version: 66.08
glider: 141
mission: 15
dive: 95
start: 3 7 111 12 29 16
data:
$ID,141
$MISSION,15
$DIVE,95
$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,100
$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,9
$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,-24622.689
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,070311,085650,6722.860,-5753.803,181,99.0,181,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-41.8
$GPS2,070311,085650,6722.860,-5753.803,181,99.0,181,-38.3
$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,166.0,60091,-17.5,-10.000
$D_GRID,613
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,158,0.00,0.00,-137.35,0.000,2,0.000,0.000,115,2495,3441,0,0,0,0,0,0
$GC,160,-0.62,-146.0,6.1,-11.7,24,186,12.38,2.28,-3.78,0.000,4,0.331,0.070,2653,1078,3629,0,0,0,0,0,0
$GC,293,-0.50,-146.0,40.0,-17.5,47,300,0.17,2.22,0.00,0.000,6,0.219,0.058,2696,2485,3630,0,0,0,0,0,0
$GC,638,-0.46,-146.0,87.4,-12.2,108,645,0.00,2.30,0.00,0.000,4,0.000,0.073,2696,3904,3630,0,0,0,0,0,0
$GC,674,-0.46,-146.0,91.7,-11.9,114,680,0.00,2.20,0.00,0.000,6,0.000,0.044,2696,2486,3630,0,0,0,0,0,0
$GC,1003,-0.46,-146.0,131.1,-12.1,151,1007,0.00,2.28,0.00,0.000,4,0.000,0.070,2696,3902,3628,0,0,0,0,0,0
$GC,1032,-0.46,-146.0,134.6,-12.2,153,1036,0.00,2.17,0.00,0.000,6,0.000,0.044,2696,2482,3628,0,0,0,0,0,0
$GC,1357,-0.46,-146.0,172.2,-11.4,183,1361,0.00,2.28,0.00,0.000,4,0.000,0.070,2696,3904,3628,0,0,0,0,0,0
$GC,1374,-0.46,-146.0,174.1,-11.1,184,1378,0.00,2.15,0.00,0.000,6,0.000,0.041,2696,2486,3628,0,0,0,0,0,0
$GC,1699,-0.46,-146.0,208.3,-9.8,214,1703,0.00,2.17,0.00,0.000,4,0.000,0.062,2696,1088,3629,0,0,0,0,0,0
$GC,1727,-0.46,-146.0,211.3,-10.7,216,1731,0.00,2.20,0.00,0.000,6,0.000,0.057,2696,2490,3628,0,0,0,0,0,0
$GC,2052,-0.46,-146.0,243.8,-9.5,246,2056,0.00,2.28,0.00,0.000,4,0.000,0.073,2696,3901,3629,0,0,0,0,0,0
$GC,2064,-0.46,-146.0,244.8,-9.2,247,2068,0.00,2.15,0.00,0.000,6,0.000,0.042,2696,2486,3628,0,0,0,0,0,0
$GC,2389,-0.46,-146.0,276.1,-9.9,277,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2486,3629,0,0,0,0,0,0
$GC,2709,-0.49,-146.0,305.3,-8.6,307,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2486,3630,0,0,0,0,0,0
$GC,3027,-0.51,-146.0,336.1,-9.1,337,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2486,3631,0,0,0,0,0,0
$GC,3346,-0.53,-146.0,365.8,-9.0,367,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2485,3631,0,0,0,0,0,0
$GC,3664,-0.56,-146.0,392.9,-8.6,397,3668,0.00,2.17,0.00,0.000,4,0.000,0.058,2696,1076,3632,0,0,0,0,0,0
$GC,3681,-0.58,-146.0,394.5,-8.2,398,3688,0.00,2.22,0.00,0.000,6,0.000,0.054,2696,2497,3631,0,0,0,0,0,0
