version: 66.08
glider: 141
mission: 15
dive: 632
start: 5 16 111 1 5 59
data:
$ID,141
$MISSION,15
$DIVE,632
$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,-48258.941
$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,28
$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
$GPS1,160511,004600,6704.509,-5652.200,36,1.3,36,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-77.8
$GPS2,160511,010526,6704.598,-5652.468,12,1.2,12,-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,170.1,4378,-17.5,-10.000
$D_GRID,491
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-126.50,0.000,2,0.000,0.000,105,2500,3313,0,0,0,0,0,0
$GC,151,-0.62,-146.0,5.1,-6.3,22,177,13.18,2.40,-7.07,0.000,4,0.321,0.092,2653,3895,3630,0,0,0,0,0,0
$GC,255,-0.55,-146.0,30.2,-16.2,39,263,0.12,2.22,0.00,0.000,6,0.197,0.053,2684,2492,3632,0,0,0,0,0,0
$GC,602,-0.50,-146.0,80.5,-13.4,100,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2492,3632,0,0,0,0,0,0
$GC,937,-0.48,-146.0,121.6,-11.4,144,941,0.00,2.28,0.00,0.000,4,0.000,0.070,2684,1080,3630,0,0,0,0,0,0
$GC,977,-0.48,-146.0,126.2,-11.6,147,981,0.00,2.30,0.00,0.000,6,0.000,0.067,2684,2489,3630,0,0,0,0,0,0
$GC,1302,-0.48,-146.0,162.1,-10.8,177,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3629,0,0,0,0,0,0
$GC,1624,-0.48,-146.0,197.3,-11.0,207,1628,0.00,2.35,0.00,0.000,4,0.000,0.080,2684,3907,3629,0,0,0,0,0,0
$GC,1656,-0.50,-146.0,200.7,-10.8,209,1660,0.00,2.25,0.00,0.000,6,0.000,0.051,2684,2484,3628,0,0,0,0,0,0
$GC,1981,-0.50,-146.0,235.0,-10.4,239,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2483,3629,0,0,0,0,0,0
$GC,2303,-0.52,-146.0,265.8,-9.0,269,2307,0.00,2.25,0.00,0.000,4,0.000,0.067,2684,1078,3630,0,0,0,0,0,0
$GC,2314,-0.52,-146.0,267.2,-8.9,269,2321,0.00,2.30,0.00,0.000,6,0.000,0.064,2684,2496,3630,0,0,0,0,0,0
$GC,2640,-0.54,-146.0,294.8,-8.1,300,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2496,3631,0,0,0,0,0,0
$GC,2962,-0.57,-146.0,319.7,-8.1,330,2966,0.00,2.33,0.00,0.000,4,0.000,0.076,2684,3906,3632,0,0,0,0,0,0
$GC,2973,-0.60,-146.0,321.0,-8.2,330,2980,0.00,2.25,0.00,0.000,6,0.000,0.045,2684,2474,3632,0,0,0,0,0,0
$GC,3299,-0.63,-146.0,348.2,-8.5,361,3303,0.00,2.20,0.00,0.000,4,0.000,0.063,2684,1086,3633,0,0,0,0,0,0
$GC,3312,-0.66,-146.0,349.3,-8.1,362,3320,0.12,2.28,0.00,0.000,6,0.124,0.061,2642,2499,3632,0,0,0,0,0,0
$GC,3646,-0.59,-146.0,388.7,-12.0,393,3648,0.12,0.00,0.00,0.000,6,0.205,0.000,2671,2499,3633,0,0,0,0,0,0
$GC,3965,-0.59,-146.0,419.5,-9.4,423,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2499,3634,0,0,0,0,0,0
$GC,4286,-0.59,-146.0,449.3,-9.3,453,4295,0.00,2.33,0.00,0.000,4,0.000,0.074,2671,3909,3635,0,0,0,0,0,0
$GC,4330,-0.63,-146.0,453.7,-10.0,456,4337,0.00,2.20,0.00,0.000,6,0.000,0.046,2671,2492,3635,0,0,0,0,0,0
$GC,4655,-0.63,-146.0,485.7,-11.0,487,4659,0.00,2.30,0.00,0.000,4,0.000,0.071,2671,3900,3636,0,0,0,0,0,0
$GC,4673,-0.63,-146.0,487.5,-10.9,488,4677,0.00,2.20,0.00,0.000,6,0.000,0.045,2671,2479,3635,0,0,0,0,0,0
$STATE,4688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4688,begin apogee
$GC,4695,-0.12,0.0,489.6,11.2,489,4828,0.47,0.05,124.62,1.188,6,0.175,0.131,2812,2291,3030,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4829,begin climb
$GC,4833,0.62,146.0,494.8,0.0,501,4966,0.80,0.00,127.90,1.147,6,0.135,0.000,3055,2291,2434,0,0,0,0,0,0
