version: 66.08
glider: 141
mission: 15
dive: 634
start: 5 16 111 6 29 48
data:
$ID,141
$MISSION,15
$DIVE,634
$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,28
$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
$GPS1,160511,043329,6706.517,-5701.266,0,5097.6,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,10.0
$GPS2,160511,043329,6706.517,-5701.266,0,5097.6,0,-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,161.8,11584,-17.5,-10.000
$D_GRID,532
$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,-146.0,0.0,0.0,0,121,0.00,0.38,-99.80,0.000,6,0.000,0.153,3096,2493,3626,0,0,0,0,0,0
$GC,125,-0.62,-146.0,4.5,-7.4,18,133,1.30,2.28,0.00,0.000,4,0.129,0.060,2674,1073,3627,0,0,0,0,0,0
$GC,164,-0.50,-146.0,7.9,-8.2,24,171,0.10,2.28,0.00,0.000,6,0.233,0.062,2695,2488,3628,0,0,0,0,0,0
$GC,511,-0.47,-146.0,52.0,-13.2,85,517,0.00,2.33,0.00,0.000,4,0.000,0.078,2696,3906,3626,0,0,0,0,0,0
$GC,531,-0.47,-146.0,54.7,-12.8,88,537,0.00,2.22,0.00,0.000,6,0.000,0.050,2696,2482,3626,0,0,0,0,0,0
$GC,876,-0.47,-146.0,96.8,-11.4,149,883,0.00,2.25,0.00,0.000,4,0.000,0.065,2696,1080,3625,0,0,0,0,0,0
$GC,928,-0.51,-146.0,102.8,-10.8,156,934,0.00,2.28,0.00,0.000,6,0.000,0.065,2696,2496,3625,0,0,0,0,0,0
$GC,1254,-0.51,-146.0,138.4,-10.2,187,1258,0.00,2.35,0.00,0.000,4,0.000,0.081,2696,3906,3623,0,0,0,0,0,0
$GC,1288,-0.55,-146.0,142.2,-10.7,189,1295,0.00,2.25,0.00,0.000,6,0.000,0.053,2696,2488,3623,0,0,0,0,0,0
$GC,1614,-0.59,-146.0,176.0,-10.8,220,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2487,3621,0,0,0,0,0,0
$GC,1934,-0.63,-146.0,208.8,-9.6,250,1939,0.12,2.28,0.00,0.000,4,0.132,0.065,2654,1074,3621,0,0,0,0,0,0
$GC,1953,-0.63,-146.0,210.8,-9.7,251,1957,0.00,2.28,0.00,0.000,6,0.000,0.063,2653,2488,3621,0,0,0,0,0,0
$GC,2279,-0.57,-146.0,249.5,-11.2,281,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2488,3620,0,0,0,0,0,0
$GC,2600,-0.52,-146.0,284.2,-11.4,311,2606,0.15,0.00,0.00,0.000,6,0.198,0.000,2690,2489,3621,0,0,0,0,0,0
$GC,2926,-0.56,-146.0,311.3,-8.4,342,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2489,3621,0,0,0,0,0,0
$GC,3247,-0.60,-146.0,339.1,-9.1,372,3251,0.00,2.33,0.00,0.000,4,0.000,0.075,2691,3909,3622,0,0,0,0,0,0
$GC,3269,-0.65,-146.0,341.5,-9.1,373,3276,0.12,2.22,0.00,0.000,6,0.122,0.047,2647,2482,3622,0,0,0,0,0,0
$GC,3595,-0.59,-146.0,380.0,-11.9,404,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2482,3622,0,0,0,0,0,0
$GC,3916,-0.54,-146.0,417.8,-11.7,434,3920,0.15,2.25,0.00,0.000,4,0.202,0.060,2684,1077,3623,0,0,0,0,0,0
