version: 66.08
glider: 141
mission: 15
dive: 635
start: 5 16 111 9 31 29
data:
$ID,141
$MISSION,15
$DIVE,635
$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,559.0387
$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,-48628.52
$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,26
$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
$GPS1,160511,084322,6709.009,-5700.051,0,3107.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-68.1
$GPS2,160511,084322,6709.009,-5700.051,181,99.0,181,-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,179.6,14127,-17.5,-10.000
$D_GRID,449
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-119.93,0.000,2,0.000,0.000,105,2499,3330,0,0,0,0,0,0
$GC,144,-0.62,-146.0,5.2,-6.4,21,170,13.07,2.35,-6.62,0.000,4,0.317,0.076,2653,1082,3630,0,0,0,0,0,0
$GC,241,-0.55,-146.0,29.4,-15.3,37,248,0.12,2.30,0.00,0.000,6,0.210,0.065,2683,2488,3632,0,0,0,0,0,0
$GC,587,-0.50,-146.0,76.6,-12.8,98,594,0.00,2.33,0.00,0.000,4,0.000,0.080,2683,3899,3632,0,0,0,0,0,0
$GC,607,-0.45,-146.0,79.4,-13.5,101,615,0.12,2.25,0.00,0.000,6,0.201,0.053,2715,2484,3632,0,0,0,0,0,0
$GC,952,-0.50,-146.0,111.8,-7.9,150,956,0.00,2.28,0.00,0.000,4,0.000,0.069,2715,1078,3630,0,0,0,0,0,0
$GC,993,-0.57,-146.0,115.2,-7.7,153,998,0.12,2.30,0.00,0.000,6,0.119,0.067,2670,2495,3630,0,0,0,0,0,0
$GC,1319,-0.53,-146.0,151.1,-10.7,183,1323,0.00,2.33,0.00,0.000,4,0.000,0.080,2669,3899,3629,0,0,0,0,0,0
$GC,1365,-0.53,-146.0,155.9,-10.5,187,1369,0.00,2.22,0.00,0.000,6,0.000,0.053,2669,2488,3629,0,0,0,0,0,0
$GC,1691,-0.50,-146.0,191.0,-11.7,217,1696,0.12,2.28,0.00,0.000,4,0.209,0.067,2699,1082,3628,0,0,0,0,0,0
$GC,1702,-0.48,-146.0,192.5,-12.0,217,1709,0.00,2.30,0.00,0.000,6,0.000,0.065,2699,2489,3629,0,0,0,0,0,0
$GC,2029,-0.53,-146.0,223.7,-9.5,248,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2489,3629,0,0,0,0,0,0
$GC,2348,-0.59,-146.0,254.3,-9.3,278,2352,0.00,2.35,0.00,0.000,4,0.000,0.077,2699,3907,3630,0,0,0,0,0,0
$GC,2361,-0.65,-146.0,255.6,-8.7,279,2366,0.15,2.22,0.00,0.000,6,0.114,0.049,2648,2483,3630,0,0,0,0,0,0
$GC,2687,-0.59,-146.0,294.6,-11.4,309,2691,0.00,2.22,0.00,0.000,4,0.000,0.063,2649,1081,3631,0,0,0,0,0,0
$GC,2709,-0.52,-146.0,297.3,-12.2,310,2716,0.17,2.28,0.00,0.000,6,0.200,0.063,2690,2498,3631,0,0,0,0,0,0
$GC,3035,-0.57,-146.0,322.9,-7.8,341,3039,0.00,2.30,0.00,0.000,4,0.000,0.076,2690,3904,3631,0,0,0,0,0,0
$GC,3066,-0.63,-146.0,325.2,-7.5,343,3070,0.00,2.22,0.00,0.000,6,0.000,0.047,2691,2487,3632,0,0,0,0,0,0
$GC,3392,-0.68,-146.0,349.4,-7.1,373,3394,0.15,0.00,0.00,0.000,6,0.116,0.000,2637,2486,3632,0,0,0,0,0,0
$GC,3712,-0.61,-146.0,386.5,-12.3,403,3719,0.12,0.00,0.00,0.000,6,0.208,0.000,2666,2486,3633,0,0,0,0,0,0
$GC,4038,-0.61,-146.0,419.7,-10.0,434,4042,0.00,2.22,0.00,0.000,4,0.000,0.060,2666,1071,3634,0,0,0,0,0,0
$GC,4050,-0.61,-146.0,420.9,-9.5,434,4056,0.00,2.30,0.00,0.000,6,0.000,0.059,2666,2496,3634,0,0,0,0,0,0
$STATE,4351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4351,begin apogee
$GC,4358,-0.12,0.0,449.5,9.5,463,4490,0.50,0.00,123.05,1.161,6,0.178,0.000,2813,2251,3029,0,0,0,0,0,0
$STATE,4491,end apogee,CONTROL_FINISHED_OK
$STATE,4491,begin climb
$GC,4494,0.62,146.0,452.2,0.0,475,4630,0.77,2.50,125.85,1.117,4,0.130,0.067,3063,889,2434,0,0,0,0,0,0
