version: 66.08
glider: 141
mission: 15
dive: 636
start: 5 16 111 12 22 21
data:
$ID,141
$MISSION,15
$DIVE,636
$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,-48629.777
$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,30
$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
$GPS1,160511,120106,6703.955,-5647.496,23,1.3,23,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-74.7
$GPS2,160511,122149,6704.056,-5647.688,10,1.2,10,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,294.5,163971,-17.5,-10.000
$D_GRID,477
$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,15,-0.62,-146.0,0.0,0.0,0,197,0.00,0.00,-178.23,0.000,2,0.000,0.000,117,2483,3432,0,0,0,0,0,0
$GC,200,-0.62,-146.0,5.6,-10.9,31,225,13.20,2.30,-4.18,0.000,4,0.324,0.079,2651,1073,3630,0,0,0,0,0,0
$GC,482,-0.53,-146.0,61.8,-15.1,80,489,0.15,2.33,0.00,0.000,6,0.208,0.068,2688,2483,3631,0,0,0,0,0,0
$GC,831,-0.53,-146.0,104.3,-12.1,139,835,0.00,2.38,0.00,0.000,4,0.000,0.083,2688,3900,3631,0,0,0,0,0,0
$GC,939,-0.55,-146.0,116.8,-11.0,148,943,0.00,2.25,0.00,0.000,6,0.000,0.054,2688,2488,3629,0,0,0,0,0,0
$GC,1269,-0.55,-146.0,153.8,-10.7,179,1273,0.00,2.28,0.00,0.000,4,0.000,0.070,2688,1075,3629,0,0,0,0,0,0
$GC,1314,-0.59,-146.0,158.5,-10.0,182,1321,0.00,2.30,0.00,0.000,6,0.000,0.067,2688,2490,3629,0,0,0,0,0,0
$GC,1640,-0.62,-146.0,190.3,-9.9,213,1645,0.00,2.35,0.00,0.000,4,0.000,0.081,2688,3899,3629,0,0,0,0,0,0
$GC,1708,-0.67,-146.0,197.0,-9.8,218,1715,0.12,2.28,0.00,0.000,6,0.122,0.062,2646,2481,3629,0,0,0,0,0,0
$GC,2034,-0.60,-146.0,238.5,-12.5,249,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2481,3630,0,0,0,0,0,0
$GC,2356,-0.52,-146.0,278.2,-12.3,279,2361,0.17,2.28,0.00,0.000,4,0.203,0.067,2689,1082,3632,0,0,0,0,0,0
$GC,2435,-0.58,-146.0,286.6,-8.9,285,2442,0.00,2.30,0.00,0.000,6,0.000,0.063,2689,2496,3632,0,0,0,0,0,0
$GC,2762,-0.62,-146.0,315.2,-8.8,316,2766,0.00,2.30,0.00,0.000,4,0.000,0.078,2690,3900,3632,0,0,0,0,0,0
$GC,2831,-0.70,-146.0,321.3,-8.5,322,2836,0.15,2.20,0.00,0.000,6,0.109,0.048,2637,2487,3632,0,0,0,0,0,0
$GC,3157,-0.62,-146.0,363.1,-12.8,352,3161,0.00,2.22,0.00,0.000,4,0.000,0.063,2637,1083,3633,0,0,0,0,0,0
$GC,3235,-0.57,-146.0,373.2,-12.2,358,3243,0.15,2.28,0.00,0.000,6,0.209,0.061,2671,2493,3633,0,0,0,0,0,0
$GC,3561,-0.57,-146.0,404.5,-9.8,389,3565,0.00,2.30,0.00,0.000,4,0.000,0.076,2671,3902,3634,0,0,0,0,0,0
