version: 66.08
glider: 141
mission: 15
dive: 99
start: 3 7 111 23 52 52
data:
$ID,141
$MISSION,15
$DIVE,99
$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,400
$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,-24624.039
$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,32
$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
$GPS1,070311,234030,6722.828,-5745.457,39,1.3,39,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-73.6
$GPS2,070311,235220,6722.837,-5745.530,9,1.7,9,-38.2
$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,169.7,55458,-17.5,-10.000
$D_GRID,482
$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,-146.0,0.0,0.0,0,189,0.00,0.00,-170.35,0.000,2,0.000,0.000,113,2504,3363,0,0,0,0,0,0
$GC,192,-0.62,-146.0,5.5,-10.0,30,217,12.60,2.28,-5.70,0.000,4,0.328,0.060,2651,1066,3628,0,0,0,0,0,0
$GC,353,-0.50,-146.0,42.5,-17.0,58,360,0.17,2.25,0.00,0.000,6,0.220,0.054,2693,2485,3629,0,0,0,0,0,0
$GC,699,-0.45,-146.0,89.5,-12.3,119,706,0.00,2.30,0.00,0.000,4,0.000,0.069,2693,3905,3629,0,0,0,0,0,0
$GC,768,-0.45,-146.0,97.6,-10.9,131,775,0.00,2.17,0.00,0.000,6,0.000,0.041,2693,2488,3628,0,0,0,0,0,0
$GC,1101,-0.43,-146.0,133.6,-10.2,164,1106,0.12,2.30,0.00,0.000,4,0.210,0.068,2724,3905,3627,0,0,0,0,0,0
$GC,1123,-0.45,-146.0,135.7,-8.7,165,1130,0.00,2.17,0.00,0.000,6,0.000,0.040,2724,2487,3627,0,0,0,0,0,0
$GC,1448,-0.52,-146.0,157.6,-6.5,196,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2487,3627,0,0,0,0,0,0
$GC,1768,-0.59,-146.0,178.6,-6.6,226,1770,0.15,0.00,0.00,0.000,6,0.116,0.000,2672,2486,3628,0,0,0,0,0,0
$GC,2085,-0.54,-146.0,214.2,-11.7,256,2089,0.00,2.15,0.00,0.000,4,0.000,0.056,2672,1088,3628,0,0,0,0,0,0
$GC,2113,-0.49,-146.0,217.7,-12.5,258,2118,0.12,2.17,0.00,0.000,6,0.220,0.051,2701,2492,3628,0,0,0,0,0,0
$GC,2444,-0.51,-146.0,247.6,-8.5,289,2448,0.00,2.20,0.00,0.000,4,0.000,0.066,2701,3897,3629,0,0,0,0,0,0
$GC,2454,-0.53,-146.0,248.6,-8.3,289,2461,0.00,2.12,0.00,0.000,6,0.000,0.036,2701,2471,3628,0,0,0,0,0,0
$GC,2781,-0.55,-146.0,275.1,-8.4,320,2785,0.00,2.25,0.00,0.000,4,0.000,0.063,2701,3901,3630,0,0,0,0,0,0
$GC,2791,-0.58,-146.0,276.2,-8.3,320,2798,0.00,2.10,0.00,0.000,6,0.000,0.035,2701,2489,3629,0,0,0,0,0,0
$GC,3116,-0.61,-146.0,302.6,-7.9,351,3120,0.00,2.15,0.00,0.000,4,0.000,0.053,2701,1090,3631,0,0,0,0,0,0
$GC,3138,-0.63,-146.0,304.7,-8.9,352,3146,0.12,2.15,0.00,0.000,6,0.125,0.049,2659,2493,3631,0,0,0,0,0,0
$GC,3463,-0.56,-146.0,343.0,-12.1,383,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2492,3631,0,0,0,0,0,0
$GC,3782,-0.49,-146.0,379.5,-11.2,413,3784,0.17,0.00,0.00,0.000,6,0.212,0.000,2701,2493,3632,0,0,0,0,0,0
$GC,4101,-0.53,-146.0,404.8,-7.7,443,4105,0.00,2.20,0.00,0.000,4,0.000,0.066,2702,3897,3633,0,0,0,0,0,0
$GC,4125,-0.58,-146.0,406.7,-7.7,445,4128,0.00,2.10,0.00,0.000,6,0.000,0.037,2701,2490,3632,0,0,0,0,0,0
$GC,4456,-0.63,-146.0,432.3,-7.4,476,4461,0.12,2.22,0.00,0.000,4,0.122,0.063,2659,3897,3632,0,0,0,0,0,0
$GC,4489,-0.59,-146.0,435.5,-10.3,478,4496,0.00,2.10,0.00,0.000,6,0.000,0.038,2658,2491,3632,0,0,0,0,0,0
$STATE,4674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4675,begin apogee
$GC,4680,-0.12,0.0,455.3,10.9,496,4805,0.52,0.00,118.20,1.161,6,0.196,0.000,2812,2257,3030,0,0,0,0,0,0
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4808,0.62,146.0,459.1,0.0,507,4935,0.77,0.00,119.75,1.120,6,0.139,0.000,3050,2255,2433,0,0,0,0,0,0
$GC,5253,0.53,146.0,408.7,12.5,549,5257,0.00,2.33,0.00,0.000,4,0.000,0.058,3050,3682,2426,0,0,0,0,0,0
