version: 66.08
glider: 141
mission: 15
dive: 136
start: 3 11 111 1 43 21
data:
$ID,141
$MISSION,15
$DIVE,136
$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,120
$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,-27951.119
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,110311,004240,6721.330,-5751.854,0,3094.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-41.7
$GPS2,110311,004240,6721.330,-5751.854,181,99.0,181,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$TGT_RADIUS,10000.000
$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,236.3,49357,-17.5,-10.000
$D_GRID,672
$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,-159.75,0.000,2,0.000,0.000,105,2502,3385,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.1,-9.4,28,208,12.52,2.25,-5.32,0.000,4,0.331,0.071,2653,1085,3630,0,0,0,0,0,0
$GC,226,-0.17,-146.0,21.8,-32.0,35,234,0.52,2.22,0.00,0.000,6,0.203,0.054,2798,2483,3630,0,0,0,0,0,0
$GC,571,-0.37,-146.0,43.2,-5.5,96,579,0.15,2.30,0.00,0.000,4,0.105,0.067,2741,3903,3631,0,0,0,0,0,0
$GC,603,-0.48,-146.0,45.6,-8.0,101,610,0.00,2.20,0.00,0.000,6,0.000,0.042,2741,2483,3631,0,0,0,0,0,0
$GC,948,-0.55,-146.0,77.3,-9.2,162,955,0.15,0.00,0.00,0.000,6,0.119,0.000,2688,2482,3630,0,0,0,0,0,0
$GC,1283,-0.52,-146.0,118.6,-11.5,209,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2483,3630,0,0,0,0,0,0
$GC,1604,-0.52,-146.0,154.8,-11.1,239,1608,0.00,2.28,0.00,0.000,4,0.000,0.069,2688,3903,3628,0,0,0,0,0,0
$GC,1667,-0.55,-146.0,161.7,-10.6,244,1671,0.00,2.17,0.00,0.000,6,0.000,0.043,2688,2490,3628,0,0,0,0,0,0
$GC,1997,-0.55,-146.0,196.2,-10.3,275,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2490,3628,0,0,0,0,0,0
$GC,2318,-0.55,-146.0,228.1,-9.6,305,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2490,3628,0,0,0,0,0,0
$GC,2636,-0.55,-146.0,259.0,-9.9,335,2640,0.00,2.25,0.00,0.000,4,0.000,0.066,2688,3897,3629,0,0,0,0,0,0
$GC,2683,-0.59,-146.0,263.5,-9.3,339,2686,0.00,2.15,0.00,0.000,6,0.000,0.039,2688,2483,3629,0,0,0,0,0,0
$GC,3013,-0.59,-146.0,294.5,-9.7,370,3017,0.00,2.12,0.00,0.000,4,0.000,0.054,2688,1091,3630,0,0,0,0,0,0
$GC,3029,-0.59,-146.0,296.2,-9.7,371,3036,0.00,2.17,0.00,0.000,6,0.000,0.051,2688,2491,3630,0,0,0,0,0,0
$GC,3355,-0.59,-146.0,327.5,-9.9,402,3359,0.00,2.20,0.00,0.000,4,0.000,0.067,2688,3897,3632,0,0,0,0,0,0
$GC,3387,-0.59,-146.0,331.0,-10.5,404,3394,0.00,2.12,0.00,0.000,6,0.000,0.037,2688,2489,3632,0,0,0,0,0,0
$GC,3713,-0.59,-146.0,361.2,-8.8,435,3717,0.00,2.25,0.00,0.000,4,0.000,0.065,2688,3901,3633,0,0,0,0,0,0
$GC,3742,-0.61,-146.0,363.9,-9.5,437,3746,0.00,2.15,0.00,0.000,6,0.000,0.038,2688,2478,3633,0,0,0,0,0,0
$GC,4074,-0.63,-146.0,394.9,-9.1,468,4078,0.00,2.25,0.00,0.000,4,0.000,0.063,2688,3897,3634,0,0,0,0,0,0
$GC,4093,-0.65,-146.0,396.6,-8.8,469,4097,0.10,2.12,0.00,0.000,6,0.141,0.037,2653,2488,3634,0,0,0,0,0,0
$GC,4418,-0.59,-146.0,433.7,-11.0,499,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2487,3634,0,0,0,0,0,0
$STATE,4649,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4651,begin apogee
$GC,4656,-0.12,0.0,460.5,11.5,521,4781,0.55,0.00,119.60,1.167,6,0.195,0.000,2812,2255,3030,0,0,0,0,0,0
$STATE,4782,end apogee,CONTROL_FINISHED_OK
$STATE,4782,begin climb
$GC,4784,0.62,146.0,465.1,0.0,532,4913,0.77,0.00,121.20,1.126,6,0.140,0.000,3049,2254,2433,0,0,0,0,0,0
$GC,5229,0.56,146.0,420.1,11.5,574,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2254,2426,0,0,0,0,0,0
$GC,5550,0.51,146.0,382.6,11.9,604,5555,0.00,2.33,0.00,0.000,4,0.000,0.058,3049,3686,2426,0,0,0,0,0,0
