version: 66.08
glider: 141
mission: 15
dive: 100
start: 3 8 111 2 23 58
data:
$ID,141
$MISSION,15
$DIVE,100
$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,35
$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
$GPS1,080311,004240,6721.486,-5753.011,0,3127.3,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.82
$_SM_ANGLEo,-0.4
$GPS2,080311,004240,6721.486,-5753.011,0,3127.3,0,-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,164.3,58104,-17.5,-10.000
$D_GRID,643
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.47,0.000,2,0.000,0.000,2888,2286,3107,0,0,0,0,0,0
$GC,27,-0.62,-146.0,6.8,-0.0,1,52,0.62,2.55,-16.15,0.000,4,0.100,0.075,2665,3894,3629,0,0,0,0,0,0
$GC,82,-0.53,-146.0,12.2,-13.1,10,89,0.00,2.15,0.00,0.000,6,0.000,0.038,2665,2477,3630,0,0,0,0,0,0
$GC,428,-0.41,-146.0,69.5,-16.8,71,435,0.22,2.15,0.00,0.000,4,0.218,0.054,2721,1093,3629,0,0,0,0,0,0
$GC,476,-0.47,-146.0,76.2,-11.3,79,483,0.00,2.17,0.00,0.000,6,0.000,0.051,2721,2488,3629,0,0,0,0,0,0
$GC,815,-0.51,-146.0,110.6,-9.7,130,819,0.00,2.25,0.00,0.000,4,0.000,0.068,2721,3900,3628,0,0,0,0,0,0
$GC,849,-0.58,-146.0,113.9,-9.4,133,854,0.15,2.15,0.00,0.000,6,0.115,0.039,2668,2486,3627,0,0,0,0,0,0
$GC,1180,-0.53,-146.0,157.5,-13.2,164,1184,0.00,2.28,0.00,0.000,4,0.000,0.066,2668,3903,3626,0,0,0,0,0,0
$GC,1201,-0.47,-146.0,160.5,-12.8,165,1209,0.15,2.15,0.00,0.000,6,0.202,0.039,2704,2483,3626,0,0,0,0,0,0
$GC,1527,-0.51,-146.0,190.8,-8.6,196,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2483,3625,0,0,0,0,0,0
$GC,1847,-0.55,-146.0,216.6,-7.6,226,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2482,3625,0,0,0,0,0,0
$GC,2166,-0.60,-146.0,241.8,-7.7,256,2170,0.00,2.25,0.00,0.000,4,0.000,0.063,2705,3897,3625,0,0,0,0,0,0
$GC,2193,-0.67,-146.0,244.3,-7.7,258,2201,0.17,2.12,0.00,0.000,6,0.107,0.036,2643,2475,3626,0,0,0,0,0,0
$GC,2518,-0.56,-146.0,283.4,-11.9,289,2520,0.15,0.00,0.00,0.000,6,0.220,0.000,2677,2473,3627,0,0,0,0,0,0
$GC,2837,-0.54,-146.0,314.7,-10.5,319,2841,0.00,2.22,0.00,0.000,4,0.000,0.063,2677,3894,3628,0,0,0,0,0,0
$GC,2847,-0.52,-146.0,315.9,-10.6,319,2854,0.00,2.12,0.00,0.000,6,0.000,0.036,2678,2486,3627,0,0,0,0,0,0
$GC,3173,-0.52,-146.0,349.1,-10.4,350,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2486,3627,0,0,0,0,0,0
$GC,3492,-0.52,-146.0,382.7,-12.3,380,3496,0.00,2.22,0.00,0.000,4,0.000,0.064,2678,3899,3627,0,0,0,0,0,0
$GC,3524,-0.52,-146.0,387.1,-12.8,382,3531,0.00,2.15,0.00,0.000,6,0.000,0.036,2677,2489,3626,0,0,0,0,0,0
$STATE,3753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3754,begin apogee
$GC,3759,-0.12,0.0,412.9,12.0,404,3881,0.45,0.00,116.50,1.134,6,0.189,0.000,2812,2255,3030,0,0,0,0,0,0
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3882,begin climb
$GC,3883,0.62,146.0,417.3,0.0,415,4016,0.77,2.38,119.03,1.092,4,0.138,0.056,3061,893,2432,0,0,0,0,0,0
$GC,4044,0.54,146.0,405.0,11.9,429,4051,0.00,2.28,0.00,0.000,6,0.000,0.044,3061,2277,2430,0,0,0,0,0,0
$GC,4371,0.45,146.0,362.9,11.3,460,4376,0.20,2.28,0.00,0.000,4,0.182,0.056,3010,3694,2427,0,0,0,0,0,0
$GC,4495,0.41,146.0,348.7,11.8,470,4501,0.00,2.20,0.00,0.000,6,0.000,0.041,3017,2300,2425,0,0,0,0,0,0
$GC,4820,0.42,156.5,318.0,9.5,501,4830,0.00,0.00,8.62,0.890,6,0.000,0.000,3017,2300,2392,0,0,0,0,0,0
