version: 66.08
glider: 141
mission: 15
dive: 726
start: 6 1 111 20 12 4
data:
$ID,141
$MISSION,15
$DIVE,726
$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,1
$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,-51952.242
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,0.7
$GPS2,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6
$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,155.4,34175,-17.5,-10.000
$D_GRID,710
$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,17,-0.62,-146.0,0.0,0.0,0,168,0.00,2.67,-142.65,0.000,6,0.000,0.069,3103,2488,3626,0,0,0,0,0,0
$GC,171,-0.62,-146.0,3.6,-11.5,26,178,1.38,2.30,0.00,0.000,4,0.139,0.070,2670,3899,3626,0,0,0,0,0,0
$GC,265,-0.55,-146.0,14.8,-15.8,42,272,0.00,2.22,0.00,0.000,6,0.000,0.048,2669,2487,3627,0,0,0,0,0,0
$GC,612,-0.45,-146.0,67.7,-16.0,103,619,0.17,2.28,0.00,0.000,4,0.209,0.067,2713,1083,3626,0,0,0,0,0,0
$GC,684,-0.50,-146.0,76.8,-11.1,115,691,0.00,2.28,0.00,0.000,6,0.000,0.062,2712,2491,3626,0,0,0,0,0,0
$GC,1029,-0.54,-146.0,113.0,-9.8,165,1033,0.00,2.30,0.00,0.000,4,0.000,0.068,2713,1083,3624,0,0,0,0,0,0
$GC,1051,-0.58,-146.0,115.3,-9.6,166,1058,0.12,2.28,0.00,0.000,6,0.124,0.061,2671,2497,3624,0,0,0,0,0,0
$GC,1377,-0.53,-146.0,158.3,-13.5,197,1381,0.00,2.28,0.00,0.000,4,0.000,0.067,2670,1083,3622,0,0,0,0,0,0
$GC,1407,-0.49,-146.0,162.3,-14.1,199,1412,0.12,2.28,0.00,0.000,6,0.211,0.062,2699,2495,3622,0,0,0,0,0,0
$GC,1733,-0.53,-146.0,195.5,-9.2,229,1737,0.00,2.30,0.00,0.000,4,0.000,0.065,2699,1083,3622,0,0,0,0,0,0
$GC,1748,-0.56,-146.0,196.6,-9.3,230,1752,0.00,2.28,0.00,0.000,6,0.000,0.060,2699,2491,3621,0,0,0,0,0,0
$GC,2079,-0.61,-146.0,224.8,-8.4,261,2083,0.00,2.28,0.00,0.000,4,0.000,0.064,2698,1075,3621,0,0,0,0,0,0
$GC,2102,-0.65,-146.0,226.8,-8.6,262,2110,0.15,2.28,0.00,0.000,6,0.115,0.060,2647,2494,3621,0,0,0,0,0,0
$GC,2428,-0.57,-146.0,266.6,-12.9,293,2433,0.12,2.30,0.00,0.000,4,0.206,0.062,2676,1083,3622,0,0,0,0,0,0
$GC,2439,-0.49,-146.0,268.1,-12.8,293,2446,0.00,2.28,0.00,0.000,6,0.000,0.060,2676,2487,3621,0,0,0,0,0,0
$GC,2765,-0.49,-146.0,301.4,-10.1,324,2769,0.00,2.25,0.00,0.000,4,0.000,0.062,2676,1080,3622,0,0,0,0,0,0
$GC,2777,-0.49,-146.0,302.8,-10.5,324,2783,0.00,2.28,0.00,0.000,6,0.000,0.060,2676,2498,3621,0,0,0,0,0,0
$GC,3102,-0.49,-146.0,335.0,-9.6,355,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2498,3622,0,0,0,0,0,0
$GC,3425,-0.49,-146.0,365.2,-9.3,385,3429,0.00,2.28,0.00,0.000,4,0.000,0.060,2676,1082,3623,0,0,0,0,0,0
$GC,3447,-0.49,-146.0,367.9,-9.5,386,3455,0.00,2.28,0.00,0.000,6,0.000,0.058,2676,2494,3623,0,0,0,0,0,0
$GC,3773,-0.49,-146.0,397.1,-9.1,417,3777,0.00,2.25,0.00,0.000,4,0.000,0.060,2676,1077,3623,0,0,0,0,0,0
$GC,3796,-0.49,-146.0,399.3,-9.5,418,3803,0.00,2.25,0.00,0.000,6,0.000,0.057,2676,2488,3624,0,0,0,0,0,0