$GC,5401,0.41,146.0,386.9,14.0,562,5406,0.22,2.17,0.00,0.000,6,0.187,0.042,3001,2298,2425,0,0,0,0,0,0
$GC,5726,0.44,171.9,356.7,8.8,592,5753,0.00,2.30,21.33,1.025,4,0.000,0.059,3010,871,2329,0,0,0,0,0,0
$GC,5800,0.51,184.7,349.8,9.4,598,5817,0.00,2.22,12.12,0.968,6,0.000,0.045,3010,2277,2277,0,0,0,0,0,0
$GC,6135,0.55,184.7,314.6,11.0,629,6140,0.00,2.22,0.00,0.000,4,0.000,0.058,3010,3684,2274,0,0,0,0,0,0
$GC,6230,0.55,184.7,303.0,11.9,637,6237,0.00,2.20,0.00,0.000,6,0.000,0.041,3017,2266,2273,0,0,0,0,0,0
$GC,6556,0.58,184.7,267.5,10.7,668,6559,0.00,2.20,0.00,0.000,4,0.000,0.058,3027,871,2273,0,0,0,0,0,0
$GC,6628,0.62,184.7,259.6,10.8,674,6636,0.10,2.17,0.00,0.000,6,0.125,0.045,3073,2278,2272,0,0,0,0,0,0
$GC,6955,0.52,184.7,214.6,13.9,705,6960,0.15,2.22,0.00,0.000,4,0.176,0.059,3033,3689,2272,0,0,0,0,0,0
$GC,7099,0.48,184.7,195.2,12.5,717,7106,0.00,2.17,0.00,0.000,6,0.000,0.042,3041,2270,2271,0,0,0,0,0,0
$GC,7426,0.45,184.7,157.9,10.9,748,7431,0.12,2.20,0.00,0.000,4,0.184,0.057,3016,862,2271,0,0,0,0,0,0
$GC,7489,0.55,214.2,152.1,8.6,753,7523,0.00,2.17,25.55,0.948,6,0.000,0.044,3015,2286,2154,0,0,0,0,0,0
$GC,7841,0.62,220.2,119.5,9.7,786,7854,0.15,2.20,6.05,0.747,4,0.096,0.055,3078,3688,2131,0,0,0,0,0,0
$GC,7985,0.54,220.2,98.1,15.6,799,7993,0.17,2.17,0.00,0.000,6,0.181,0.041,3041,2275,2130,0,0,0,0,0,0
$GC,8332,0.62,244.8,63.0,8.9,860,8356,0.00,0.00,21.85,0.884,6,0.000,0.000,3042,2274,2032,0,0,0,0,0,0
$GC,8696,0.71,267.1,31.2,9.0,924,8716,0.15,2.30,14.10,0.912,4,0.099,0.057,3111,868,1941,0,0,0,0,0,0
$GC,8756,0.71,267.1,23.7,13.0,934,8763,0.00,2.22,0.00,0.000,6,0.000,0.043,3111,2285,1938,0,0,0,0,0,0
$FREEZE,8.51,-1.349,-1.827,3,1,0
$FREEZE,7.83,-1.362,-1.826,3,1,0
$FREEZE,7.30,-1.358,-1.826,3,1,0
$FREEZE,6.47,-1.353,-1.825,3,1,0
$STATE,8886,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8886,begin subsurface finish
$FINISH1,6.5,1.026718,38
$GC,8892,0.05,38.3,6.5,-13.2,957,8940,0.73,0.00,-39.17,0.000,6,0.161,0.000,2888,2286,2875,0,0,0,0,0,0
$FINISH2,4.4
$STATE,8941,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8941,begin surface
$RAFOS_CLK,412
$RAFOS,6,1299545348,0.833333,0.818889,141,63,58,55,54,50,656,198,164,143,216,121
$RAFOS,5,1299544863,0.700000,0.684167,148,60,57,51,51,48,690,156,189,200,165,126
$RAFOS,4,1299544382,0.566667,0.550556,93,61,60,59,56,54,833,214,165,147,193,184
$RAFOS,3,1299543906,0.433333,0.418333,71,59,55,52,52,48,211,163,187,145,111,132
$RAFOS,2,1299543428,0.300000,0.285556,65,63,60,52,52,51,183,217,203,134,945,161
$RAFOS,1,1299542943,0.166667,0.150833,60,58,56,54,52,51,176,216,137,188,199,158
$RAFOS,0,1299542466,0.033333,0.018333,72,66,60,55,55,51,200,218,209,158,143,185
$RAFOS_FIX,6721.485840,-5753.010742,080311,000040,3,127,1.95
$IRIDIUM_FIX,6652.93,-5756.13,070311,080859
$TT8_MAMPS,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.4
$ALTIM_BOTTOM_PING,450.6,19.4
$24V_AH,23.5,16.940
$10V_AH,10.3,8.860
$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,16.700,75.200,338.950,0.000,0.000,29.760,36.379,426.958,1.750,0.000,11.568,2275.820,4531.482,514.376,2040.253,306.423,0.000,1371.691,0.000,1547.285,2520.000,15.310,0.000
$DEVICE_MAMPS,328.185,68.850,1161.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.109,728.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150572
$DATA_FILE_SIZE,36696,965
$CAP_FILE_SIZE,115525,0
$CFSIZE,260165632,244953088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,080311,004240,6721.486,-5753.011,0,3127.3,0,-38.2