version: 66.08
glider: 141
mission: 15
dive: 97
start: 3 7 111 18 13 7
data:
$ID,141
$MISSION,15
$DIVE,97
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,070311,164322,6721.564,-5758.442,0,3123.3,0,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-27.7
$GPS2,070311,164322,6721.564,-5758.442,0,3123.3,0,-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,162.4,61398,-17.5,-10.000
$D_GRID,736
$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,-146.0,0.0,0.0,0,201,0.00,0.00,-178.18,0.000,6,0.000,0.000,108,2483,3627,0,0,0,0,0,0
$GC,203,-0.62,-146.0,4.5,-5.3,32,223,12.38,2.28,0.00,0.000,4,0.330,0.062,2650,3896,3628,0,0,0,0,0,0
$GC,471,-0.53,-146.0,65.2,-16.4,79,478,0.15,2.17,0.00,0.000,6,0.207,0.043,2688,2478,3629,0,0,0,0,0,0
$GC,811,-0.48,-146.0,111.8,-13.2,132,815,0.00,2.17,0.00,0.000,4,0.000,0.059,2688,1077,3628,0,0,0,0,0,0
$GC,867,-0.48,-146.0,119.0,-12.1,136,874,0.00,2.20,0.00,0.000,6,0.000,0.055,2688,2488,3628,0,0,0,0,0,0
$GC,1192,-0.45,-146.0,158.3,-11.5,167,1194,0.10,0.00,0.00,0.000,6,0.236,0.000,2712,2488,3627,0,0,0,0,0,0
$GC,1511,-0.48,-146.0,187.8,-8.8,197,1515,0.00,2.25,0.00,0.000,4,0.000,0.071,2712,3904,3626,0,0,0,0,0,0
$GC,1544,-0.54,-146.0,191.0,-9.4,199,1550,0.00,2.15,0.00,0.000,6,0.000,0.041,2712,2483,3625,0,0,0,0,0,0
$GC,1871,-0.59,-146.0,219.7,-8.7,230,1873,0.12,0.00,0.00,0.000,6,0.131,0.000,2670,2483,3626,0,0,0,0,0,0
$GC,2187,-0.53,-146.0,257.9,-12.5,260,2191,0.00,2.25,0.00,0.000,4,0.000,0.067,2670,3903,3626,0,0,0,0,0,0
$GC,2218,-0.48,-146.0,261.4,-12.3,262,2223,0.12,2.15,0.00,0.000,6,0.207,0.039,2701,2485,3627,0,0,0,0,0,0
$GC,2543,-0.48,-146.0,293.3,-9.7,292,2547,0.00,2.28,0.00,0.000,4,0.000,0.067,2700,3904,3628,0,0,0,0,0,0
$GC,2565,-0.50,-146.0,295.5,-9.3,293,2572,0.00,2.12,0.00,0.000,6,0.000,0.038,2701,2487,3628,0,0,0,0,0,0
$GC,2891,-0.53,-146.0,326.5,-9.6,324,2895,0.00,2.22,0.00,0.000,4,0.000,0.065,2701,3898,3628,0,0,0,0,0,0
$GC,2901,-0.55,-146.0,327.7,-9.5,324,2908,0.00,2.10,0.00,0.000,6,0.000,0.037,2701,2487,3628,0,0,0,0,0,0
$GC,3227,-0.59,-146.0,357.7,-9.3,355,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2487,3628,0,0,0,0,0,0
$GC,3547,-0.63,-146.0,386.2,-9.1,385,3549,0.12,0.00,0.00,0.000,6,0.127,0.000,2659,2488,3629,0,0,0,0,0,0
$GC,3864,-0.56,-146.0,424.0,-12.0,415,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2488,3630,0,0,0,0,0,0
$GC,4184,-0.51,-146.0,463.4,-12.3,445,4186,0.15,0.00,0.00,0.000,6,0.212,0.000,2695,2488,3630,0,0,0,0,0,0
$GC,4501,-0.54,-146.0,493.2,-9.0,475,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2486,3630,0,0,0,0,0,0
$GC,4821,-0.83,-146.0,515.6,-0.1,505,4823,0.30,0.00,0.00,0.000,6,0.095,0.000,2587,2485,3631,0,0,0,0,0,0
$STATE,4923,end dive,NO_VERTICAL_VELOCITY
$STATE,4923,begin apogee
$GC,4929,-0.12,0.0,515.5,0.0,515,5052,0.68,0.00,118.05,1.199,6,0.122,0.000,2818,2261,3031,0,0,0,0,0,0
$STATE,5053,end apogee,CONTROL_FINISHED_OK
$STATE,5053,begin climb
$GC,5055,0.62,146.0,515.5,0.0,526,5185,0.75,2.47,121.05,1.158,4,0.135,0.057,3050,3690,2433,0,0,0,0,0,0
$GC,5235,0.49,146.0,500.7,13.8,542,5243,0.15,2.33,0.00,0.000,6,0.188,0.042,3026,2289,2428,0,0,0,0,0,0
$GC,5561,0.44,146.0,464.8,11.0,573,5565,0.00,2.28,0.00,0.000,4,0.000,0.058,3035,871,2425,0,0,0,0,0,0
$GC,5657,0.41,146.0,454.0,10.9,581,5662,0.15,2.25,0.00,0.000,6,0.188,0.046,2999,2283,2424,0,0,0,0,0,0
$GC,5987,0.43,165.2,424.3,9.1,612,6010,0.00,2.25,15.98,1.043,4,0.000,0.058,2999,3682,2355,0,0,0,0,0,0
$GC,6106,0.43,165.2,412.1,10.7,622,6113,0.00,2.22,0.00,0.000,6,0.000,0.042,3006,2262,2354,0,0,0,0,0,0
