065,3073,861,2024,0,0,0,0,0,0
$GC,8935,0.73,244.8,75.5,10.5,898,8942,0.00,2.25,0.00,0.000,6,0.000,0.052,3073,2277,2023,0,0,0,0,0,0
$GC,9282,0.80,250.2,39.3,9.8,959,9296,0.12,2.33,4.30,0.665,4,0.101,0.067,3130,3684,2009,0,0,0,0,0,0
$GC,9378,0.70,250.2,26.0,15.1,975,9386,0.17,2.22,0.00,0.000,6,0.190,0.051,3096,2269,2009,0,0,0,0,0,0
$FREEZE,8.40,-1.680,-1.832,2,2,0
$FREEZE,7.81,-1.669,-1.831,2,2,0
$FREEZE,7.30,-1.662,-1.831,2,2,0
$FREEZE,6.81,-1.660,-1.830,2,2,0
$FREEZE,6.07,-1.667,-1.829,2,2,0
$FREEZE,5.64,-1.666,-1.829,2,2,0
$FREEZE,5.09,-1.674,-1.829,2,2,0
$FREEZE,4.54,-1.671,-1.828,2,2,0
$FREEZE,4.08,-1.669,-1.828,2,2,0
$FREEZE,3.43,-1.682,-1.827,2,2,0
$FREEZE,2.96,-1.692,-1.827,2,2,0
$STATE,9586,end climb,SURFACE_DEPTH_REACHED
$STATE,9586,begin surface coast
$FREEZE,2.33,-1.688,-1.826,2,2,0
$FREEZE,1.78,-1.697,-1.826,2,2,0
$FREEZE,1.83,-1.695,-1.826,2,2,0
$FREEZE,1.92,-1.696,-1.826,2,2,0
$FREEZE,1.87,-1.696,-1.826,2,2,0
$FINISH,1.9,1.026794
$STATE,9615,end surface coast,CONTROL_FINISHED_OK
$STATE,9615,begin surface
$RAFOS_CLK,500
$RAFOS,6,1305521342,4.833333,4.817222,146,62,57,55,52,50,820,206,219,147,178,123
$RAFOS,5,1305520866,4.700000,4.685000,99,69,67,55,51,49,640,213,197,131,165,121
$RAFOS,4,1305520388,4.566667,4.552222,98,60,54,53,52,48,852,205,175,215,129,97
$RAFOS,3,1305519910,4.433333,4.419445,70,56,53,52,51,51,955,209,154,141,121,165
$RAFOS,2,1305519423,4.300000,4.284167,59,55,54,53,52,49,142,207,224,164,184,92
$RAFOS,1,1305518945,4.166667,4.151389,75,59,57,56,55,55,1034,211,196,120,221,167
$RAFOS,0,1305518467,4.033333,4.018611,61,59,56,53,52,50,156,205,216,112,139,172
$RAFOS_FIX,6706.516602,-5701.266113,160511,040429,5,98,0.58
$IRIDIUM_FIX,6631.12,-5653.72,150511,222226
$TT8_MAMPS,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.90
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.0,83.340
$10V_AH,9.9,42.969
$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,3.550,70.650,341.625,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,2479.350,5176.565,365.571,1595.117,200.401,0.000,1220.501,0.000,1588.340,2520.000,9.882,0.000
$DEVICE_MAMPS,212.670,82.620,1185.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.055,764.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150460
$DATA_FILE_SIZE,40047,1017
$CAP_FILE_SIZE,106900,0
$CFSIZE,260165632,212709376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$GPS,160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6