version: 66.08
glider: 141
mission: 15
dive: 623
start: 5 15 111 2 18 36
data:
$ID,141
$MISSION,15
$DIVE,623
$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,-48070.324
$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,24
$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
$GPS1,150511,003720,6706.920,-5654.187,0,4105.2,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,0.9
$GPS2,150511,003720,6706.920,-5654.187,0,4105.2,0,-37.5
$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,185.9,8525,-17.5,-10.000
$D_GRID,443
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,35,0.00,0.00,-17.27,0.000,2,0.000,0.000,2883,3682,3309,0,0,0,0,0,0
$GC,38,-0.62,-146.0,5.1,-2.5,3,58,0.62,4.18,-11.75,0.000,4,0.110,0.060,2668,1082,3626,0,0,0,0,0,0
$GC,212,-0.57,-146.0,27.9,-14.5,33,219,0.00,2.28,0.00,0.000,6,0.000,0.063,2667,2496,3627,0,0,0,0,0,0
$GC,558,-0.49,-146.0,79.4,-15.4,94,566,0.15,2.30,0.00,0.000,4,0.214,0.068,2703,1085,3626,0,0,0,0,0,0
$GC,601,-0.49,-146.0,85.6,-12.7,101,608,0.00,2.30,0.00,0.000,6,0.000,0.065,2703,2493,3626,0,0,0,0,0,0
$GC,941,-0.49,-146.0,122.7,-11.1,144,946,0.00,2.33,0.00,0.000,4,0.000,0.083,2703,3899,3624,0,0,0,0,0,0
$GC,963,-0.51,-146.0,125.4,-11.3,145,970,0.00,2.22,0.00,0.000,6,0.000,0.050,2703,2486,3624,0,0,0,0,0,0
$GC,1290,-0.55,-146.0,158.0,-9.7,176,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2486,3622,0,0,0,0,0,0
$GC,1611,-0.60,-146.0,187.8,-8.9,206,1615,0.00,2.25,0.00,0.000,4,0.000,0.067,2703,1079,3621,0,0,0,0,0,0
$GC,1633,-0.65,-146.0,190.3,-9.3,207,1640,0.15,2.28,0.00,0.000,6,0.116,0.063,2652,2492,3620,0,0,0,0,0,0
$GC,1959,-0.59,-146.0,230.1,-12.1,238,1963,0.00,2.25,0.00,0.000,4,0.000,0.064,2652,1085,3620,0,0,0,0,0,0
$GC,1970,-0.52,-146.0,231.7,-12.3,238,1977,0.17,2.28,0.00,0.000,6,0.208,0.063,2693,2496,3621,0,0,0,0,0,0
$GC,2296,-0.56,-146.0,260.0,-8.2,269,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2496,3621,0,0,0,0,0,0
$GC,2617,-0.60,-146.0,285.6,-7.9,299,2621,0.00,2.30,0.00,0.000,4,0.000,0.078,2693,3899,3621,0,0,0,0,0,0
$GC,2645,-0.66,-146.0,288.1,-7.7,301,2652,0.12,2.20,0.00,0.000,6,0.125,0.046,2651,2478,3621,0,0,0,0,0,0
$GC,2971,-0.60,-146.0,324.0,-11.4,332,2975,0.00,2.20,0.00,0.000,4,0.000,0.060,2651,1077,3621,0,0,0,0,0,0
$GC,2984,-0.54,-146.0,325.6,-11.7,333,2988,0.15,2.25,0.00,0.000,6,0.210,0.059,2686,2491,3622,0,0,0,0,0,0
$GC,3310,-0.58,-146.0,355.5,-9.1,363,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2491,3622,0,0,0,0,0,0
$GC,3630,-0.61,-146.0,384.7,-8.8,393,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2491,3623,0,0,0,0,0,0
$GC,3956,-0.65,-146.0,414.4,-9.0,424,3960,0.00,2.30,0.00,0.000,4,0.000,0.074,2686,3903,3623,0,0,0,0,0,0
$GC,3967,-0.69,-146.0,415.5,-9.1,424,3974,0.15,2.20,0.00,0.000,6,0.112,0.042,2635,2486,3623,0,0,0,0,0,0
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4197,begin apogee
$GC,4203,-0.12,0.0,443.9,12.3,446,4335,0.65,0.00,120.85,1.164,6,0.197,0.000,2814,2261,3029,0,0,0,0,0,0
$STATE,4336,end apogee,CONTROL_FINISHED_OK
$STATE,4336,begin climb
$GC,4339,0.62,146.0,448.1,0.0,458,4471,0.77,0.00,125.62,1.120,6,0.136,0.000,3050,2261,2434,0,0,0,0,0,0
$GC,4791,0.59,149.9,407.5,9.8,500,4804,0.00,2.35,4.25,0.671,4,0.000,0.067,3050,3687,2418,0,0,0,0,0,0