$GC,6432,0.47,178.3,382.7,9.4,653,6454,0.00,2.22,12.30,1.008,4,0.000,0.057,3015,868,2301,0,0,0,0,0,0
$GC,6504,0.55,205.1,375.9,8.8,659,6533,0.00,2.22,23.92,1.061,6,0.000,0.045,3015,2277,2193,0,0,0,0,0,0
$GC,6851,0.55,205.1,340.6,10.2,692,6855,0.00,2.22,0.00,0.000,4,0.000,0.059,3015,3681,2188,0,0,0,0,0,0
$GC,6945,0.55,205.1,329.3,11.7,700,6952,0.00,2.22,0.00,0.000,6,0.000,0.041,3025,2275,2187,0,0,0,0,0,0
$GC,7270,0.55,205.1,293.9,11.4,731,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2275,2187,0,0,0,0,0,0
$GC,7589,0.55,205.7,261.1,10.0,761,7593,0.00,2.25,0.00,0.000,4,0.000,0.057,3025,3692,2187,0,0,0,0,0,0
$GC,7651,0.55,205.7,254.1,11.5,766,7655,0.00,2.20,0.00,0.000,6,0.000,0.041,3034,2264,2187,0,0,0,0,0,0
$GC,7981,0.55,205.7,220.3,10.7,797,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2264,2187,0,0,0,0,0,0
$GC,8303,0.55,205.7,184.3,12.1,827,8307,0.00,2.15,0.00,0.000,4,0.000,0.058,3043,871,2186,0,0,0,0,0,0
$GC,8354,0.55,205.7,178.1,11.4,831,8358,0.00,2.15,0.00,0.000,6,0.000,0.045,3043,2277,2185,0,0,0,0,0,0
$GC,8679,0.55,205.7,140.0,11.2,861,8683,0.00,2.17,0.00,0.000,4,0.000,0.058,3043,3682,2185,0,0,0,0,0,0
$GC,8745,0.52,205.7,131.7,12.6,866,8752,0.00,2.15,0.00,0.000,6,0.000,0.041,3052,2263,2185,0,0,0,0,0,0
$GC,9071,0.54,219.9,98.6,9.3,898,9090,0.00,2.17,12.60,0.873,4,0.000,0.056,3059,870,2134,0,0,0,0,0,0
$GC,9119,0.56,235.7,94.0,9.3,906,9144,0.00,2.17,15.43,0.895,6,0.000,0.044,3058,2285,2067,0,0,0,0,0,0
$GC,9481,0.60,243.0,58.9,9.7,970,9495,0.00,2.20,7.15,0.780,4,0.000,0.057,3059,3684,2039,0,0,0,0,0,0
$GC,9610,0.60,243.0,44.9,11.0,992,9616,0.00,2.17,0.00,0.000,6,0.000,0.042,3069,2272,2038,0,0,0,0,0,0
$FREEZE,8.76,-1.411,-1.826,3,4,0
$GC,9955,0.63,266.6,10.0,8.9,1053,9975,0.00,2.25,11.55,0.842,4,0.000,0.060,3077,880,1942,0,0,0,0,0,0
$FREEZE,6.98,-1.416,-1.825,3,4,0
$STATE,9981,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9981,begin subsurface finish
$FINISH1,7.0,1.026711,39
$GC,9989,0.05,38.7,7.0,-10.2,1057,10032,0.60,2.30,-36.00,0.000,4,0.140,0.069,2884,868,2874,0,0,0,0,0,0
$FINISH2,5.5
$STATE,10033,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10033,begin surface
$RAFOS_CLK,527
$RAFOS,6,1299530943,20.833334,20.817499,126,52,52,52,51,50,669,212,225,187,97,113
$RAFOS,5,1299530464,20.700001,20.684444,120,58,54,53,53,52,675,210,153,175,197,230
$RAFOS,4,1299529987,20.566668,20.551945,62,59,56,56,56,55,206,798,187,118,148,217
$RAFOS,3,1299529502,20.433332,20.417223,62,60,58,56,56,52,213,190,228,154,201,129
$RAFOS,2,1299529025,20.299999,20.284721,58,57,57,57,51,50,190,140,203,217,113,164
$RAFOS,1,1299528547,20.166666,20.151945,56,54,50,49,49,46,196,138,209,95,161,128
$RAFOS,0,1299528062,20.033333,20.017221,63,62,56,54,53,51,195,206,123,178,229,220
$RAFOS_FIX,6719.987305,-5759.263672,070311,202056,2,123,0.20
$IRIDIUM_FIX,6652.93,-5756.13,070311,080859
$TT8_MAMPS,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,23.4,16.705
$10V_AH,10.3,8.734
$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,15.775,77.925,338.025,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2437.502,5307.188,529.115,1670.771,150.618,0.000,1430.206,0.000,1662.350,2520.000,14.280,0.000
$DEVICE_MAMPS,329.715,71.145,1198.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.188,806.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,43404,1064
$CAP_FILE_SIZE,111102,0
$CFSIZE,260165632,245055488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3