$GC,4122,-0.49,-146.0,428.2,-8.8,449,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2488,3624,0,0,0,0,0,0
$GC,4443,-0.49,-146.0,456.7,-9.0,479,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2489,3625,0,0,0,0,0,0
$GC,4772,-0.49,-146.0,484.8,-8.3,510,4776,0.00,2.25,0.00,0.000,4,0.000,0.059,2676,1071,3625,0,0,0,0,0,0
$GC,4782,-0.49,-146.0,486.1,-8.4,510,4789,0.00,2.28,0.00,0.000,6,0.000,0.056,2676,2501,3625,0,0,0,0,0,0
$GC,5108,-0.49,-146.0,513.2,-8.3,541,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2502,3625,0,0,0,0,0,0
$GC,5429,-0.49,-146.0,540.4,-8.3,571,5433,0.00,2.28,0.00,0.000,4,0.000,0.058,2677,1080,3626,0,0,0,0,0,0
$GC,5469,-0.52,-146.0,544.2,-8.4,574,5476,0.00,2.30,0.00,0.000,6,0.000,0.063,2676,2497,3626,0,0,0,0,0,0
$GC,5794,-0.52,-146.0,572.3,-9.1,605,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2497,3626,0,0,0,0,0,0
$STATE,5951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5951,begin apogee
$GC,5959,-0.12,0.0,586.9,9.5,620,6091,0.47,0.00,123.85,1.238,6,0.172,0.000,2816,2251,3031,0,0,0,0,0,0
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6094,0.62,146.0,591.1,0.0,632,6230,0.75,0.00,128.62,1.198,6,0.126,0.000,3051,2250,2434,0,0,0,0,0,0
$GC,6548,0.58,146.0,549.4,10.7,674,6552,0.00,2.38,0.00,0.000,4,0.000,0.067,3051,3695,2427,0,0,0,0,0,0
$GC,6627,0.50,146.0,539.4,13.1,680,6634,0.12,2.25,0.00,0.000,6,0.186,0.052,3031,2282,2428,0,0,0,0,0,0
$GC,6953,0.52,158.2,508.3,9.4,711,6968,0.00,2.30,10.75,1.025,4,0.000,0.068,3040,864,2385,0,0,0,0,0,0
$GC,7016,0.53,171.1,502.4,9.4,716,7039,0.00,2.25,12.90,1.056,6,0.000,0.054,3040,2288,2332,0,0,0,0,0,0
$GC,7358,0.53,171.1,464.6,11.4,748,7361,0.00,2.25,0.00,0.000,4,0.000,0.068,3040,3688,2330,0,0,0,0,0,0
$GC,7486,0.50,171.1,447.5,12.9,759,7493,0.00,2.22,0.00,0.000,6,0.000,0.051,3050,2267,2329,0,0,0,0,0,0
$GC,7812,0.47,171.1,409.8,11.6,790,7814,0.12,0.00,0.00,0.000,6,0.181,0.000,3019,2267,2329,0,0,0,0,0,0
$GC,8130,0.56,205.6,380.8,8.4,820,8167,0.00,2.38,30.83,1.076,4,0.000,0.066,3019,3681,2191,0,0,0,0,0,0
$GC,8203,0.61,209.6,374.1,9.8,826,8214,0.10,2.25,5.22,0.793,6,0.108,0.050,3073,2265,2175,0,0,0,0,0,0
$GC,8540,0.58,209.6,331.1,13.4,858,8544,0.00,2.25,0.00,0.000,4,0.000,0.066,3083,864,2172,0,0,0,0,0,0
$GC,8574,0.55,209.6,326.5,13.2,860,8581,0.15,2.25,0.00,0.000,6,0.172,0.052,3044,2285,2171,0,0,0,0,0,0
$GC,8900,0.58,209.6,290.9,11.0,891,8904,0.00,2.22,0.00,0.000,4,0.000,0.067,3044,3684,2171,0,0,0,0,0,0
$GC,9001,0.58,209.6,278.1,12.7,899,9008,0.00,2.20,0.00,0.000,6,0.000,0.050,3052,2273,2170,0,0,0,0,0,0
$GC,9327,0.58,209.6,238.7,11.7,930,9331,0.00,2.25,0.00,0.000,4,0.000,0.066,3062,870,2170,0,0,0,0,0,0
$GC,9361,0.61,209.6,234.6,11.5,932,9368,0.00,2.22,0.00,0.000,6,0.000,0.052,3062,2278,2170,0,0,0,0,0,0