$GC,5150,0.42,156.5,285.4,10.4,532,5154,0.00,2.20,0.00,0.000,4,0.000,0.056,3017,3692,2391,0,0,0,0,0,0
$GC,5224,0.39,156.5,276.9,11.4,538,5228,0.15,2.17,0.00,0.000,6,0.184,0.040,2990,2272,2391,0,0,0,0,0,0
$GC,5554,0.52,213.8,251.2,7.4,569,5611,0.12,2.35,49.05,1.010,4,0.108,0.057,3046,872,2157,0,0,0,0,0,0
$GC,5649,0.55,213.8,240.9,11.9,577,5656,0.00,2.22,0.00,0.000,6,0.000,0.044,3046,2277,2153,0,0,0,0,0,0
$GC,5974,0.53,213.8,202.9,11.9,608,5978,0.00,2.22,0.00,0.000,4,0.000,0.057,3046,3687,2149,0,0,0,0,0,0
$GC,6096,0.49,213.8,186.8,13.3,618,6104,0.12,2.20,0.00,0.000,6,0.187,0.042,3025,2276,2149,0,0,0,0,0,0
$GC,6421,0.49,213.8,153.2,10.7,649,6425,0.00,2.20,0.00,0.000,4,0.000,0.056,3029,862,2148,0,0,0,0,0,0
$GC,6488,0.54,213.8,146.2,10.2,654,6495,0.00,2.17,0.00,0.000,6,0.000,0.042,3029,2284,2147,0,0,0,0,0,0
$GC,6813,0.56,213.8,110.1,10.4,685,6817,0.00,2.17,0.00,0.000,4,0.000,0.057,3029,3692,2146,0,0,0,0,0,0
$GC,6898,0.56,213.8,100.0,12.8,692,6905,0.00,2.15,0.00,0.000,6,0.000,0.039,3038,2268,2146,0,0,0,0,0,0
$GC,7244,0.65,245.3,65.0,8.5,753,7275,0.10,0.00,25.95,0.894,6,0.122,0.000,3081,2267,2029,0,0,0,0,0,0
$GC,7612,0.65,245.3,23.7,10.4,818,7619,0.00,2.17,0.00,0.000,4,0.000,0.057,3085,875,2025,0,0,0,0,0,0
$GC,7687,0.68,245.3,15.6,10.9,831,7693,0.00,2.15,0.00,0.000,6,0.000,0.044,3085,2275,2023,0,0,0,0,0,0
$FREEZE,8.77,-1.348,-1.827,3,2,0
$FREEZE,8.14,-1.348,-1.827,3,2,0
$FREEZE,7.54,-1.351,-1.826,3,2,0
$FREEZE,6.90,-1.350,-1.826,3,2,0
$FREEZE,6.31,-1.343,-1.825,3,2,0
$FREEZE,5.78,-1.347,-1.825,3,2,0
$FREEZE,5.21,-1.357,-1.824,3,2,0
$FREEZE,4.59,-1.353,-1.824,3,2,0
$FREEZE,4.02,-1.358,-1.823,3,2,0
$FREEZE,3.25,-1.371,-1.823,3,2,0
$FREEZE,2.66,-1.370,-1.822,3,2,0
$STATE,7801,end climb,SURFACE_DEPTH_REACHED
$STATE,7801,begin surface coast
$FREEZE,2.04,-1.384,-1.822,3,2,0
$FREEZE,1.90,-1.414,-1.822,3,2,0
$FREEZE,1.76,-1.126,-1.805,3,2,0
$FREEZE,1.68,-1.330,-1.818,3,2,0
$FINISH,1.7,1.026667
$STATE,7823,end surface coast,CONTROL_FINISHED_OK
$STATE,7823,begin surface
$SM_CCo,7840,68.07,0.063,0,0,1398,400.08
$SM_GC,2.72,0.00,0.00,68.07,0.000,0.000,0.063,113,2505,1398,-8.60,0.42,400.08
$RAFOS_CLK,415
$RAFOS,3,1299558304,4.433333,4.417778,74,60,60,52,51,51,216,200,141,173,159,183
$RAFOS,2,1299557828,4.300000,4.285555,68,57,55,54,50,45,206,154,137,178,231,465
$RAFOS,1,1299557351,4.166667,4.153056,61,59,59,58,56,56,214,202,193,131,158,118
$RAFOS,0,1299556861,4.033333,4.016944,66,62,57,57,55,53,201,182,147,219,118,162
$RAFOS_FIX,6721.485840,-5753.010742,080311,000040,3,127,1.95
$IRIDIUM_FIX,6652.93,-5756.13,070311,080859
$TT8_MAMPS,0.029211
$HUMID,43.34
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,400.2,26.7
$24V_AH,23.5,17.038
$10V_AH,10.3,8.912
$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,11.750,67.100,319.150,68.075,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2069.563,3980.508,426.171,1372.813,121.974,0.000,1161.229,0.000,1366.195,1800.000,10.654,0.000
$DEVICE_MAMPS,220.320,74.970,1134.495,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.941,648.857,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150696
$DATA_FILE_SIZE,33432,856
$CAP_FILE_SIZE,93512,0
$CFSIZE,260165632,244912128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,080311,004240,6721.486,-5753.011,181,99.0,181,-38.2