version: 66.08
glider: 141
mission: 15
dive: 681
start: 5 24 111 17 9 15
data:
$ID,141
$MISSION,15
$DIVE,681
$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,-2
$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,559.0387
$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,-50107.605
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.92
$_SM_ANGLEo,-4.6
$GPS2,240511,162725,6650.042,-6021.070,0,7112.4,0,-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,235.5,11757,-17.5,-10.000
$D_GRID,552
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.85,0.000,2,0.000,0.000,2903,3690,2954,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.9,-0.0,1,53,0.68,4.38,-16.38,0.000,4,0.107,0.080,2668,1080,3629,0,0,0,0,0,0
$GC,280,-0.49,-146.0,61.5,-20.2,45,288,0.12,2.38,0.00,0.000,6,0.227,0.078,2695,2488,3629,0,0,0,0,0,0
$GC,627,-0.42,-146.0,118.5,-14.9,96,632,0.12,2.45,0.00,0.000,4,0.242,0.093,2724,3900,3629,0,0,0,0,0,0
$GC,702,-0.47,-146.0,128.1,-11.3,102,706,0.00,2.33,0.00,0.000,6,0.000,0.067,2723,2489,3630,0,0,0,0,0,0
$GC,1027,-0.49,-146.0,163.0,-10.1,132,1032,0.00,2.35,0.00,0.000,4,0.000,0.083,2724,1079,3629,0,0,0,0,0,0
$GC,1078,-0.57,-146.0,168.1,-9.2,136,1085,0.15,2.40,0.00,0.000,6,0.119,0.078,2672,2497,3628,0,0,0,0,0,0
$GC,1404,-0.47,-146.0,211.9,-14.3,167,1406,0.15,0.00,0.00,0.000,6,0.223,0.000,2705,2497,3628,0,0,0,0,0,0
$GC,1724,-0.47,-146.0,246.2,-10.1,197,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2497,3628,0,0,0,0,0,0
$GC,2044,-0.49,-146.0,277.1,-10.3,227,2048,0.00,2.40,0.00,0.000,4,0.000,0.081,2706,1076,3627,0,0,0,0,0,0
$GC,2077,-0.54,-146.0,280.9,-9.9,229,2084,0.00,2.40,0.00,0.000,6,0.000,0.080,2706,2492,3627,0,0,0,0,0,0
$GC,2405,-0.56,-146.0,312.2,-9.8,260,2409,0.00,2.42,0.00,0.000,4,0.000,0.094,2706,3907,3628,0,0,0,0,0,0
$GC,2426,-0.59,-146.0,314.7,-10.2,261,2433,0.00,2.35,0.00,0.000,6,0.000,0.067,2706,2485,3627,0,0,0,0,0,0
$GC,2752,-0.62,-146.0,345.2,-9.4,292,2754,0.12,0.00,0.00,0.000,6,0.129,0.000,2663,2485,3628,0,0,0,0,0,0
$GC,3072,-0.54,-146.0,387.5,-13.6,322,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2485,3627,0,0,0,0,0,0
$GC,3391,-0.47,-146.0,429.4,-13.2,352,3396,0.17,2.47,0.00,0.000,4,0.212,0.089,2705,3904,3627,0,0,0,0,0,0
$GC,3409,-0.43,-146.0,432.0,-12.6,353,3413,0.00,2.33,0.00,0.000,6,0.000,0.064,2705,2490,3628,0,0,0,0,0,0
$GC,3735,-0.48,-146.0,461.2,-8.8,383,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2490,3628,0,0,0,0,0,0
$GC,4058,-0.54,-146.0,489.5,-8.4,413,4062,0.00,2.38,0.00,0.000,4,0.000,0.078,2705,1077,3628,0,0,0,0,0,0
$GC,4103,-0.62,-146.0,494.3,-8.8,416,4111,0.12,2.38,0.00,0.000,6,0.121,0.075,2662,2490,3628,0,0,0,0,0,0
$GC,4429,-0.56,-146.0,532.7,-12.4,447,4433,0.00,2.42,0.00,0.000,4,0.000,0.090,2661,3905,3628,0,0,0,0,0,0
$GC,4458,-0.52,-146.0,536.3,-12.6,449,4463,0.12,2.33,0.00,0.000,6,0.200,0.063,2689,2488,3628,0,0,0,0,0,0
$STATE,4537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4537,begin apogee
$GC,4544,-0.12,0.0,544.4,8.7,456,4676,0.43,0.00,126.25,1.279,6,0.188,0.000,2811,2268,3030,0,0,0,0,0,0
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4680,0.62,146.0,548.6,0.0,468,4824,0.82,2.67,133.57,1.229,4,0.148,0.083,3060,880,2433,0,0,0,0,0,0
$GC,4864,0.66,179.6,539.0,8.5,484,4903,0.00,2.58,32.67,1.173,6,0.000,0.069,3060,2275,2296,0,0,0,0,0,0