$GC,9688,0.61,209.6,195.0,11.9,963,9692,0.00,2.25,0.00,0.000,4,0.000,0.067,3062,3687,2169,0,0,0,0,0,0
$GC,9825,0.58,209.6,177.6,13.2,974,9831,0.00,2.20,0.00,0.000,6,0.000,0.049,3073,2276,2169,0,0,0,0,0,0
$GC,10152,0.58,209.6,140.5,11.2,1005,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2276,2169,0,0,0,0,0,0
$GC,10472,0.59,216.1,107.3,9.7,1035,10480,0.00,0.00,6.40,0.760,6,0.000,0.000,3073,2276,2149,0,0,0,0,0,0
$GC,10813,0.64,250.6,74.5,8.4,1090,10849,0.00,0.00,31.70,0.907,6,0.000,0.000,3073,2276,2008,0,0,0,0,0,0
$GC,11189,0.70,250.6,39.9,10.4,1156,11195,0.00,2.25,0.00,0.000,4,0.000,0.067,3083,868,2003,0,0,0,0,0,0
$GC,11232,0.80,257.0,35.9,9.7,1163,11246,0.12,2.25,5.15,0.724,6,0.106,0.053,3138,2283,1982,0,0,0,0,0,0
$FREEZE,8.60,-0.760,-1.818,2,89,0
$FREEZE,7.80,-0.761,-1.817,2,89,0
$FREEZE,7.03,-0.763,-1.817,2,89,0
$FREEZE,6.37,-0.761,-1.816,2,89,0
$FREEZE,5.79,-0.763,-1.815,2,89,0
$FREEZE,5.19,-0.770,-1.815,2,89,0
$FREEZE,4.63,-0.773,-1.814,2,89,0
$FREEZE,4.08,-0.771,-1.813,2,89,0
$FREEZE,3.52,-0.783,-1.813,2,89,0
$FREEZE,3.00,-0.778,-1.813,2,89,0
$STATE,11493,end climb,SURFACE_DEPTH_REACHED
$STATE,11493,begin surface coast
$FREEZE,2.31,-0.787,-1.812,2,89,0
$FREEZE,1.83,-0.785,-1.811,2,89,0
$FREEZE,1.81,-0.789,-0.265,2,89,0
$FINISH,1.8,1.003721
$STATE,11510,end surface coast,FINISH_DEPTH_REACHED
$STATE,11510,begin surface
$SM_CCo,11560,132.12,0.063,0,0,750,559.04
$SM_GC,2.60,0.00,0.00,132.12,0.000,0.000,0.063,113,2499,750,-8.60,0.25,559.04
$RAFOS_CLK,595
$RAFOS,6,1306961347,20.833334,20.818611,74,65,62,57,53,52,737,189,216,151,198,114
$RAFOS,5,1306960866,20.700001,20.684999,177,61,60,59,58,56,614,216,193,177,206,124
$RAFOS,4,1306960392,20.566668,20.553333,64,59,58,57,56,54,207,163,797,187,118,217
$RAFOS,3,1306959904,20.433332,20.417778,61,56,54,53,51,50,189,199,149,116,216,226
$RAFOS,2,1306959423,20.299999,20.284166,60,54,53,53,52,52,217,196,131,178,161,115
$RAFOS_FIX,6711.765137,-5726.315430,010611,202000,2,126,0.09
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.30
$XPDR_PINGS,63
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,550.1,51.8
$24V_AH,22.0,98.079
$10V_AH,9.8,50.739
$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,12.600,98.575,355.425,132.125,0.000,0.000,0.000,0.000,17.750,0.000,0.000,2831.796,6118.876,631.429,1922.373,262.226,0.000,1663.664,0.000,1902.312,1800.000,16.027,0.000
$DEVICE_MAMPS,211.140,77.265,1237.770,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.190,902.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,46656,1212
$CAP_FILE_SIZE,130245,0
$CFSIZE,260165632,205377536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.1
$GPS,010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6