$GC,3624,-0.62,-146.0,410.3,-9.0,394,3628,0.00,2.20,0.00,0.000,6,0.000,0.047,2672,2486,3634,0,0,0,0,0,0
$GC,3955,-0.62,-146.0,441.1,-8.7,425,3959,0.00,2.25,0.00,0.000,4,0.000,0.061,2672,1073,3635,0,0,0,0,0,0
$GC,4011,-0.64,-146.0,446.3,-8.7,429,4018,0.00,2.28,0.00,0.000,6,0.000,0.060,2672,2496,3635,0,0,0,0,0,0
$STATE,4100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4100,begin apogee
$GC,4108,-0.12,0.0,454.5,9.3,438,4239,0.50,0.00,123.65,1.164,6,0.181,0.000,2816,2266,3030,0,0,0,0,0,0
$STATE,4240,end apogee,CONTROL_FINISHED_OK
$STATE,4240,begin climb
$GC,4243,0.62,146.0,459.9,0.0,450,4379,0.77,2.50,126.18,1.122,4,0.134,0.070,3064,882,2434,0,0,0,0,0,0
$GC,4452,0.57,146.0,443.8,12.1,468,4459,0.00,2.38,0.00,0.000,6,0.000,0.055,3064,2277,2429,0,0,0,0,0,0
$GC,4780,0.51,146.0,402.9,12.0,499,4785,0.12,2.30,0.00,0.000,4,0.181,0.069,3032,3688,2429,0,0,0,0,0,0
$GC,4824,0.47,146.0,397.0,11.9,502,4831,0.00,2.25,0.00,0.000,6,0.000,0.053,3040,2281,2428,0,0,0,0,0,0
$GC,5150,0.45,146.0,360.8,11.0,533,5155,0.12,2.33,0.00,0.000,4,0.177,0.067,3009,3696,2428,0,0,0,0,0,0
$GC,5173,0.45,146.0,358.1,11.5,535,5177,0.00,2.25,0.00,0.000,6,0.000,0.050,3016,2275,2428,0,0,0,0,0,0
$GC,5499,0.49,155.2,327.2,9.6,565,5510,0.00,0.00,8.45,0.903,6,0.000,0.000,3016,2275,2397,0,0,0,0,0,0
$GC,5830,0.55,182.8,297.7,8.7,596,5863,0.00,2.38,25.10,1.020,4,0.000,0.067,3016,3693,2283,0,0,0,0,0,0
$GC,5881,0.58,188.3,292.7,9.7,600,5892,0.00,2.28,6.25,0.814,6,0.000,0.050,3027,2269,2262,0,0,0,0,0,0
$GC,6213,0.65,206.4,261.2,9.2,631,6237,0.12,2.35,17.05,0.970,4,0.100,0.067,3099,859,2187,0,0,0,0,0,0
$GC,6254,0.57,206.4,256.0,13.5,634,6261,0.17,2.30,0.00,0.000,6,0.184,0.054,3054,2289,2185,0,0,0,0,0,0
$GC,6579,0.57,206.4,218.9,11.0,665,6583,0.00,2.25,0.00,0.000,4,0.000,0.067,3053,3693,2184,0,0,0,0,0,0
$GC,6613,0.54,206.4,214.8,12.3,668,6618,0.00,2.25,0.00,0.000,6,0.000,0.050,3062,2263,2183,0,0,0,0,0,0
$GC,6945,0.51,206.4,175.8,12.4,699,6950,0.12,2.33,0.00,0.000,4,0.178,0.065,3030,3685,2183,0,0,0,0,0,0
$GC,6955,0.49,206.4,174.1,12.8,699,6962,0.00,2.22,0.00,0.000,6,0.000,0.047,3038,2270,2183,0,0,0,0,0,0
$GC,7281,0.53,211.9,141.8,9.7,730,7294,0.00,2.25,5.68,0.741,4,0.000,0.064,3043,866,2165,0,0,0,0,0,0
$GC,7311,0.58,211.9,138.8,10.4,732,7317,0.00,2.22,0.00,0.000,6,0.000,0.063,3043,2276,2165,0,0,0,0,0,0
$GC,7637,0.66,229.9,107.8,9.2,763,7660,0.00,2.28,17.00,0.907,4,0.000,0.066,3044,3691,2091,0,0,0,0,0,0
