version: 66.08
glider: 141
mission: 15
dive: 96
start: 3 7 111 15 26 23
data:
$ID,141
$MISSION,15
$DIVE,96
$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,-24622.689
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,070311,124301,6721.084,-5759.122,0,3131.0,0,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,9.2
$GPS2,070311,124301,6721.084,-5759.122,0,3131.0,0,-38.3
$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,161.4,61316,-17.5,-10.000
$D_GRID,789
$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,-146.0,0.0,0.0,0,126,0.00,0.35,-105.97,0.000,6,0.000,0.164,3063,2497,3626,0,0,0,0,0,0
$GC,130,-0.62,-146.0,3.8,-6.2,19,136,1.08,0.00,0.00,0.000,6,0.090,0.000,2668,2496,3626,0,0,0,0,0,0
$GC,474,-0.51,-146.0,57.7,-16.6,80,482,0.12,2.25,0.00,0.000,4,0.227,0.059,2696,1073,3627,0,0,0,0,0,0
$GC,506,-0.45,-146.0,62.6,-15.4,85,512,0.00,2.22,0.00,0.000,6,0.000,0.055,2696,2490,3626,0,0,0,0,0,0
$GC,853,-0.42,-146.0,106.8,-12.5,142,858,0.12,2.25,0.00,0.000,4,0.230,0.073,2726,3897,3625,0,0,0,0,0,0
$GC,870,-0.42,-146.0,108.8,-11.3,143,874,0.00,2.15,0.00,0.000,6,0.000,0.042,2726,2480,3625,0,0,0,0,0,0
$GC,1196,-0.49,-146.0,135.9,-7.9,173,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2480,3624,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,158.8,-6.9,203,1518,0.15,0.00,0.00,0.000,6,0.122,0.000,2676,2480,3623,0,0,0,0,0,0
$GC,1832,-0.54,-146.0,193.3,-11.6,233,1836,0.00,2.25,0.00,0.000,4,0.000,0.067,2677,3899,3623,0,0,0,0,0,0
$GC,1889,-0.54,-146.0,199.6,-10.6,238,1893,0.00,2.15,0.00,0.000,6,0.000,0.042,2676,2490,3623,0,0,0,0,0,0
$GC,2216,-0.50,-146.0,236.3,-11.3,268,2220,0.00,2.17,0.00,0.000,4,0.000,0.057,2676,1086,3624,0,0,0,0,0,0
$GC,2226,-0.46,-146.0,237.9,-11.0,268,2233,0.15,2.17,0.00,0.000,6,0.224,0.053,2712,2496,3624,0,0,0,0,0,0
$GC,2552,-0.52,-146.0,264.7,-8.2,299,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2496,3624,0,0,0,0,0,0
$GC,2871,-0.58,-146.0,290.9,-8.1,329,2876,0.12,2.25,0.00,0.000,4,0.132,0.070,2668,3897,3623,0,0,0,0,0,0
$GC,2903,-0.58,-146.0,294.4,-10.5,331,2910,0.00,2.15,0.00,0.000,6,0.000,0.040,2668,2492,3623,0,0,0,0,0,0
$GC,3229,-0.55,-146.0,331.8,-11.5,362,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2492,3624,0,0,0,0,0,0
$GC,3547,-0.51,-146.0,368.0,-10.9,392,3549,0.12,0.00,0.00,0.000,6,0.216,0.000,2697,2491,3624,0,0,0,0,0,0
$GC,3866,-0.55,-146.0,395.7,-8.5,422,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3625,0,0,0,0,0,0
$GC,4185,-0.59,-146.0,423.4,-9.3,452,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2490,3626,0,0,0,0,0,0
$GC,4504,-0.64,-146.0,451.2,-8.1,482,4505,0.12,0.00,0.00,0.000,6,0.130,0.000,2655,2489,3626,0,0,0,0,0,0
$GC,4823,-0.58,-146.0,487.6,-11.6,512,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2489,3626,0,0,0,0,0,0
$STATE,5053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5054,begin apogee
$GC,5060,-0.12,0.0,515.3,11.2,534,5184,0.55,0.00,117.65,1.206,6,0.198,0.000,2813,2246,3030,0,0,0,0,0,0
$STATE,5185,end apogee,CONTROL_FINISHED_OK
$STATE,5185,begin climb
$GC,5187,0.62,146.0,519.8,0.0,545,5317,0.77,0.00,120.80,1.166,6,0.135,0.000,3053,2243,2433,0,0,0,0,0,0
$GC,5635,0.53,146.0,471.9,12.2,587,5639,0.00,2.40,0.00,0.000,4,0.000,0.060,3053,3695,2426,0,0,0,0,0,0
$GC,5732,0.41,146.0,458.3,14.4,595,5737,0.25,2.22,0.00,0.000,6,0.181,0.044,2998,2295,2425,0,0,0,0,0,0
$GC,6057,0.45,183.3,429.4,8.3,625,6093,0.00,2.40,31.05,1.094,4,0.000,0.062,3005,867,2281,0,0,0,0,0,0
$GC,6127,0.55,209.5,423.4,8.8,631,6157,0.10,2.28,23.73,1.068,6,0.121,0.047,3046,2285,2176,0,0,0,0,0,0