$GC,4006,-0.60,-146.0,422.0,-8.7,429,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2497,3632,0,0,0,0,0,0
$GC,4326,-0.63,-146.0,449.3,-8.5,459,4328,0.12,0.00,0.00,0.000,6,0.126,0.000,2654,2497,3633,0,0,0,0,0,0
$GC,4643,-0.55,-146.0,487.2,-12.0,489,4647,0.12,2.22,0.00,0.000,4,0.213,0.072,2682,3896,3633,0,0,0,0,0,0
$GC,4671,-0.52,-146.0,490.5,-10.8,491,4675,0.00,2.12,0.00,0.000,6,0.000,0.042,2682,2488,3633,0,0,0,0,0,0
$GC,4998,-0.52,-146.0,522.2,-9.9,521,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2487,3634,0,0,0,0,0,0
$GC,5315,-0.52,-146.0,552.1,-9.4,551,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2487,3634,0,0,0,0,0,0
$STATE,5366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5366,begin apogee
$GC,5371,-0.12,0.0,556.9,9.3,556,5501,0.45,0.00,120.22,1.255,6,0.188,0.000,2817,2255,3030,0,0,0,0,0,0
$STATE,5502,end apogee,CONTROL_FINISHED_OK
$STATE,5502,begin climb
$GC,5505,0.62,146.0,560.9,0.0,568,5638,0.77,2.40,122.32,1.213,4,0.140,0.063,3064,882,2432,0,0,0,0,0,0
$GC,5665,0.53,146.0,549.0,12.1,582,5673,0.00,2.35,0.00,0.000,6,0.000,0.050,3063,2270,2429,0,0,0,0,0,0
$GC,5992,0.44,146.0,508.6,12.1,613,5997,0.20,2.35,0.00,0.000,4,0.183,0.064,3010,3692,2424,0,0,0,0,0,0
$GC,6093,0.40,146.0,497.1,11.0,621,6100,0.00,2.28,0.00,0.000,6,0.000,0.049,3018,2288,2424,0,0,0,0,0,0
$GC,6419,0.40,146.1,465.1,10.0,652,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2288,2423,0,0,0,0,0,0
$GC,6738,0.40,146.1,433.6,10.1,682,6742,0.00,2.25,0.00,0.000,4,0.000,0.063,3018,3688,2422,0,0,0,0,0,0
$GC,6777,0.35,146.1,429.0,12.1,685,6782,0.17,2.22,0.00,0.000,6,0.184,0.049,2985,2276,2422,0,0,0,0,0,0
$GC,7103,0.48,200.0,403.5,7.5,715,7158,0.00,2.40,44.90,1.147,4,0.000,0.064,2989,870,2213,0,0,0,0,0,0
$GC,7187,0.64,236.6,396.9,8.3,722,7228,0.22,2.28,33.17,1.118,6,0.086,0.050,3074,2278,2064,0,0,0,0,0,0
$GC,7545,0.57,236.6,341.7,16.0,756,7549,0.00,2.28,0.00,0.000,4,0.000,0.065,3074,3688,2056,0,0,0,0,0,0
$GC,7639,0.49,236.6,325.2,17.8,764,7647,0.22,2.28,0.00,0.000,6,0.181,0.050,3024,2271,2054,0,0,0,0,0,0
$GC,7965,0.53,236.6,286.9,11.1,795,7969,0.00,2.25,0.00,0.000,4,0.000,0.064,3028,859,2052,0,0,0,0,0,0
$GC,8027,0.58,236.6,280.2,11.1,800,8031,0.00,2.22,0.00,0.000,6,0.000,0.050,3029,2278,2051,0,0,0,0,0,0
$GC,8352,0.58,236.6,240.8,12.5,830,8356,0.00,2.22,0.00,0.000,4,0.000,0.063,3028,3687,2050,0,0,0,0,0,0
$GC,8436,0.58,236.6,229.4,13.4,837,8441,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,2271,2049,0,0,0,0,0,0
$GC,8763,0.58,236.6,189.0,12.1,867,8767,0.00,2.20,0.00,0.000,4,0.000,0.063,3042,868,2050,0,0,0,0,0,0