$GC,5613,0.40,146.0,373.8,13.8,609,5618,0.25,2.20,0.00,0.000,6,0.194,0.044,2996,2293,2425,0,0,0,0,0,0
$GC,5939,0.45,158.5,344.8,9.4,639,5951,0.00,0.00,10.50,0.961,6,0.000,0.000,2996,2293,2383,0,0,0,0,0,0
$GC,6268,0.54,184.7,315.7,8.8,670,6302,0.12,2.38,23.27,1.039,4,0.102,0.060,3060,869,2276,0,0,0,0,0,0
$GC,6354,0.51,184.7,305.5,12.3,677,6361,0.12,2.25,0.00,0.000,6,0.184,0.045,3030,2285,2273,0,0,0,0,0,0
$GC,6678,0.51,184.7,270.2,10.6,708,6682,0.00,2.22,0.00,0.000,4,0.000,0.058,3030,3687,2272,0,0,0,0,0,0
$GC,6730,0.48,184.7,263.8,13.3,712,6734,0.00,2.20,0.00,0.000,6,0.000,0.044,3039,2270,2272,0,0,0,0,0,0
$GC,7060,0.48,184.7,225.4,12.1,743,7063,0.00,2.20,0.00,0.000,4,0.000,0.058,3047,863,2272,0,0,0,0,0,0
$GC,7127,0.48,184.7,217.3,12.8,749,7131,0.00,2.20,0.00,0.000,6,0.000,0.044,3047,2280,2270,0,0,0,0,0,0
$GC,7452,0.45,184.7,176.0,12.8,779,7457,0.12,2.22,0.00,0.000,4,0.184,0.057,3015,3689,2270,0,0,0,0,0,0
$GC,7518,0.45,184.7,167.7,12.2,784,7525,0.00,2.22,0.00,0.000,6,0.000,0.043,3021,2266,2270,0,0,0,0,0,0
$GC,7844,0.52,209.5,136.9,8.9,815,7870,0.00,2.22,21.35,0.929,4,0.000,0.058,3028,865,2175,0,0,0,0,0,0
$GC,7909,0.60,222.5,130.6,9.4,820,7928,0.00,2.20,12.48,0.887,6,0.000,0.044,3028,2273,2122,0,0,0,0,0,0
$GC,8246,0.70,246.6,99.0,8.9,853,8279,0.17,2.33,21.67,0.895,4,0.085,0.057,3103,3687,2023,0,0,0,0,0,0
$GC,8403,0.63,246.6,75.5,15.8,880,8410,0.17,2.22,0.00,0.000,6,0.194,0.042,3069,2269,2021,0,0,0,0,0,0
$GC,8749,0.66,246.6,38.9,10.2,941,8755,0.00,2.20,0.00,0.000,4,0.000,0.059,3072,866,2019,0,0,0,0,0,0
$GC,8802,0.71,246.6,33.3,10.2,950,8808,0.00,2.20,0.00,0.000,6,0.000,0.044,3072,2277,2018,0,0,0,0,0,0
$FREEZE,8.83,-1.459,-1.826,3,11,0
$FREEZE,8.32,-1.470,-1.825,3,11,0
$FREEZE,7.97,-1.466,-1.825,3,11,0
$FREEZE,7.35,-1.474,-1.825,3,11,0
$FREEZE,6.94,-1.470,-1.824,3,11,0
$FREEZE,6.39,-1.473,-1.824,3,11,0
$FREEZE,5.81,-1.456,-1.823,3,11,0
$FREEZE,5.30,-1.464,-1.823,3,11,0
$FREEZE,4.69,-1.469,-1.822,3,11,0
$FREEZE,4.08,-1.469,-1.822,3,11,0
$FREEZE,3.59,-1.472,-1.821,3,11,0
$FREEZE,3.15,-1.483,-1.821,3,11,0
$FREEZE,2.58,-1.485,-1.821,3,11,0
$STATE,9106,end climb,SURFACE_DEPTH_REACHED
$STATE,9106,begin surface coast
$FREEZE,1.96,-1.486,-1.820,3,11,0
$FREEZE,1.82,-1.407,-1.768,3,11,0
$FREEZE,1.80,-1.381,-1.773,3,11,0
$FREEZE,1.76,-1.482,-1.785,3,11,0
$FREEZE,1.78,-1.427,-1.806,3,11,0
$FREEZE,1.80,-1.013,-1.787,3,11,0
$FINISH,1.8,1.026219
$STATE,9138,end surface coast,CONTROL_FINISHED_OK
$STATE,9139,begin surface
$SM_CCo,9156,135.90,0.067,0,0,751,559.04
$SM_GC,3.05,0.00,0.00,135.90,0.000,0.000,0.067,106,2503,751,-8.62,0.40,559.04
$RAFOS_CLK,513
$RAFOS,1,1299816541,4.166667,4.150278,57,56,55,51,50,49,134,1577,214,203,121,162
$RAFOS,0,1299816064,4.033333,4.017778,62,59,56,56,55,54,192,202,118,174,141,163
$RAFOS_FIX,6721.330078,-5751.853516,110311,000040,3,94,0.23
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,450.7,24.5
$24V_AH,23.3,19.946
$10V_AH,10.3,10.979
$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,24.100,71.650,330.075,135.900,0.000,99.518,17.394,0.000,1.500,0.000,183.284,2385.273,4755.923,616.542,1884.815,346.288,0.000,1469.423,0.000,1571.513,720.000,12.410,0.000
$DEVICE_MAMPS,331.245,71.145,1166.625,66.555,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.310,767.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150408
$DATA_FILE_SIZE,40047,1011
$CAP_FILE_SIZE,112644,0
$CFSIZE,260165632,243232768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.3
$GPS,110311,004240,6721.330,-5751.854,181,99.0,181,-38.2