version: 66.08
glider: 141
mission: 15
dive: 101
start: 3 8 111 4 51 28
data:
$ID,141
$MISSION,15
$DIVE,101
$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,-24992.605
$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,40
$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
$GPS1,080311,004240,6721.486,-5753.011,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-53.8
$GPS2,080311,004240,6721.486,-5753.011,181,99.0,181,-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,164.3,58104,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,129,0.00,0.00,-109.62,0.000,2,0.000,0.000,112,2505,3271,0,0,0,0,0,0
$GC,132,-0.62,-146.0,5.3,-8.4,19,159,12.25,2.28,-8.18,0.000,4,0.327,0.080,2651,3888,3628,0,0,0,0,0,0
$GC,317,-0.53,-146.0,43.7,-16.0,51,324,0.15,2.12,0.00,0.000,6,0.210,0.041,2688,2497,3630,0,0,0,0,0,0
$GC,663,-0.47,-146.0,94.4,-14.3,112,670,0.00,2.20,0.00,0.000,4,0.000,0.058,2689,1082,3629,0,0,0,0,0,0
$GC,677,-0.41,-146.0,96.4,-14.3,114,685,0.15,2.20,0.00,0.000,6,0.221,0.053,2726,2479,3629,0,0,0,0,0,0
$GC,1006,-0.47,-146.0,128.6,-9.2,147,1010,0.00,2.28,0.00,0.000,4,0.000,0.068,2726,3900,3627,0,0,0,0,0,0
$GC,1069,-0.56,-146.0,133.9,-8.7,152,1074,0.15,2.15,0.00,0.000,6,0.114,0.041,2674,2485,3627,0,0,0,0,0,0
$GC,1400,-0.51,-146.0,174.3,-12.2,183,1403,0.00,2.17,0.00,0.000,4,0.000,0.059,2674,1080,3626,0,0,0,0,0,0
$GC,1416,-0.46,-146.0,176.6,-12.2,184,1424,0.15,2.22,0.00,0.000,6,0.220,0.053,2710,2498,3626,0,0,0,0,0,0
$GC,1742,-0.49,-146.0,206.6,-9.3,215,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2498,3627,0,0,0,0,0,0
$GC,2062,-0.54,-146.0,236.9,-9.7,245,2066,0.00,2.22,0.00,0.000,4,0.000,0.066,2710,3902,3627,0,0,0,0,0,0
$GC,2125,-0.62,-146.0,243.0,-9.0,250,2129,0.15,2.12,0.00,0.000,6,0.113,0.037,2657,2483,3627,0,0,0,0,0,0
$GC,2450,-0.55,-146.0,285.3,-12.7,280,2454,0.00,2.22,0.00,0.000,4,0.000,0.063,2657,3899,3628,0,0,0,0,0,0
$GC,2483,-0.48,-146.0,289.7,-12.7,282,2490,0.17,2.15,0.00,0.000,6,0.197,0.038,2701,2478,3628,0,0,0,0,0,0
$GC,2808,-0.50,-146.0,318.5,-9.3,313,2812,0.00,2.22,0.00,0.000,4,0.000,0.063,2701,3897,3630,0,0,0,0,0,0
$GC,2831,-0.55,-146.0,320.6,-8.8,314,2837,0.00,2.10,0.00,0.000,6,0.000,0.036,2701,2483,3630,0,0,0,0,0,0
$GC,3159,-0.58,-146.0,350.7,-8.9,345,3163,0.00,2.25,0.00,0.000,4,0.000,0.063,2701,3900,3631,0,0,0,0,0,0
$GC,3188,-0.63,-146.0,354.1,-10.4,347,3192,0.12,2.10,0.00,0.000,6,0.121,0.036,2658,2489,3631,0,0,0,0,0,0
$STATE,3383,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3385,begin apogee
$GC,3390,-0.12,0.0,378.2,11.5,365,3514,0.52,0.00,116.88,1.116,6,0.198,0.000,2810,2256,3030,0,0,0,0,0,0
$STATE,3515,end apogee,CONTROL_FINISHED_OK
$STATE,3515,begin climb
$GC,3517,0.62,146.0,383.5,0.0,376,3644,0.80,2.50,118.65,1.073,4,0.151,0.058,3051,3695,2433,0,0,0,0,0,0
$GC,3730,0.50,146.0,363.6,16.0,396,3735,0.12,2.28,0.00,0.000,6,0.187,0.042,3031,2294,2429,0,0,0,0,0,0
$GC,4061,0.46,146.0,324.9,10.8,427,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2294,2426,0,0,0,0,0,0
