version: 66.08
glider: 141
mission: 15
dive: 98
start: 3 7 111 21 2 19
data:
$ID,141
$MISSION,15
$DIVE,98
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,070311,204656,6719.987,-5759.264,0,2123.0,0,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.62
$_SM_ANGLEo,-2.9
$GPS2,070311,204656,6719.987,-5759.264,0,2123.0,0,-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,159.7,60317,-17.5,-10.000
$D_GRID,834
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.68,0.000,2,0.000,0.000,2884,869,3128,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.8,-0.0,1,51,0.60,4.90,-12.32,0.000,4,0.103,0.063,2670,3893,3630,0,0,0,0,0,0
$GC,181,-0.57,-146.0,31.9,-14.6,28,188,0.00,2.17,0.00,0.000,6,0.000,0.039,2670,2475,3631,0,0,0,0,0,0
$GC,528,-0.48,-146.0,86.5,-14.8,89,536,0.15,2.17,0.00,0.000,4,0.223,0.057,2704,1079,3630,0,0,0,0,0,0
$GC,543,-0.40,-146.0,89.0,-15.2,91,550,0.10,2.22,0.00,0.000,6,0.228,0.053,2728,2490,3629,0,0,0,0,0,0
$GC,881,-0.46,-146.0,122.7,-9.8,131,885,0.00,2.28,0.00,0.000,4,0.000,0.070,2728,3906,3629,0,0,0,0,0,0
$GC,914,-0.56,-146.0,126.0,-9.7,133,922,0.15,2.15,0.00,0.000,6,0.115,0.039,2677,2481,3628,0,0,0,0,0,0
$GC,1240,-0.51,-146.0,166.8,-12.6,164,1244,0.00,2.15,0.00,0.000,4,0.000,0.057,2677,1088,3627,0,0,0,0,0,0
$GC,1257,-0.47,-146.0,169.0,-12.2,165,1262,0.12,2.20,0.00,0.000,6,0.229,0.054,2705,2498,3627,0,0,0,0,0,0
$GC,1583,-0.50,-146.0,199.8,-9.6,195,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2498,3626,0,0,0,0,0,0
$GC,1902,-0.55,-146.0,227.7,-8.3,225,1906,0.00,2.20,0.00,0.000,4,0.000,0.055,2704,1082,3626,0,0,0,0,0,0
$GC,1914,-0.60,-146.0,228.6,-8.3,226,1919,0.10,2.17,0.00,0.000,6,0.141,0.051,2670,2493,3626,0,0,0,0,0,0
$GC,2239,-0.55,-146.0,264.7,-12.1,256,2243,0.00,2.22,0.00,0.000,4,0.000,0.067,2670,3897,3626,0,0,0,0,0,0
$GC,2271,-0.52,-146.0,268.7,-12.2,258,2278,0.00,2.12,0.00,0.000,6,0.000,0.038,2670,2490,3626,0,0,0,0,0,0
$GC,2597,-0.47,-146.0,307.5,-12.1,289,2601,0.15,2.15,0.00,0.000,4,0.216,0.054,2706,1090,3627,0,0,0,0,0,0
$GC,2606,-0.43,-146.0,308.9,-11.9,289,2613,0.00,2.15,0.00,0.000,6,0.000,0.050,2706,2490,3628,0,0,0,0,0,0
$GC,2934,-0.48,-146.0,338.0,-9.4,320,2938,0.00,2.22,0.00,0.000,4,0.000,0.067,2706,3896,3627,0,0,0,0,0,0
$GC,2951,-0.54,-146.0,339.7,-8.9,321,2955,0.00,2.10,0.00,0.000,6,0.000,0.037,2706,2488,3627,0,0,0,0,0,0
$GC,3277,-0.60,-146.0,370.8,-9.3,351,3279,0.12,0.00,0.00,0.000,6,0.124,0.000,2663,2488,3628,0,0,0,0,0,0
$GC,3595,-0.55,-146.0,409.4,-11.9,381,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2487,3627,0,0,0,0,0,0
$GC,3916,-0.51,-146.0,445.7,-11.0,411,3918,0.12,0.00,0.00,0.000,6,0.216,0.000,2691,2487,3628,0,0,0,0,0,0
$GC,4233,-0.54,-146.0,474.2,-8.8,441,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2487,3628,0,0,0,0,0,0
$STATE,4379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4379,begin apogee
$GC,4385,-0.12,0.0,487.9,8.8,455,4508,0.40,0.00,117.55,1.187,6,0.181,0.000,2814,2256,3030,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4510,0.62,146.0,491.7,0.0,466,4640,0.75,2.38,120.25,1.143,4,0.129,0.057,3060,898,2433,0,0,0,0,0,0
$GC,4692,0.54,146.0,475.6,13.3,483,4696,0.00,2.28,0.00,0.000,6,0.000,0.046,3060,2277,2429,0,0,0,0,0,0
$GC,5017,0.44,146.0,432.7,13.0,513,5022,0.20,2.30,0.00,0.000,4,0.182,0.057,3008,3688,2427,0,0,0,0,0,0
$GC,5180,0.41,146.0,414.4,10.8,527,5184,0.00,2.17,0.00,0.000,6,0.000,0.041,3016,2297,2426,0,0,0,0,0,0
$GC,5505,0.41,147.8,381.2,9.9,557,5509,0.00,2.25,0.00,0.000,4,0.000,0.057,3027,863,2425,0,0,0,0,0,0