$GC,5285,0.55,146.0,449.7,11.2,544,5289,0.00,2.28,0.00,0.000,4,0.000,0.070,3054,3674,2429,0,0,0,0,0,0
$GC,5387,0.46,146.0,436.8,12.6,553,5392,0.20,2.22,0.00,0.000,6,0.183,0.053,3014,2287,2428,0,0,0,0,0,0
$GC,5713,0.53,179.9,409.2,8.4,583,5748,0.00,2.33,29.30,1.076,4,0.000,0.067,3022,870,2295,0,0,0,0,0,0
$GC,5802,0.61,188.4,401.2,9.6,590,5821,0.10,2.25,8.45,0.932,6,0.119,0.056,3071,2271,2262,0,0,0,0,0,0
$GC,6139,0.53,188.4,354.8,14.5,622,6143,0.12,2.30,0.00,0.000,4,0.184,0.068,3039,3691,2260,0,0,0,0,0,0
$GC,6264,0.50,188.4,338.1,14.2,632,6271,0.00,2.22,0.00,0.000,6,0.000,0.051,3047,2276,2259,0,0,0,0,0,0
$GC,6589,0.50,188.4,298.7,11.8,663,6594,0.00,2.25,0.00,0.000,4,0.000,0.067,3058,869,2259,0,0,0,0,0,0
$GC,6646,0.50,188.4,292.5,10.3,668,6651,0.12,2.22,0.00,0.000,6,0.177,0.054,3027,2283,2258,0,0,0,0,0,0
$GC,6972,0.58,220.1,263.3,8.5,698,7007,0.00,2.35,28.55,1.015,4,0.000,0.067,3027,3687,2131,0,0,0,0,0,0
$GC,7094,0.61,220.1,251.2,10.8,708,7100,0.00,2.25,0.00,0.000,6,0.000,0.051,3034,2276,2131,0,0,0,0,0,0
$GC,7419,0.64,220.1,218.8,10.3,739,7424,0.10,2.28,0.00,0.000,4,0.118,0.066,3095,860,2128,0,0,0,0,0,0
$GC,7483,0.61,220.1,210.3,14.6,744,7488,0.12,2.22,0.00,0.000,6,0.183,0.054,3064,2277,2127,0,0,0,0,0,0
$GC,7809,0.59,220.1,168.8,11.6,774,7813,0.00,2.25,0.00,0.000,4,0.000,0.067,3064,3692,2126,0,0,0,0,0,0
$GC,7906,0.55,220.1,156.5,13.5,782,7910,0.00,2.22,0.00,0.000,6,0.000,0.050,3073,2276,2126,0,0,0,0,0,0
$GC,8237,0.55,220.1,117.6,10.8,813,8241,0.00,2.30,0.00,0.000,4,0.000,0.065,3083,857,2126,0,0,0,0,0,0
$GC,8335,0.55,220.1,107.9,10.1,821,8340,0.15,2.25,0.00,0.000,6,0.170,0.054,3044,2286,2126,0,0,0,0,0,0
$GC,8674,0.69,267.7,82.7,7.8,872,8723,0.12,2.35,42.17,0.923,4,0.099,0.067,3101,3683,1937,0,0,0,0,0,0
$GC,8793,0.66,267.7,68.6,13.2,892,8800,0.12,2.25,0.00,0.000,6,0.187,0.051,3081,2268,1935,0,0,0,0,0,0
$GC,9142,0.73,282.1,35.2,9.3,953,9161,0.00,2.33,10.38,0.903,4,0.000,0.070,3086,867,1878,0,0,0,0,0,0
$GC,9209,0.84,293.2,28.9,9.5,964,9223,0.12,2.22,5.90,0.777,6,0.106,0.054,3140,2274,1834,0,0,0,0,0,0
$FREEZE,8.65,-1.642,-1.832,2,1,0
$FREEZE,7.89,-1.643,-1.831,2,1,0
$FREEZE,7.16,-1.646,-1.831,2,1,0
$FREEZE,6.47,-1.636,-1.830,2,1,0
$STATE,9368,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9368,begin subsurface finish
$FINISH1,6.5,1.026798,34
$GC,9376,0.04,34.4,6.5,-14.5,992,9432,0.85,2.30,-46.75,0.000,4,0.169,0.084,2887,3683,2890,0,0,0,0,0,0
$FINISH2,4.4
$STATE,9432,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$RAFOS_CLK,436
$RAFOS,5,1305506462,0.700000,0.683889,63,61,56,56,55,55,211,153,199,221,182,139
$RAFOS_FIX,6701.376953,-5656.416504,160511,000012,2,102,0.62
$IRIDIUM_FIX,6631.12,-5653.72,150511,222226
$TT8_MAMPS,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.5,17.4
$ALTIM_BOTTOM_PING,450.1,53.3
$24V_AH,22.1,83.232
$10V_AH,10.0,42.908
$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,16.975,84.450,377.275,0.000,0.000,57.809,57.431,591.336,9.250,0.000,14.329,2375.944,4856.649,534.308,2245.153,590.969,0.000,1414.904,0.000,1590.113,0.000,12.478,0.000
$DEVICE_MAMPS,321.300,130.815,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.099,753.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150396
$DATA_FILE_SIZE,40058,1001
$CAP_FILE_SIZE,121856,0
$CFSIZE,260165632,212758528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,160511,010526,6704.598,-5652.468,12,1.2,12,-37.6