$GC,3926,-0.49,-146.0,419.5,-11.7,434,3933,0.00,2.28,0.00,0.000,6,0.000,0.059,2684,2500,3622,0,0,0,0,0,0
$GC,4254,-0.54,-146.0,448.2,-8.7,465,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2500,3623,0,0,0,0,0,0
$GC,4582,-0.59,-146.0,476.8,-8.4,496,4587,0.00,2.30,0.00,0.000,4,0.000,0.074,2684,3899,3624,0,0,0,0,0,0
$GC,4613,-0.65,-146.0,479.4,-8.2,498,4617,0.00,2.22,0.00,0.000,6,0.000,0.044,2684,2479,3623,0,0,0,0,0,0
$STATE,4915,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4915,begin apogee
$GC,4921,-0.12,0.0,504.7,8.0,526,5054,0.45,0.00,121.88,1.195,6,0.182,0.000,2815,2250,3029,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5058,0.62,146.0,509.1,0.0,538,5194,0.77,2.45,126.57,1.151,4,0.132,0.066,3063,889,2434,0,0,0,0,0,0
$GC,5250,0.57,146.0,494.2,11.9,555,5257,0.00,2.40,0.00,0.000,6,0.000,0.052,3063,2282,2430,0,0,0,0,0,0
$GC,5577,0.49,146.0,454.6,12.5,586,5582,0.15,2.33,0.00,0.000,4,0.182,0.067,3025,3694,2428,0,0,0,0,0,0
$GC,5665,0.45,146.0,444.2,11.6,593,5672,0.00,2.25,0.00,0.000,6,0.000,0.049,3033,2280,2428,0,0,0,0,0,0
$GC,5991,0.47,166.0,412.6,9.1,624,6011,0.00,0.00,17.40,1.043,6,0.000,0.000,3033,2280,2353,0,0,0,0,0,0
$GC,6332,0.47,166.0,378.1,10.6,656,6336,0.00,2.30,0.00,0.000,4,0.000,0.064,3033,3690,2352,0,0,0,0,0,0
$GC,6388,0.43,166.0,371.1,12.4,660,6395,0.15,2.22,0.00,0.000,6,0.186,0.048,3007,2269,2352,0,0,0,0,0,0
$GC,6714,0.52,184.7,340.9,9.1,691,6737,0.00,2.35,17.33,1.019,4,0.000,0.064,3015,860,2276,0,0,0,0,0,0
$GC,6778,0.62,195.9,335.0,9.5,696,6796,0.15,2.28,11.40,0.965,6,0.095,0.060,3083,2282,2231,0,0,0,0,0,0
$GC,7115,0.53,195.9,283.4,16.0,728,7119,0.17,2.28,0.00,0.000,4,0.174,0.066,3036,3688,2229,0,0,0,0,0,0
$GC,7220,0.53,195.9,268.9,13.2,737,7227,0.00,2.22,0.00,0.000,6,0.000,0.048,3045,2264,2229,0,0,0,0,0,0
$GC,7546,0.53,195.9,228.0,12.7,768,7550,0.00,2.22,0.00,0.000,4,0.000,0.063,3055,859,2228,0,0,0,0,0,0
$GC,7598,0.56,195.9,221.6,12.2,772,7602,0.00,2.25,0.00,0.000,6,0.000,0.052,3055,2281,2227,0,0,0,0,0,0
$GC,7929,0.54,195.9,182.4,11.4,803,7933,0.00,2.25,0.00,0.000,4,0.000,0.066,3055,3684,2227,0,0,0,0,0,0
$GC,8052,0.50,195.9,165.9,13.2,813,8059,0.15,2.22,0.00,0.000,6,0.174,0.056,3026,2274,2227,0,0,0,0,0,0
$GC,8378,0.61,237.6,137.2,8.1,844,8423,0.10,2.28,36.95,0.952,4,0.117,0.061,3088,862,2059,0,0,0,0,0,0
$GC,8460,0.61,237.6,127.9,12.2,851,8464,0.00,2.28,0.00,0.000,6,0.000,0.052,3088,2281,2056,0,0,0,0,0,0
$GC,8791,0.61,237.6,86.2,10.7,891,8798,0.00,2.25,0.00,0.000,4,0.000,0.064,3088,3683,2055,0,0,0,0,0,0