$GC,6474,0.51,209.5,382.2,11.6,664,6478,0.00,2.25,0.00,0.000,4,0.000,0.060,3046,3686,2170,0,0,0,0,0,0
$GC,6576,0.46,209.5,368.9,13.2,673,6581,0.15,2.22,0.00,0.000,6,0.177,0.044,3018,2268,2169,0,0,0,0,0,0
$GC,6901,0.51,234.9,338.4,8.8,703,6928,0.00,2.25,22.05,1.039,4,0.000,0.058,3024,870,2071,0,0,0,0,0,0
$GC,6968,0.59,249.3,332.3,9.3,708,6987,0.00,2.25,13.75,1.001,6,0.000,0.045,3025,2278,2013,0,0,0,0,0,0
$GC,7304,0.61,249.3,299.6,10.2,740,7309,0.10,2.25,0.00,0.000,4,0.120,0.060,3067,3684,2007,0,0,0,0,0,0
$GC,7418,0.55,249.3,282.6,15.5,750,7423,0.12,2.20,0.00,0.000,6,0.179,0.045,3045,2275,2007,0,0,0,0,0,0
$GC,7742,0.55,249.3,241.1,12.4,780,7746,0.00,2.25,0.00,0.000,4,0.000,0.060,3053,864,2006,0,0,0,0,0,0
$GC,7800,0.58,249.3,234.3,11.9,785,7804,0.00,2.20,0.00,0.000,6,0.000,0.046,3053,2284,2005,0,0,0,0,0,0
$GC,8124,0.58,249.3,194.6,12.4,815,8128,0.00,2.20,0.00,0.000,4,0.000,0.060,3053,3683,2005,0,0,0,0,0,0
$GC,8209,0.56,249.3,182.4,14.9,822,8214,0.00,2.17,0.00,0.000,6,0.000,0.044,3062,2269,2005,0,0,0,0,0,0
$GC,8536,0.52,249.3,136.1,13.6,852,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2269,2005,0,0,0,0,0,0
$GC,8854,0.52,249.3,94.7,11.6,886,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2269,2005,0,0,0,0,0,0
$GC,9198,0.55,249.3,57.5,10.3,947,9205,0.00,2.20,0.00,0.000,4,0.000,0.060,3072,866,2005,0,0,0,0,0,0
$GC,9307,0.59,249.3,46.2,10.1,966,9314,0.00,2.20,0.00,0.000,6,0.000,0.046,3072,2288,2004,0,0,0,0,0,0
$GC,9654,0.66,270.7,11.0,9.0,1027,9672,0.00,2.25,9.90,0.842,4,0.000,0.062,3072,3684,1925,0,0,0,0,0,0
$FREEZE,8.11,-1.246,-1.827,3,3,0
$FREEZE,7.47,-1.241,-1.826,3,3,0
$FREEZE,6.93,-1.240,-1.826,3,3,0
$FREEZE,6.37,-1.245,-1.825,3,3,0
$FREEZE,5.81,-1.246,-1.825,3,3,0
$FREEZE,5.03,-1.249,-1.824,3,3,0
$FREEZE,4.39,-1.246,-1.824,3,3,0
$FREEZE,3.66,-1.243,-1.823,3,3,0
$FREEZE,2.98,-1.240,-1.823,3,3,0
$STATE,9721,end climb,SURFACE_DEPTH_REACHED
$STATE,9721,begin surface coast
$FREEZE,2.29,-1.260,-1.822,3,3,0
$FREEZE,1.70,-1.272,-1.822,3,3,0
$FINISH,1.7,1.026717
$STATE,9732,end surface coast,CONTROL_FINISHED_OK
$STATE,9732,begin surface
$SM_CCo,9751,125.72,0.067,0,0,750,559.04
$SM_GC,3.02,0.00,0.00,125.72,0.000,0.000,0.067,108,2484,750,-8.61,-0.17,559.04
$RAFOS_CLK,520
$RAFOS,6,1299516551,16.833334,16.819723,74,63,61,59,58,57,624,193,211,177,220,151
$RAFOS,5,1299516063,16.700001,16.684166,161,69,58,57,57,54,694,184,197,214,154,137
$RAFOS,4,1299515585,16.566668,16.551390,135,63,62,60,58,53,808,209,165,196,141,186
$RAFOS,3,1299515108,16.433332,16.418888,66,60,55,55,53,50,204,195,117,219,161,170
$RAFOS,2,1299514629,16.299999,16.285833,60,59,54,54,54,50,218,195,171,118,139,156
$RAFOS,1,1299514143,16.166666,16.150833,61,56,55,55,51,50,191,165,174,118,216,145
$RAFOS,0,1299513667,16.033333,16.018612,59,52,51,50,49,48,219,228,170,142,114,978
$RAFOS_FIX,6721.563965,-5758.441895,070311,161622,3,123,0.07
$IRIDIUM_FIX,6652.93,-5756.13,070311,080859
$TT8_MAMPS,0.026215
$HUMID,43.93
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,450.3,79.3
$24V_AH,23.3,16.598
$10V_AH,10.4,8.671
$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,12.475,62.800,338.925,125.725,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2465.083,5157.969,536.247,1642.787,144.828,0.000,1406.821,0.000,1633.609,2520.000,12.554,0.000
$DEVICE_MAMPS,229.500,163.710,1205.640,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.416,791.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,40098,1041
$CAP_FILE_SIZE,108334,0
$CFSIZE,260165632,245125120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.8
$GPS,070311,164322,6721.564,-5758.442,0,3123.3,0,-38.3