$GC,5222,0.64,179.6,501.9,10.8,518,5226,0.00,2.40,0.00,0.000,4,0.000,0.085,3060,3690,2290,0,0,0,0,0,0
$GC,5296,0.57,179.6,492.6,12.5,524,5300,0.00,2.38,0.00,0.000,6,0.000,0.070,3071,2277,2289,0,0,0,0,0,0
$GC,5622,0.53,179.6,456.1,10.8,554,5626,0.12,2.38,0.00,0.000,4,0.190,0.085,3049,864,2289,0,0,0,0,0,0
$GC,5666,0.60,202.9,451.5,8.9,557,5695,0.00,2.35,20.20,1.131,6,0.000,0.071,3048,2284,2204,0,0,0,0,0,0
$GC,6014,0.65,225.5,419.9,9.0,590,6041,0.00,2.38,22.17,1.131,4,0.000,0.083,3048,3692,2109,0,0,0,0,0,0
$GC,6093,0.65,225.5,411.6,11.8,596,6100,0.00,2.38,0.00,0.000,6,0.000,0.070,3058,2268,2107,0,0,0,0,0,0
$GC,6419,0.69,225.5,378.5,10.3,627,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2268,2105,0,0,0,0,0,0
$GC,6740,0.72,225.5,345.4,10.3,657,6744,0.10,2.38,0.00,0.000,4,0.118,0.085,3115,865,2105,0,0,0,0,0,0
$GC,6778,0.67,225.5,340.0,13.4,660,6786,0.12,2.35,0.00,0.000,6,0.205,0.070,3086,2282,2103,0,0,0,0,0,0
$GC,7104,0.65,225.5,300.9,12.0,691,7108,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,3696,2103,0,0,0,0,0,0
$GC,7182,0.59,225.5,290.3,13.5,697,7189,0.15,2.35,0.00,0.000,6,0.193,0.069,3058,2274,2102,0,0,0,0,0,0
$GC,7508,0.64,235.4,257.7,9.5,728,7523,0.00,2.40,9.20,0.985,4,0.000,0.083,3067,870,2070,0,0,0,0,0,0
$GC,7576,0.69,235.4,251.0,10.4,734,7580,0.00,2.35,0.00,0.000,6,0.000,0.070,3068,2285,2069,0,0,0,0,0,0
$GC,7902,0.73,238.3,217.7,9.9,764,7914,0.00,2.35,4.20,0.721,4,0.000,0.085,3068,3687,2058,0,0,0,0,0,0
$GC,7976,0.73,238.3,209.2,11.6,770,7983,0.00,2.35,0.00,0.000,6,0.000,0.069,3078,2264,2058,0,0,0,0,0,0
$GC,8302,0.75,238.3,175.5,10.6,801,8306,0.00,2.35,0.00,0.000,4,0.000,0.084,3087,857,2058,0,0,0,0,0,0
$GC,8371,0.79,238.3,168.0,10.7,807,8375,0.00,2.38,0.00,0.000,6,0.000,0.070,3087,2283,2057,0,0,0,0,0,0
$GC,8697,0.86,273.9,137.3,8.4,837,8737,0.15,0.00,34.53,1.030,6,0.099,0.000,3149,2283,1913,0,0,0,0,0,0
$GC,9059,0.81,273.9,93.6,11.4,876,9066,0.00,2.38,0.00,0.000,4,0.000,0.085,3149,3691,1908,0,0,0,0,0,0
$GC,9112,0.71,273.9,87.2,12.9,885,9120,0.25,2.35,0.00,0.000,6,0.196,0.071,3095,2275,1906,0,0,0,0,0,0
$GC,9462,0.87,335.1,62.3,7.2,946,9527,0.15,2.45,55.90,0.988,4,0.099,0.086,3167,862,1663,0,0,0,0,0,0
$GC,9585,0.87,335.1,48.8,11.8,967,9592,0.00,2.38,0.00,0.000,6,0.000,0.070,3166,2277,1659,0,0,0,0,0,0
$STATE,9899,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9899,begin subsurface finish
$FINISH1,9.3,1.025955,76
$GC,9907,0.09,75.8,9.3,-12.2,1023,9954,0.90,0.00,-41.20,0.000,6,0.174,0.000,2902,2277,2724,0,0,0,0,0,0
$FINISH2,7.4
$STATE,9954,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9955,begin surface
$RAFOS_CLK,553
$RAFOS_FIX,6650.042480,-6021.070312,240511,161625,7,112,0.29
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.5,15.1
$ALTIM_BOTTOM_PING,500.4,58.5
$24V_AH,21.1,90.913
$10V_AH,9.8,46.984
$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,4.975,93.175,438.700,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,2411.347,5245.321,482.307,1656.726,213.826,0.000,1380.941,0.000,1645.737,0.000,14.262,0.000
$DEVICE_MAMPS,241.740,94.095,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.846,782.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,39996,1031
$CAP_FILE_SIZE,111396,0
$CFSIZE,260165632,208941056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6