version: 66.08
glider: 141
mission: 15
dive: 638
start: 5 16 111 18 2 53
data:
$ID,141
$MISSION,15
$DIVE,638
$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,-48632.285
$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,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
$GPS1,160511,174128,6705.248,-5656.202,11,9.2,30,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-72.4
$GPS2,160511,180222,6704.989,-5656.297,13,99.0,32,-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,293.4,158258,-17.5,-10.000
$D_GRID,528
$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,-146.0,0.0,0.0,0,202,0.00,0.00,-178.88,0.000,6,0.000,0.000,112,2495,3626,0,0,0,0,0,0
$GC,205,-0.62,-146.0,2.5,0.0,32,223,13.32,0.00,0.00,0.000,6,0.325,0.000,2652,2495,3626,0,0,0,0,0,0
$GC,563,0.75,-146.0,2.5,-0.5,95,569,2.35,0.00,0.00,0.000,6,0.335,0.000,3094,2495,3626,0,0,0,0,0,0
$GC,909,0.75,-146.0,2.4,0.3,156,916,0.00,2.33,0.00,0.000,4,0.000,0.080,3093,3893,3626,0,0,0,0,0,0
$GC,1171,0.75,-146.0,2.5,0.0,202,1178,0.00,2.25,0.00,0.000,6,0.000,0.055,3094,2478,3626,0,0,0,0,0,0
$GC,1517,0.75,-146.0,2.6,-0.1,263,1524,0.00,2.38,0.00,0.000,4,0.000,0.081,3092,3891,3625,0,0,0,0,0,0
$GC,1781,0.75,-146.0,2.5,0.5,309,1788,0.00,2.22,0.00,0.000,6,0.000,0.054,3092,2485,3625,0,0,0,0,0,0
$GC,2127,0.75,-146.0,2.6,0.1,370,2134,0.00,2.38,0.00,0.000,4,0.000,0.083,3090,3892,3624,0,0,0,0,0,0
$GC,2390,0.75,-146.0,2.6,-0.1,416,2397,0.00,2.22,0.00,0.000,6,0.000,0.057,3090,2493,3624,0,0,0,0,0,0
$GC,2736,0.75,-146.0,2.6,0.4,477,2743,0.00,2.38,0.00,0.000,4,0.000,0.084,3090,3891,3623,0,0,0,0,0,0
$GC,2998,0.75,-146.0,2.6,0.2,523,3005,0.00,2.25,0.00,0.000,6,0.000,0.057,3089,2480,3624,0,0,0,0,0,0
$GC,3345,1.73,-146.0,2.6,-0.3,584,3352,1.75,2.33,0.00,0.000,4,0.342,0.063,3404,1092,3624,0,0,0,0,0,0
$GC,3608,1.73,-146.0,2.5,-0.0,630,3615,0.00,2.35,0.00,0.000,6,0.000,0.078,3404,2483,3624,0,0,0,0,0,0
$GC,3956,1.73,-146.0,2.4,-0.1,691,3963,0.00,2.35,0.00,0.000,4,0.000,0.080,3404,1090,3624,0,0,0,0,0,0
$GC,3976,1.73,-146.0,2.5,-0.2,694,3983,0.00,2.35,0.00,0.000,6,0.000,0.073,3404,2493,3624,0,0,0,0,0,0
$GC,4322,1.73,-146.0,2.3,0.4,755,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2494,3623,0,0,0,0,0,0
$GC,4667,1.73,-146.0,2.4,-0.0,816,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2493,3623,0,0,0,0,0,0
$GC,5013,1.73,-146.0,2.3,0.1,877,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2494,3623,0,0,0,0,0,0
$GC,5360,1.73,-146.0,2.3,0.1,938,5367,0.00,2.40,0.00,0.000,4,0.000,0.086,3404,1096,3623,0,0,0,0,0,0
$GC,5380,1.73,-146.0,2.5,-0.2,941,5387,0.00,2.33,0.00,0.000,6,0.000,0.070,3404,2492,3623,0,0,0,0,0,0
$GC,5727,1.73,-146.0,2.4,-0.2,1002,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2492,3622,0,0,0,0,0,0
$GC,6074,1.73,-146.0,2.3,-0.0,1063,6082,0.00,2.38,0.00,0.000,4,0.000,0.082,3404,3899,3622,0,0,0,0,0,0
$GC,6210,1.73,-146.0,2.4,0.1,1086,6217,0.00,2.33,0.00,0.000,6,0.000,0.071,3404,2509,3622,0,0,0,0,0,0
$GC,6557,1.73,-146.0,2.3,-0.0,1147,6564,0.00,2.42,0.00,0.000,4,0.000,0.088,3403,1076,3623,0,0,0,0,0,0
$GC,6622,1.73,-146.0,2.5,-0.1,1158,6629,0.00,2.38,0.00,0.000,6,0.000,0.072,3404,2496,3623,0,0,0,0,0,0
$GC,6970,1.73,-146.0,2.2,-0.1,1219,6977,0.00,2.50,0.00,0.000,4,0.000,0.095,3404,1072,3623,0,0,0,0,0,0
$GC,7231,1.73,-146.0,2.2,-0.0,1265,7238,0.00,2.33,0.00,0.000,6,0.000,0.063,3404,2495,3623,0,0,0,0,0,0