$GC,4380,0.43,146.0,288.6,10.6,457,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2294,2426,0,0,0,0,0,0
$GC,4699,0.39,146.0,254.1,10.4,487,4704,0.15,2.20,0.00,0.000,4,0.196,0.057,2992,3690,2426,0,0,0,0,0,0
$GC,4784,0.39,146.0,245.3,10.2,494,4788,0.00,2.17,0.00,0.000,6,0.000,0.040,3000,2269,2426,0,0,0,0,0,0
$GC,5111,0.45,168.1,215.6,9.0,524,5134,0.00,2.28,18.17,0.959,4,0.000,0.056,3000,3692,2344,0,0,0,0,0,0
$GC,5180,0.45,168.1,208.3,11.4,530,5184,0.00,2.20,0.00,0.000,6,0.000,0.041,3008,2273,2343,0,0,0,0,0,0
$GC,5511,0.51,192.6,178.0,8.9,561,5537,0.00,2.22,21.60,0.946,4,0.000,0.055,3015,874,2243,0,0,0,0,0,0
$GC,5596,0.60,218.3,170.5,8.8,568,5624,0.12,2.20,22.58,0.936,6,0.109,0.044,3071,2281,2139,0,0,0,0,0,0
$GC,5943,0.54,218.3,125.0,13.0,600,5947,0.12,2.22,0.00,0.000,4,0.171,0.057,3038,3682,2135,0,0,0,0,0,0
$GC,6014,0.54,218.3,115.7,12.5,606,6022,0.00,2.20,0.00,0.000,6,0.000,0.040,3046,2265,2134,0,0,0,0,0,0
$GC,6349,0.56,218.3,79.2,10.2,654,6356,0.00,2.17,0.00,0.000,4,0.000,0.056,3049,866,2134,0,0,0,0,0,0
$GC,6409,0.65,234.9,73.8,9.2,664,6428,0.00,2.20,14.52,0.853,6,0.000,0.043,3049,2284,2072,0,0,0,0,0,0
$GC,6768,0.71,244.2,39.5,9.6,727,6782,0.12,2.28,8.70,0.799,4,0.109,0.057,3100,3682,2034,0,0,0,0,0,0
$GC,6895,0.64,244.2,22.1,14.8,749,6903,0.15,2.17,0.00,0.000,6,0.189,0.041,3073,2272,2034,0,0,0,0,0,0
$FREEZE,8.50,-1.341,-1.827,3,3,0
$FREEZE,7.93,-1.337,-1.827,3,3,0
$FREEZE,7.40,-1.339,-1.826,3,3,0
$FREEZE,6.94,-1.347,-1.826,3,3,0
$FREEZE,6.41,-1.344,-1.826,3,3,0
$FREEZE,5.88,-1.340,-1.825,3,3,0
$FREEZE,5.27,-1.358,-1.825,3,3,0
$FREEZE,4.71,-1.356,-1.824,3,3,0
$FREEZE,4.18,-1.358,-1.824,3,3,0
$FREEZE,3.65,-1.361,-1.823,3,3,0
$FREEZE,3.10,-1.366,-1.823,3,3,0
$FREEZE,2.50,-1.377,-1.823,3,3,0
$STATE,7078,end climb,SURFACE_DEPTH_REACHED
$STATE,7078,begin surface coast
$FREEZE,2.20,-1.393,-1.823,3,3,0
$FREEZE,1.61,-1.400,-1.822,3,3,0
$FREEZE,1.53,-1.326,-1.817,3,3,0
$FREEZE,1.35,-1.410,-1.823,3,3,0
$FREEZE,1.46,-1.405,-1.823,3,3,0
$FINISH,1.5,1.026743
$STATE,7107,end surface coast,CONTROL_FINISHED_OK
$STATE,7107,begin surface
$SM_CCo,7124,137.23,0.064,0,0,751,559.04
$SM_GC,2.26,0.00,0.00,137.23,0.000,0.000,0.064,105,2507,751,-8.62,0.48,559.04
$RAFOS_CLK,406
$RAFOS,4,1299558781,4.566667,4.550278,59,55,55,53,53,53,220,202,179,161,132,237
$RAFOS_FIX,6721.485840,-5753.010742,080311,000040,3,127,1.95
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,350.7,41.8
$24V_AH,23.6,17.140
$10V_AH,10.3,8.973
$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,23.775,66.975,321.100,137.225,0.000,99.308,17.168,0.000,1.000,0.000,183.284,1882.569,3631.539,553.498,1563.717,332.590,0.000,1250.274,0.000,1257.525,0.000,8.926,0.000
$DEVICE_MAMPS,326.655,79.560,1116.135,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.761,597.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,30072,787
$CAP_FILE_SIZE,96856,0
$CFSIZE,260165632,244858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,080311,004240,6721.486,-5753.011,181,99.0,181,-38.2