$GC,4671,0.57,146.0,437.6,11.7,491,4676,0.00,2.40,0.00,0.000,6,0.000,0.053,3063,2284,2430,0,0,0,0,0,0
$GC,5003,0.50,146.0,395.9,12.8,522,5008,0.15,2.33,0.00,0.000,4,0.178,0.068,3024,3696,2429,0,0,0,0,0,0
$GC,5112,0.47,146.0,383.2,11.9,531,5116,0.00,2.25,0.00,0.000,6,0.000,0.051,3032,2283,2428,0,0,0,0,0,0
$GC,5443,0.47,146.0,349.8,10.2,562,5447,0.00,2.25,0.00,0.000,4,0.000,0.067,3043,872,2428,0,0,0,0,0,0
$GC,5505,0.47,146.0,343.3,10.7,567,5510,0.00,2.25,0.00,0.000,6,0.000,0.054,3043,2285,2428,0,0,0,0,0,0
$GC,5831,0.44,146.0,308.9,10.5,597,5836,0.12,2.25,0.00,0.000,4,0.184,0.067,3011,3682,2428,0,0,0,0,0,0
$GC,5916,0.44,146.0,299.9,11.1,604,5920,0.00,2.20,0.00,0.000,6,0.000,0.049,3019,2267,2428,0,0,0,0,0,0
$GC,6242,0.50,169.3,269.4,8.9,634,6265,0.00,0.00,20.35,0.995,6,0.000,0.000,3019,2267,2339,0,0,0,0,0,0
$GC,6585,0.60,209.3,240.3,8.2,666,6631,0.10,2.35,35.08,0.997,4,0.115,0.066,3080,872,2175,0,0,0,0,0,0
$GC,6688,0.60,209.3,228.6,12.1,675,6692,0.00,2.25,0.00,0.000,6,0.000,0.053,3080,2278,2172,0,0,0,0,0,0
$GC,7014,0.54,209.3,184.3,14.2,705,7019,0.15,2.28,0.00,0.000,4,0.178,0.067,3040,3687,2171,0,0,0,0,0,0
$GC,7092,0.54,209.3,174.1,12.9,711,7099,0.00,2.22,0.00,0.000,6,0.000,0.050,3047,2267,2171,0,0,0,0,0,0
$GC,7417,0.54,209.3,136.3,11.1,742,7421,0.00,2.22,0.00,0.000,4,0.000,0.064,3057,868,2170,0,0,0,0,0,0
$GC,7458,0.59,209.3,132.0,10.8,745,7462,0.00,2.22,0.00,0.000,6,0.000,0.052,3057,2276,2168,0,0,0,0,0,0
$GC,7784,0.59,212.2,98.7,9.9,776,7791,0.00,2.28,0.00,0.000,4,0.000,0.067,3057,3690,2168,0,0,0,0,0,0
$GC,7843,0.59,212.2,92.2,11.5,786,7850,0.00,2.22,0.00,0.000,6,0.000,0.049,3068,2265,2168,0,0,0,0,0,0
$GC,8189,0.64,238.8,58.8,8.8,847,8219,0.00,2.33,25.88,0.901,4,0.000,0.064,3076,866,2055,0,0,0,0,0,0
$GC,8303,0.75,274.8,49.3,8.3,866,8344,0.00,2.25,32.95,0.890,6,0.000,0.052,3076,2280,1907,0,0,0,0,0,0
$GC,8684,0.84,287.3,13.3,9.4,933,8698,0.15,2.28,5.85,0.722,4,0.093,0.067,3139,3693,1857,0,0,0,0,0,0
$FREEZE,8.77,-1.689,-1.830,2,4,0
$FREEZE,7.90,-1.685,-1.830,2,4,0
$FREEZE,7.07,-1.680,-1.829,2,4,0
$FREEZE,6.22,-1.676,-1.828,2,4,0
$FREEZE,5.35,-1.667,-1.827,2,4,0
$FREEZE,4.65,-1.666,-1.826,2,4,0
$FREEZE,3.73,-1.660,-1.826,2,4,0
$FREEZE,2.97,-1.652,-1.825,2,4,0
$STATE,8753,end climb,SURFACE_DEPTH_REACHED
$STATE,8753,begin surface coast
$FREEZE,1.81,-1.648,-1.824,2,4,0
$FREEZE,1.43,-1.764,-1.768,2,4,0
$FINISH,1.4,1.025964
$STATE,8765,end surface coast,FINISH_DEPTH_REACHED
$STATE,8766,begin surface
$SM_CCo,8787,118.00,0.063,0,0,751,559.04
$SM_GC,2.31,0.00,0.00,118.00,0.000,0.000,0.063,117,2482,751,-8.59,-0.23,559.04
$RAFOS_CLK,500
$RAFOS_FIX,6709.009277,-5700.050781,160511,080822,3,107,0.31
$IRIDIUM_FIX,6636.54,-5650.71,160511,000010
$TT8_MAMPS,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,22.1,83.577
$10V_AH,10.0,43.105
$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,24.925,86.700,369.000,118.000,0.000,99.137,17.375,0.000,8.500,0.000,183.291,2239.823,4555.842,597.393,1821.252,622.298,0.000,1436.416,0.000,1505.322,0.000,7.923,0.000
$DEVICE_MAMPS,317.475,80.325,1160.505,62.730,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.228,702.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150440
$DATA_FILE_SIZE,36700,947
$CAP_FILE_SIZE,112560,0
$CFSIZE,260165632,212586496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$GPS,160511,120106,6703.955,-5647.496,23,1.3,23,-37.5