version: 66.08
glider: 141
mission: 15
dive: 103
start: 3 8 111 9 17 47
data:
$ID,141
$MISSION,15
$DIVE,103
$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,-25730.75
$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,41
$R_STBD_OVSHOOT,39
$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
$GPS1,080311,084656,6720.882,-5750.748,0,2115.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-24.3
$GPS2,080311,084656,6720.882,-5750.748,181,99.0,181,-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,164.4,56125,-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,-146.0,0.0,0.0,0,179,0.00,0.00,-159.38,0.000,2,0.000,0.000,107,2508,3423,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.5,-10.7,28,207,12.30,2.25,-4.32,0.000,4,0.327,0.080,2654,3884,3629,0,0,0,0,0,0
$GC,389,-0.54,-146.0,50.6,-17.1,64,397,0.12,2.12,0.00,0.000,6,0.213,0.040,2684,2491,3630,0,0,0,0,0,0
$GC,740,-0.48,-146.0,103.5,-13.5,124,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2490,3629,0,0,0,0,0,0
$GC,1059,-0.44,-146.0,140.8,-10.4,154,1064,0.12,2.20,0.00,0.000,4,0.224,0.057,2715,1080,3628,0,0,0,0,0,0
$GC,1088,-0.44,-146.0,143.5,-8.9,156,1092,0.00,2.17,0.00,0.000,6,0.000,0.051,2715,2483,3628,0,0,0,0,0,0
$GC,1413,-0.48,-146.0,169.8,-8.3,186,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2483,3627,0,0,0,0,0,0
$GC,1735,-0.53,-146.0,197.2,-8.5,216,1739,0.00,2.22,0.00,0.000,4,0.000,0.067,2715,3899,3628,0,0,0,0,0,0
$GC,1756,-0.59,-146.0,199.5,-8.6,217,1764,0.12,2.12,0.00,0.000,6,0.116,0.038,2671,2483,3628,0,0,0,0,0,0
$GC,2081,-0.54,-146.0,237.0,-11.6,248,2085,0.00,2.15,0.00,0.000,4,0.000,0.055,2671,1087,3629,0,0,0,0,0,0
$GC,2093,-0.49,-146.0,238.4,-11.3,249,2098,0.12,2.17,0.00,0.000,6,0.228,0.051,2699,2497,3629,0,0,0,0,0,0
$GC,2418,-0.49,-146.0,267.3,-8.4,279,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2497,3630,0,0,0,0,0,0
$GC,2740,-0.51,-146.0,293.8,-8.2,309,2744,0.00,2.20,0.00,0.000,4,0.000,0.065,2699,3904,3631,0,0,0,0,0,0
$GC,2773,-0.56,-146.0,296.9,-8.2,311,2780,0.00,2.12,0.00,0.000,6,0.000,0.037,2699,2478,3631,0,0,0,0,0,0
$GC,3099,-0.59,-146.0,324.1,-8.5,342,3103,0.00,2.22,0.00,0.000,4,0.000,0.062,2699,3899,3632,0,0,0,0,0,0
$GC,3109,-0.61,-146.0,325.0,-8.4,342,3116,0.00,2.12,0.00,0.000,6,0.000,0.036,2699,2486,3632,0,0,0,0,0,0
$GC,3435,-0.65,-146.0,353.6,-8.8,373,3437,0.12,0.00,0.00,0.000,6,0.128,0.000,2656,2486,3633,0,0,0,0,0,0
$STATE,3634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3634,begin apogee
$GC,3640,-0.12,0.0,377.7,12.7,392,3763,0.55,0.00,116.90,1.105,6,0.196,0.000,2815,2253,3031,0,0,0,0,0,0
$STATE,3764,end apogee,CONTROL_FINISHED_OK
$STATE,3764,begin climb
$GC,3766,0.62,146.0,382.3,0.0,403,3894,0.77,0.00,119.15,1.065,6,0.138,0.000,3054,2252,2434,0,0,0,0,0,0