$GC,7580,1.73,-146.0,2.2,0.0,1326,7587,0.00,2.45,0.00,0.000,4,0.000,0.090,3404,1072,3623,0,0,0,0,0,0
$GC,7842,1.73,-146.0,2.2,0.2,1372,7849,0.00,2.30,0.00,0.000,6,0.000,0.063,3404,2487,3623,0,0,0,0,0,0
$GC,8191,1.73,-146.0,2.2,-0.1,1433,8198,0.00,2.42,0.00,0.000,4,0.000,0.092,3404,1081,3623,0,0,0,0,0,0
$GC,8453,1.73,-146.0,2.3,-0.1,1479,8460,0.00,2.30,0.00,0.000,6,0.000,0.064,3404,2489,3623,0,0,0,0,0,0
$GC,8799,1.73,-146.0,2.2,-0.0,1540,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2489,3622,0,0,0,0,0,0
$GC,9143,1.73,-146.0,2.1,0.1,1601,9150,0.00,2.53,0.00,0.000,4,0.000,0.108,3404,3896,3623,0,0,0,0,0,0
$GC,9408,1.73,-146.0,2.0,0.0,1647,9415,0.00,2.33,0.00,0.000,6,0.000,0.060,3404,2475,3622,0,0,0,0,0,0
$GC,9755,1.73,-146.0,2.0,0.7,1708,9761,0.00,2.55,0.00,0.000,4,0.000,0.103,3404,3896,3622,0,0,0,0,0,0
$GC,10016,1.88,-146.0,2.0,0.3,1754,10024,0.22,2.33,0.00,0.000,6,0.230,0.062,3455,2484,3622,0,0,0,0,0,0
$GC,10365,1.88,-146.0,2.0,0.1,1815,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2483,3622,0,0,0,0,0,0
$GC,10712,1.88,-146.0,2.0,-0.0,1876,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2484,3622,0,0,0,0,0,0
$GC,11058,1.88,-146.0,2.1,-0.1,1937,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2483,3622,0,0,0,0,0,0
$GC,11405,1.88,-146.0,2.0,0.1,1998,11412,0.00,2.50,0.00,0.000,4,0.000,0.092,3454,3901,3622,0,0,0,0,0,0
$GC,11667,1.88,-146.0,2.1,0.0,2044,11674,0.00,2.33,0.00,0.000,6,0.000,0.061,3455,2488,3622,0,0,0,0,0,0
$STATE,12005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12005,begin apogee
$FREEZE,2.01,-1.631,-0.846,2,1,0
$GC,12012,-0.12,0.0,2.0,-0.1,2104,12024,1.80,0.00,7.18,0.073,2,0.088,0.000,2820,2265,3553,0,0,0,0,0,0
$STATE,12025,end apogee,FINISH_DEPTH_REACHED
$STATE,12025,begin subsurface finish
$FINISH1,2.0,1.012443,0
$GC,12032,0.00,0.0,2.0,-0.1,2105,12097,0.20,2.42,54.80,0.070,4,0.324,0.076,2855,867,3028,0,0,0,0,0,0
$FINISH2,2.4
$STATE,12098,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12098,begin surface
$RAFOS_CLK,605
$RAFOS,6,1305578942,20.833334,20.817223,61,58,55,54,52,50,188,209,140,224,170,114
$RAFOS,5,1305578466,20.700001,20.684999,67,64,55,53,50,48,192,179,146,226,211,120
$RAFOS,4,1305577985,20.566668,20.551390,60,56,55,53,48,44,205,138,217,164,189,999
$RAFOS,3,1305577505,20.433332,20.418056,62,60,56,55,51,49,119,199,214,169,142,501
$RAFOS,2,1305577023,20.299999,20.284166,63,58,58,57,57,53,213,154,134,191,115,176
$RAFOS,1,1305576543,20.166666,20.150833,66,59,58,53,53,53,211,140,200,159,188,231
$RAFOS,0,1305576066,20.033333,20.018333,64,62,60,51,48,47,211,190,157,235,173,220
$RAFOS_FIX,6709.815918,-5705.515137,160511,161625,5,98,2.60
$IRIDIUM_FIX,6636.54,-5635.43,160511,171717
$TT8_MAMPS,0.026215
$HUMID,49.88
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,23.8,83.943
$10V_AH,10.0,43.372
$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,19.650,73.650,61.975,0.000,0.000,58.177,75.348,616.540,0.750,0.000,35.645,4784.086,3778.617,354.783,3750.736,684.535,0.000,1791.513,0.000,3017.536,2520.000,2.812,0.000
$DEVICE_MAMPS,341.955,107.865,72.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1572.372,1517.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150424
$DATA_FILE_SIZE,76475,2116
$CAP_FILE_SIZE,165367,0
$CFSIZE,260165632,212303872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1434.6
$GPS,160511,180222,6704.989,-5656.297,13,99.0,32,-37.6