version: 66.08
glider: 141
mission: 15
dive: 637
start: 5 16 111 15 9 5
data:
$ID,141
$MISSION,15
$DIVE,637
$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,-48631.027
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,160511,144937,6705.146,-5651.739,37,1.5,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-65.7
$GPS2,160511,150834,6705.083,-5651.988,8,2.1,27,-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,293.6,161358,-17.5,-10.000
$D_GRID,471
$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,-146.0,0.0,0.0,0,185,0.00,0.00,-164.95,0.000,6,0.000,0.000,104,2507,3627,0,0,0,0,0,0
$GC,188,-0.62,-146.0,5.0,-11.0,29,207,13.10,2.30,0.00,0.000,4,0.320,0.074,2652,3893,3628,0,0,0,0,0,0
$GC,340,-0.54,-146.0,44.1,-15.2,55,348,0.12,2.25,0.00,0.000,6,0.197,0.054,2683,2489,3630,0,0,0,0,0,0
$GC,687,-0.50,-146.0,90.0,-12.7,116,694,0.00,2.28,0.00,0.000,4,0.000,0.070,2683,1077,3629,0,0,0,0,0,0
$GC,752,-0.50,-146.0,98.1,-12.0,127,759,0.00,2.33,0.00,0.000,6,0.000,0.069,2683,2486,3628,0,0,0,0,0,0
$GC,1079,-0.50,-146.0,136.6,-11.6,159,1084,0.00,2.35,0.00,0.000,4,0.000,0.083,2683,3901,3626,0,0,0,0,0,0
$GC,1169,-0.53,-146.0,146.7,-10.7,166,1176,0.00,2.25,0.00,0.000,6,0.000,0.056,2683,2486,3627,0,0,0,0,0,0
$GC,1496,-0.53,-146.0,181.2,-10.1,197,1500,0.00,2.30,0.00,0.000,4,0.000,0.070,2683,1069,3626,0,0,0,0,0,0
$GC,1540,-0.57,-146.0,185.9,-10.2,200,1547,0.00,2.35,0.00,0.000,6,0.000,0.068,2683,2496,3626,0,0,0,0,0,0
$GC,1865,-0.57,-146.0,215.7,-8.7,231,1869,0.00,2.35,0.00,0.000,4,0.000,0.082,2683,3900,3626,0,0,0,0,0,0
$GC,1935,-0.62,-146.0,221.4,-7.9,237,1939,0.00,2.22,0.00,0.000,6,0.000,0.052,2683,2488,3626,0,0,0,0,0,0
$GC,2261,-0.64,-146.0,250.5,-9.1,267,2265,0.00,2.25,0.00,0.000,4,0.000,0.066,2683,1077,3627,0,0,0,0,0,0
$GC,2329,-0.68,-146.0,256.9,-9.3,272,2337,0.12,2.33,0.00,0.000,6,0.125,0.065,2642,2496,3627,0,0,0,0,0,0
$GC,2655,-0.61,-146.0,295.4,-12.3,303,2659,0.00,2.33,0.00,0.000,4,0.000,0.079,2642,3907,3628,0,0,0,0,0,0
$GC,2733,-0.57,-146.0,304.8,-11.0,309,2741,0.15,2.25,0.00,0.000,6,0.190,0.061,2678,2488,3629,0,0,0,0,0,0
$GC,3060,-0.57,-146.0,333.1,-8.9,340,3065,0.00,2.25,0.00,0.000,4,0.000,0.063,2678,1072,3630,0,0,0,0,0,0
$GC,3117,-0.61,-146.0,338.4,-8.6,344,3125,0.00,2.33,0.00,0.000,6,0.000,0.063,2678,2497,3630,0,0,0,0,0,0
$GC,3443,-0.63,-146.0,366.4,-8.7,375,3447,0.00,2.30,0.00,0.000,4,0.000,0.077,2678,3899,3630,0,0,0,0,0,0
$GC,3477,-0.68,-146.0,369.6,-8.8,377,3484,0.00,2.22,0.00,0.000,6,0.000,0.050,2678,2486,3631,0,0,0,0,0,0
$GC,3804,-0.70,-146.0,398.9,-9.2,408,3808,0.12,2.25,0.00,0.000,4,0.123,0.063,2633,1081,3631,0,0,0,0,0,0
$GC,3857,-0.64,-146.0,404.9,-11.8,412,3861,0.00,2.30,0.00,0.000,6,0.000,0.063,2632,2497,3631,0,0,0,0,0,0
$GC,4189,-0.56,-146.0,446.6,-12.4,443,4193,0.17,2.35,0.00,0.000,4,0.207,0.076,2675,3904,3632,0,0,0,0,0,0
$GC,4234,-0.61,-146.0,451.5,-9.8,446,4241,0.00,2.22,0.00,0.000,6,0.000,0.049,2675,2486,3632,0,0,0,0,0,0
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4463,begin apogee
$GC,4470,-0.12,0.0,472.0,8.9,468,4602,0.47,0.00,123.18,1.179,6,0.177,0.000,2814,2262,3030,0,0,0,0,0,0
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4605,0.62,146.0,475.8,0.0,480,4738,0.77,0.00,126.47,1.132,6,0.131,0.000,3054,2262,2434,0,0,0,0,0,0
$GC,5054,0.58,146.0,431.4,10.8,522,5058,0.00,2.35,0.00,0.000,4,0.000,0.068,3053,3693,2429,0,0,0,0,0,0
$GC,5098,0.49,146.0,425.7,12.9,525,5106,0.15,2.28,0.00,0.000,6,0.180,0.053,3027,2282,2428,0,0,0,0,0,0
$GC,5424,0.53,177.9,396.3,8.5,556,5454,0.00,0.00,27.75,1.060,6,0.000,0.000,3027,2282,2304,0,0,0,0,0,0