$GC,4212,0.55,146.0,335.7,11.8,446,4216,0.00,2.35,0.00,0.000,4,0.000,0.057,3054,3692,2427,0,0,0,0,0,0
$GC,4283,0.44,146.0,325.3,14.4,452,4291,0.20,2.20,0.00,0.000,6,0.183,0.042,3012,2300,2427,0,0,0,0,0,0
$GC,4609,0.44,150.5,293.2,9.8,483,4619,0.00,0.00,3.83,0.595,6,0.000,0.000,3013,2300,2417,0,0,0,0,0,0
$GC,4939,0.45,152.6,262.2,9.9,514,4948,0.00,0.00,3.30,0.514,6,0.000,0.000,3013,2299,2410,0,0,0,0,0,0
$GC,5268,0.46,159.7,229.9,9.7,545,5277,0.00,0.00,7.85,0.846,6,0.000,0.000,3013,2300,2379,0,0,0,0,0,0
$GC,5596,0.48,179.0,198.5,9.1,576,5616,0.00,0.00,17.52,0.948,6,0.000,0.000,3013,2300,2300,0,0,0,0,0,0
$GC,5935,0.51,181.7,166.9,9.9,608,5944,0.00,0.00,3.62,0.554,6,0.000,0.000,3013,2299,2289,0,0,0,0,0,0
$GC,6264,0.56,191.9,135.1,9.5,639,6277,0.10,0.00,10.20,0.852,6,0.115,0.000,3057,2299,2247,0,0,0,0,0,0
$GC,6594,0.53,191.9,95.3,11.2,673,6600,0.00,2.22,0.00,0.000,4,0.000,0.057,3067,867,2245,0,0,0,0,0,0
$GC,6635,0.53,191.9,90.5,11.7,680,6643,0.12,2.17,0.00,0.000,6,0.180,0.044,3036,2286,2244,0,0,0,0,0,0
$GC,6982,0.62,217.8,58.9,8.8,741,7013,0.00,2.20,22.65,0.874,4,0.000,0.057,3035,3680,2142,0,0,0,0,0,0
$GC,7116,0.64,217.8,46.2,10.3,764,7123,0.00,2.17,0.00,0.000,6,0.000,0.040,3042,2267,2140,0,0,0,0,0,0
$GC,7462,0.75,253.7,16.9,8.3,825,7487,0.17,0.00,17.67,0.856,6,0.095,0.000,3112,2267,1994,0,0,0,0,0,0
$FREEZE,8.87,-1.339,-1.828,3,5,0
$FREEZE,8.19,-1.345,-1.828,3,5,0
$FREEZE,7.53,-1.341,-1.827,3,5,0
$FREEZE,6.82,-1.343,-1.827,3,5,0
$FREEZE,6.04,-1.341,-1.826,3,5,0
$FREEZE,5.44,-1.353,-1.825,3,5,0
$FREEZE,4.60,-1.360,-1.825,3,5,0
$FREEZE,4.07,-1.362,-1.824,3,5,0
$FREEZE,3.35,-1.359,-1.824,3,5,0
$FREEZE,2.78,-1.370,-1.823,3,5,0
$STATE,7572,end climb,SURFACE_DEPTH_REACHED
$STATE,7573,begin surface coast
$FREEZE,2.16,-1.377,-1.823,3,5,0
$FREEZE,1.63,-1.378,-1.822,3,5,0
$FREEZE,1.36,-0.995,-1.798,3,5,0
$FREEZE,1.40,-1.357,-1.821,3,5,0
$FINISH,1.4,1.026716
$STATE,7594,end surface coast,CONTROL_FINISHED_OK
$STATE,7594,begin surface
$SM_CCo,7611,132.12,0.063,0,0,751,559.04
$SM_GC,2.48,0.00,0.00,132.12,0.000,0.000,0.063,111,2503,751,-8.60,0.37,559.04
$RAFOS_CLK,430
$RAFOS_FIX,6720.882324,-5750.747559,080311,080856,2,115,0.07
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,350.8,41.8
$24V_AH,23.7,17.341
$10V_AH,10.3,9.096
$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,23.375,40.075,322.700,132.125,0.000,98.438,17.382,0.000,1.000,0.000,183.287,1956.592,3991.250,602.669,1573.494,288.730,0.000,1290.523,0.000,1265.764,0.000,8.927,0.000
$DEVICE_MAMPS,326.655,79.560,1105.425,62.730,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.982,637.333,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150632
$DATA_FILE_SIZE,33337,849
$CAP_FILE_SIZE,90992,0
$CFSIZE,260165632,244772864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.2
$GPS,080311,084656,6720.882,-5750.748,181,99.0,181,-38.2