$GC,8836,0.64,236.6,180.5,10.9,873,8841,0.00,2.20,0.00,0.000,6,0.000,0.048,3042,2279,2049,0,0,0,0,0,0
$GC,9167,0.64,236.6,141.0,12.1,904,9171,0.00,2.22,0.00,0.000,4,0.000,0.062,3043,3688,2049,0,0,0,0,0,0
$GC,9266,0.64,236.6,127.5,13.6,912,9274,0.00,2.20,0.00,0.000,6,0.000,0.047,3052,2277,2049,0,0,0,0,0,0
$GC,9596,0.67,236.6,89.3,10.9,951,9603,0.00,2.22,0.00,0.000,4,0.000,0.062,3059,864,2049,0,0,0,0,0,0
$GC,9645,0.72,237.6,84.4,10.0,959,9652,0.10,2.17,0.00,0.000,6,0.127,0.047,3098,2277,2048,0,0,0,0,0,0
$GC,9991,0.68,237.6,41.4,12.6,1020,9998,0.00,2.20,0.00,0.000,4,0.000,0.060,3098,3684,2048,0,0,0,0,0,0
$GC,10083,0.60,237.6,28.3,14.4,1036,10091,0.17,2.17,0.00,0.000,6,0.186,0.047,3063,2267,2048,0,0,0,0,0,0
$FREEZE,8.96,-1.421,-1.828,2,2,0
$FREEZE,8.40,-1.420,-1.828,2,2,0
$FREEZE,7.96,-1.423,-1.827,2,2,0
$FREEZE,7.55,-1.425,-1.827,2,2,0
$FREEZE,7.17,-1.428,-1.827,2,2,0
$FREEZE,6.57,-1.427,-1.826,2,2,0
$FREEZE,6.09,-1.427,-1.826,2,2,0
$FREEZE,5.75,-1.429,-1.826,2,2,0
$FREEZE,5.32,-1.430,-1.825,2,2,0
$FREEZE,4.83,-1.430,-1.825,2,2,0
$FREEZE,4.20,-1.431,-1.825,2,2,0
$FREEZE,3.77,-1.434,-1.824,2,2,0
$FREEZE,3.14,-1.430,-1.824,2,2,0
$FREEZE,2.59,-1.434,-1.823,2,2,0
$STATE,10349,end climb,SURFACE_DEPTH_REACHED
$STATE,10349,begin surface coast
$FREEZE,2.16,-1.458,-1.824,2,2,0
$FREEZE,2.27,-1.457,-1.823,2,2,0
$FREEZE,2.23,-1.467,-1.824,2,2,0
$FREEZE,2.20,-1.475,-1.825,2,2,0
$FREEZE,2.21,-1.197,-1.807,2,2,0
$FINISH,2.2,1.026505
$STATE,10377,end surface coast,CONTROL_FINISHED_OK
$STATE,10377,begin surface
$RAFOS_CLK,592
$RAFOS,6,1299502141,12.833333,12.816944,130,61,61,57,53,51,671,198,121,222,168,157
$RAFOS,5,1299501663,12.700000,12.684167,152,62,57,53,53,53,686,188,209,175,110,121
$RAFOS,4,1299501186,12.566667,12.551666,111,62,62,54,54,48,798,212,147,134,187,110
$RAFOS,1,1299499743,12.166667,12.150833,60,57,55,52,51,47,154,172,121,193,210,139
$RAFOS_FIX,6721.084473,-5759.121582,070311,121201,3,131,0.37
$IRIDIUM_FIX,6652.93,-5756.13,070311,080859
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,551.1,20.4
$24V_AH,23.1,16.487
$10V_AH,10.2,8.609
$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,15.125,85.325,320.625,0.000,0.000,99.851,17.439,0.000,2.000,0.000,183.294,2604.806,5753.196,448.890,2038.849,366.139,0.000,1394.037,0.000,1721.293,1080.000,16.991,0.000
$DEVICE_MAMPS,331.245,73.440,1255.365,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.589,831.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,43251,1089
$CAP_FILE_SIZE,124033,0
$CFSIZE,260165632,245170176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,070311,124301,6721.084,-5759.122,0,3131.0,0,-38.3