$GC,5556,0.41,147.8,375.9,10.8,561,5560,0.00,2.22,0.00,0.000,6,0.000,0.044,3027,2288,2425,0,0,0,0,0,0
$GC,5887,0.40,153.7,342.1,9.7,592,5900,0.12,2.20,6.25,0.830,4,0.186,0.057,2996,3685,2404,0,0,0,0,0,0
$GC,5961,0.40,156.4,334.8,9.9,598,5972,0.00,2.17,4.25,0.685,6,0.000,0.039,3003,2264,2392,0,0,0,0,0,0
$GC,6298,0.46,179.6,306.1,8.9,630,6321,0.00,0.00,21.05,1.019,6,0.000,0.000,3003,2264,2297,0,0,0,0,0,0
$GC,6638,0.54,210.1,277.0,8.6,662,6672,0.10,2.33,26.52,1.016,4,0.122,0.057,3046,3690,2174,0,0,0,0,0,0
$GC,6712,0.49,210.1,268.3,13.5,668,6720,0.12,2.25,0.00,0.000,6,0.190,0.044,3027,2272,2171,0,0,0,0,0,0
$GC,7037,0.49,210.1,232.1,11.5,699,7041,0.00,2.22,0.00,0.000,4,0.000,0.059,3029,860,2168,0,0,0,0,0,0
$GC,7114,0.53,210.1,223.4,11.3,705,7121,0.00,2.20,0.00,0.000,6,0.000,0.044,3029,2278,2166,0,0,0,0,0,0
$GC,7439,0.53,210.1,187.0,11.3,736,7443,0.00,2.22,0.00,0.000,4,0.000,0.058,3029,3689,2166,0,0,0,0,0,0
$GC,7517,0.53,210.1,176.8,13.5,742,7524,0.00,2.22,0.00,0.000,6,0.000,0.042,3039,2268,2166,0,0,0,0,0,0
$GC,7844,0.53,210.1,137.1,12.0,773,7848,0.00,2.17,0.00,0.000,4,0.000,0.058,3044,867,2166,0,0,0,0,0,0
$GC,7888,0.57,210.1,132.0,10.9,776,7895,0.00,2.15,0.00,0.000,6,0.000,0.044,3044,2276,2165,0,0,0,0,0,0
$GC,8216,0.57,215.2,97.0,9.8,809,8229,0.00,2.25,4.68,0.654,4,0.000,0.058,3044,3687,2152,0,0,0,0,0,0
$GC,8381,0.57,215.2,78.1,11.6,838,8388,0.00,2.15,0.00,0.000,6,0.000,0.041,3053,2269,2152,0,0,0,0,0,0
$GC,8726,0.63,233.1,45.4,9.2,899,8750,0.00,2.28,16.85,0.867,4,0.000,0.056,3053,3694,2079,0,0,0,0,0,0
$GC,8780,0.63,233.1,40.2,10.8,908,8787,0.00,2.17,0.00,0.000,6,0.000,0.041,3059,2281,2078,0,0,0,0,0,0
$FREEZE,8.92,-1.333,-1.827,3,5,0
$FREEZE,8.36,-1.329,-1.826,3,5,0
$GC,9127,0.66,233.1,8.4,10.3,969,9133,0.00,2.20,0.00,0.000,4,0.000,0.057,3059,864,2076,0,0,0,0,0,0
$FREEZE,6.95,-1.334,-1.825,3,5,0
$FREEZE,6.55,-1.333,-1.825,3,5,0
$FREEZE,6.03,-1.335,-1.825,3,5,0
$FREEZE,5.73,-1.336,-1.824,3,5,0
$FREEZE,5.25,-1.332,-1.824,3,5,0
$FREEZE,4.71,-1.332,-1.824,3,5,0
$FREEZE,4.24,-1.333,-1.823,3,5,0
$FREEZE,3.81,-1.333,-1.823,3,5,0
$FREEZE,3.39,-1.343,-1.823,3,5,0
$FREEZE,3.02,-1.347,-1.822,3,5,0
$FREEZE,2.71,-1.341,-1.822,3,5,0
$STATE,9191,end climb,SURFACE_DEPTH_REACHED
$STATE,9191,begin surface coast
$FREEZE,2.10,-1.346,-1.822,3,5,0
$FREEZE,2.16,-1.348,-1.822,3,5,0
$FREEZE,2.07,-1.359,-1.822,3,5,0
$FREEZE,2.11,-1.370,-1.822,3,5,0
$FREEZE,2.09,-1.349,-1.821,3,5,0
$FREEZE,2.14,-1.351,-1.821,3,5,0
$FREEZE,1.93,-1.354,-1.821,3,5,0
$FINISH,1.9,1.026713
$STATE,9227,end surface coast,CONTROL_FINISHED_OK
$STATE,9228,begin surface
$SM_CCo,9264,140.85,0.064,0,0,751,559.04
$SM_GC,2.18,0.00,0.00,140.85,0.000,0.000,0.064,114,2503,751,-8.60,0.37,559.04
$RAFOS_CLK,486
$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,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.8
$ALTIM_BOTTOM_PING,450.9,51.2
$24V_AH,23.5,16.807
$10V_AH,10.3,8.793
$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,11.675,87.275,317.400,140.850,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2360.057,4886.357,505.665,1572.123,142.568,0.000,1339.130,0.000,1562.944,0.000,12.479,0.000
$DEVICE_MAMPS,228.735,69.615,1187.280,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.076,749.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,40085,988
$CAP_FILE_SIZE,109052,0
$CFSIZE,260165632,245002240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$GPS,070311,234030,6722.828,-5745.457,39,1.3,39,-38.2