$GC,8852,0.57,237.6,79.4,11.8,901,8859,0.17,2.22,0.00,0.000,6,0.178,0.048,3051,2272,2054,0,0,0,0,0,0
$GC,9202,0.72,283.8,53.8,7.9,962,9250,0.12,2.35,41.05,0.910,4,0.100,0.064,3118,864,1873,0,0,0,0,0,0
$GC,9305,0.74,283.8,42.6,11.4,979,9312,0.00,2.25,0.00,0.000,6,0.000,0.051,3118,2273,1868,0,0,0,0,0,0
$FREEZE,8.89,-1.680,-1.832,2,3,0
$FREEZE,8.30,-1.682,-1.831,2,3,0
$FREEZE,7.66,-1.689,-1.831,2,3,0
$FREEZE,7.06,-1.689,-1.830,2,3,0
$FREEZE,6.40,-1.691,-1.830,2,3,0
$FREEZE,5.77,-1.697,-1.829,2,3,0
$FREEZE,5.18,-1.701,-1.829,2,3,0
$FREEZE,4.52,-1.704,-1.828,2,3,0
$FREEZE,3.81,-1.701,-1.827,2,3,0
$FREEZE,3.23,-1.707,-1.827,2,3,0
$FREEZE,2.41,-1.714,-1.826,2,3,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FREEZE,1.63,-1.715,-1.825,2,3,0
$FREEZE,1.61,-1.717,-1.820,2,3,0
$FREEZE,1.52,-1.698,-1.816,2,3,0
$FREEZE,1.57,-1.702,-1.822,2,3,0
$FINISH,1.6,1.026736
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9658,51.60,0.064,0,0,1399,400.08
$SM_GC,2.91,0.00,0.00,51.60,0.000,0.000,0.064,106,2498,1399,-8.62,0.23,400.08
$RAFOS_CLK,505
$RAFOS,6,1305535741,8.833333,8.816944,87,82,58,55,52,52,840,209,193,157,223,177
$RAFOS,5,1305535264,8.700000,8.684444,116,58,57,51,50,50,665,188,213,198,144,157
$RAFOS,4,1305534784,8.566667,8.551111,118,71,60,58,57,56,886,211,202,187,174,132
$RAFOS,3,1305534308,8.433333,8.418889,62,61,61,56,54,51,221,163,980,148,193,207
$RAFOS,2,1305533822,8.300000,8.283889,61,60,60,57,55,51,180,159,205,126,220,660
$RAFOS,1,1305533344,8.166667,8.151111,66,63,62,61,55,50,205,189,162,1055,223,129
$RAFOS,0,1305532866,8.033334,8.018333,59,54,53,53,53,53,142,172,156,118,181,218
$RAFOS_FIX,6709.009277,-5700.050781,160511,080822,3,107,0.31
$IRIDIUM_FIX,6631.12,-5653.72,150511,222226
$TT8_MAMPS,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.00
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,500.5,18.6
$24V_AH,22.1,83.458
$10V_AH,10.0,43.031
$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,12.950,83.075,372.575,51.600,0.000,0.000,0.000,0.000,10.750,0.000,0.000,2461.221,4935.143,527.674,1648.580,210.165,0.000,1416.011,0.000,1636.998,2520.000,15.838,0.000
$DEVICE_MAMPS,232.560,153.000,1194.930,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.097,774.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,40012,1039
$CAP_FILE_SIZE,112063,0
$CFSIZE,260165632,212643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,160511,084322,6709.009,-5700.051,0,3107.0,0,-37.6