$GC,7711,0.66,229.9,100.4,11.0,769,7717,0.00,2.25,0.00,0.000,6,0.000,0.050,3053,2273,2091,0,0,0,0,0,0
$GC,8059,0.75,258.3,68.5,8.7,830,8095,0.15,2.33,26.12,0.903,4,0.092,0.065,3132,868,1975,0,0,0,0,0,0
$GC,8140,0.73,258.3,58.5,14.3,843,8147,0.12,2.28,0.00,0.000,6,0.190,0.054,3103,2283,1972,0,0,0,0,0,0
$GC,8490,0.73,258.3,19.3,11.1,904,8496,0.00,2.25,0.00,0.000,4,0.000,0.069,3103,3684,1971,0,0,0,0,0,0
$FREEZE,8.52,-1.678,-1.831,2,1,0
$GC,8580,0.70,258.3,8.5,12.2,919,8586,0.00,2.25,0.00,0.000,6,0.000,0.054,3111,2274,1970,0,0,0,0,0,0
$FREEZE,6.29,-1.654,-1.829,2,1,0
$FREEZE,5.74,-1.652,-1.829,2,1,0
$FREEZE,5.17,-1.651,-1.828,2,1,0
$FREEZE,4.57,-1.647,-1.827,2,1,0
$FREEZE,4.03,-1.646,-1.827,2,1,0
$FREEZE,3.39,-1.644,-1.826,2,1,0
$FREEZE,2.95,-1.644,-1.826,2,1,0
$STATE,8622,end climb,SURFACE_DEPTH_REACHED
$STATE,8622,begin surface coast
$FREEZE,2.23,-1.642,-1.825,2,1,0
$FREEZE,2.00,-1.636,-1.825,2,1,0
$FREEZE,1.94,-1.644,-1.825,2,1,0
$FREEZE,1.79,-1.651,-1.825,2,1,0
$FREEZE,1.78,-1.644,-1.824,2,1,0
$FINISH,1.8,1.026768
$STATE,8653,end surface coast,CONTROL_FINISHED_OK
$STATE,8653,begin surface
$SM_CCo,8672,62.88,0.062,0,0,1398,400.08
$SM_GC,2.38,0.00,0.00,62.88,0.000,0.000,0.062,104,2507,1398,-8.63,0.48,400.08
$RAFOS_CLK,403
$RAFOS,6,1305550146,12.833333,12.818334,130,63,55,53,53,52,798,225,150,124,201,180
$RAFOS,5,1305549670,12.700000,12.686111,121,63,58,54,54,52,626,206,130,220,162,176
$RAFOS,4,1305549186,12.566667,12.551666,87,58,58,58,53,52,883,198,215,137,158,172
$RAFOS,3,1305548704,12.433333,12.417778,63,61,55,53,53,52,175,196,139,187,211,236
$RAFOS_FIX,6710.412598,-5659.673340,160511,121244,3,113,11.12
$IRIDIUM_FIX,6636.54,-5650.71,160511,121248
$TT8_MAMPS,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.10
$XPDR_PINGS,40
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,450.4,18.4
$24V_AH,22.0,83.733
$10V_AH,9.9,43.177
$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,25.300,92.225,355.475,62.875,0.000,52.502,112.492,591.688,11.500,0.000,12.706,2223.007,4363.987,586.164,2216.159,610.094,0.000,1442.536,0.000,1513.226,1440.000,12.401,0.000
$DEVICE_MAMPS,323.595,82.620,1164.330,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.791,692.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150404
$DATA_FILE_SIZE,36694,932
$CAP_FILE_SIZE,121295,0
$CFSIZE,260165632,212520960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,160511,144937,6705.146,-5651.739,37,1.5,37,-37.6