$GC,5773,0.54,192.0,363.3,9.4,589,5795,0.00,2.38,13.02,0.986,4,0.000,0.070,3034,866,2246,0,0,0,0,0,0
$GC,5809,0.61,212.5,359.8,9.1,592,5835,0.00,2.25,19.45,1.019,6,0.000,0.055,3034,2282,2163,0,0,0,0,0,0
$GC,6162,0.63,212.5,323.4,10.1,625,6166,0.10,2.28,0.00,0.000,4,0.112,0.069,3084,3688,2159,0,0,0,0,0,0
$GC,6214,0.53,212.5,316.2,15.8,629,6218,0.20,2.22,0.00,0.000,6,0.179,0.053,3042,2275,2159,0,0,0,0,0,0
$GC,6544,0.53,212.5,279.0,11.2,660,6548,0.00,2.28,0.00,0.000,4,0.000,0.068,3049,867,2159,0,0,0,0,0,0
$GC,6556,0.53,212.5,277.6,11.1,660,6563,0.00,2.25,0.00,0.000,6,0.000,0.054,3049,2282,2157,0,0,0,0,0,0
$GC,6881,0.53,212.5,238.1,12.1,691,6886,0.00,2.28,0.00,0.000,4,0.000,0.069,3050,3691,2157,0,0,0,0,0,0
$GC,6957,0.51,212.5,228.3,13.8,697,6961,0.00,2.22,0.00,0.000,6,0.000,0.052,3060,2274,2157,0,0,0,0,0,0
$GC,7282,0.49,212.5,189.2,12.5,727,7284,0.12,0.00,0.00,0.000,6,0.181,0.000,3028,2274,2157,0,0,0,0,0,0
$GC,7602,0.57,221.3,158.4,9.6,757,7617,0.00,2.35,8.27,0.845,4,0.000,0.068,3029,863,2127,0,0,0,0,0,0
$GC,7629,0.66,235.4,155.6,9.4,759,7651,0.12,2.25,13.90,0.913,6,0.105,0.056,3086,2281,2070,0,0,0,0,0,0
$GC,7977,0.63,235.4,106.2,13.5,792,7981,0.00,2.25,0.00,0.000,4,0.000,0.068,3086,3686,2067,0,0,0,0,0,0
$GC,8010,0.59,235.4,101.5,13.4,794,8017,0.15,2.25,0.00,0.000,6,0.177,0.061,3057,2275,2067,0,0,0,0,0,0
$GC,8357,0.69,267.4,70.2,8.5,854,8391,0.00,0.00,29.48,0.910,6,0.000,0.000,3057,2274,1938,0,0,0,0,0,0
$GC,8734,0.84,302.4,38.5,8.4,920,8764,0.22,0.00,22.88,0.962,6,0.076,0.000,3150,2274,1795,0,0,0,0,0,0
$FREEZE,8.15,-1.623,-1.831,2,1,0
$FREEZE,7.36,-1.612,-1.830,2,1,0
$FREEZE,6.66,-1.610,-1.830,2,1,0
$FREEZE,5.95,-1.601,-1.829,2,1,0
$FREEZE,5.15,-1.601,-1.828,2,1,0
$FREEZE,4.21,-1.611,-1.828,2,1,0
$FREEZE,3.31,-1.602,-1.827,2,1,0
$FREEZE,2.44,-1.597,-1.826,2,1,0
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8964,begin surface coast
$FREEZE,1.73,-1.593,-1.825,2,1,0
$FREEZE,1.42,-1.632,-1.133,2,1,0
$FINISH,1.4,1.016728
$STATE,8978,end surface coast,FINISH_DEPTH_REACHED
$STATE,8978,begin surface
$SM_CCo,8997,42.65,0.063,0,0,1399,400.08
$SM_GC,2.20,0.00,0.00,42.65,0.000,0.000,0.063,113,2494,1399,-8.60,0.11,400.08
$RAFOS_CLK,418
$RAFOS,6,1305564544,16.833334,16.817778,121,63,61,57,57,56,794,133,209,219,188,162
$RAFOS,5,1305564071,16.700001,16.686388,80,57,57,57,55,54,607,204,220,145,193,168
$RAFOS,4,1305563585,16.566668,16.551390,124,61,61,57,56,55,861,214,135,162,114,184
$RAFOS,3,1305563105,16.433332,16.418056,63,62,55,51,50,49,180,199,157,134,143,212
$RAFOS,2,1305562624,16.299999,16.284445,68,62,60,60,55,55,1051,210,147,198,456,177
$RAFOS,1,1305562143,16.166666,16.150833,97,67,59,58,52,51,1039,193,123,215,160,173
$RAFOS,0,1305561667,16.033333,16.018612,57,57,56,56,55,54,185,229,157,166,195,130
$RAFOS_FIX,6709.815918,-5705.515137,160511,161625,5,98,2.60
$IRIDIUM_FIX,6636.54,-5650.71,160511,121236
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.00
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,450.4,38.7
$24V_AH,22.1,83.895
$10V_AH,9.9,43.250
$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,24.700,82.900,384.400,42.650,0.000,29.232,38.496,622.907,10.000,0.000,30.254,2283.518,4543.803,568.213,2198.493,609.279,0.000,1436.139,0.000,1546.193,2520.000,12.453,0.000
$DEVICE_MAMPS,319.770,83.385,1178.865,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.788,719.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150420
$DATA_FILE_SIZE,36716,963
$CAP_FILE_SIZE,120518,0
$CFSIZE,260165632,212455424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.2
$GPS,160511,174128,6705.248,-5656.202,11,9.2,30,-37.6