$GC,4895,0.50,149.9,394.5,12.1,509,4900,0.12,2.25,0.00,0.000,6,0.187,0.052,3030,2280,2417,0,0,0,0,0,0
$GC,5226,0.52,168.2,363.5,9.2,540,5249,0.00,2.28,16.90,1.018,4,0.000,0.064,3039,869,2344,0,0,0,0,0,0
$GC,5301,0.56,185.4,356.7,9.2,546,5322,0.00,2.28,16.27,1.011,6,0.000,0.054,3039,2284,2274,0,0,0,0,0,0
$GC,5648,0.58,197.5,322.8,9.4,579,5665,0.00,2.28,11.73,0.959,4,0.000,0.066,3039,3696,2224,0,0,0,0,0,0
$GC,5759,0.56,197.5,310.7,11.6,588,5763,0.00,2.28,0.00,0.000,6,0.000,0.051,3049,2264,2223,0,0,0,0,0,0
$GC,6090,0.56,197.5,274.2,11.1,619,6094,0.00,2.22,0.00,0.000,4,0.000,0.066,3059,868,2222,0,0,0,0,0,0
$GC,6145,0.58,197.5,268.0,10.9,623,6154,0.00,2.25,0.00,0.000,6,0.000,0.065,3059,2277,2221,0,0,0,0,0,0
$GC,6473,0.54,197.5,230.2,11.7,654,6477,0.00,2.25,0.00,0.000,4,0.000,0.067,3060,3691,2220,0,0,0,0,0,0
$GC,6597,0.49,197.5,213.3,13.7,664,6605,0.17,2.22,0.00,0.000,6,0.176,0.051,3024,2269,2220,0,0,0,0,0,0
$GC,6923,0.58,211.9,181.8,9.3,695,6946,0.00,2.30,13.38,0.923,4,0.000,0.067,3028,872,2166,0,0,0,0,0,0
$GC,6986,0.70,231.1,175.9,9.1,700,7010,0.17,2.22,18.17,0.942,6,0.088,0.052,3108,2286,2088,0,0,0,0,0,0
$GC,7330,0.62,231.1,125.4,13.3,732,7335,0.15,2.28,0.00,0.000,4,0.180,0.067,3068,3683,2084,0,0,0,0,0,0
$GC,7427,0.62,231.1,113.3,12.1,740,7431,0.00,2.22,0.00,0.000,6,0.000,0.050,3077,2269,2084,0,0,0,0,0,0
$GC,7764,0.62,231.1,77.7,10.2,789,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2268,2084,0,0,0,0,0,0
$GC,8110,0.67,243.3,44.6,9.4,850,8129,0.00,2.28,11.70,0.863,4,0.000,0.067,3085,860,2037,0,0,0,0,0,0
$GC,8182,0.75,259.3,38.0,9.3,862,8201,0.00,2.28,11.70,0.933,6,0.000,0.055,3084,2282,1972,0,0,0,0,0,0
$FREEZE,8.56,-1.737,-1.833,2,4,0
$STATE,8489,end climb,FINISH_DEPTH_REACHED
$STATE,8489,begin subsurface finish
$FINISH1,8.6,1.026817,33
$GC,8496,0.04,33.5,8.6,-9.6,916,8533,0.65,2.38,-30.50,0.000,4,0.151,0.086,2881,3688,2896,0,0,0,0,0,0
$FINISH2,7.2
$STATE,8535,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8535,begin surface
$RAFOS_CLK,447
$RAFOS,4,1305433983,4.566667,4.550833,112,58,56,55,52,51,897,191,163,239,132,143
$RAFOS,3,1305433504,4.433333,4.417778,78,68,55,54,54,53,998,206,112,215,186,143
$RAFOS,2,1305433030,4.300000,4.286111,65,63,60,55,53,53,202,1041,214,120,188,165
$RAFOS,1,1305432549,4.166667,4.152500,60,58,57,56,53,52,197,1024,152,119,209,218
$RAFOS,0,1305432067,4.033333,4.018611,71,58,56,55,52,52,179,213,137,192,161,225
$RAFOS_FIX,6659.511230,-5649.231934,150511,040456,2,95,1.01
$IRIDIUM_FIX,6631.12,-5641.49,140511,191934
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,400.0,94.4
$24V_AH,22.1,82.095
$10V_AH,10.0,42.360
$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,4.225,77.025,350.575,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,2197.497,4330.268,405.038,1478.908,185.828,0.000,1200.975,0.000,1468.181,1800.000,10.829,0.000
$DEVICE_MAMPS,214.200,86.445,1164.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.347,688.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,36721,922
$CAP_FILE_SIZE,98198,0
$CFSIZE,260165632,213270528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.6
$GPS,150511,043056,6659.511,-5649.232,0,2095.0,0,-37.5