version: 66.08
glider: 141
mission: 15
dive: 727
start: 6 1 111 23 47 4
data:
$ID,141
$MISSION,15
$DIVE,727
$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,-52320.828
$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,30
$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
$GPS1,010611,204800,6711.765,-5726.315,0,2125.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.8
$GPS2,010611,204800,6711.765,-5726.315,181,99.0,181,-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,158.0,32079,-17.5,-10.000
$D_GRID,674
$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,16,-0.62,-146.0,0.0,0.0,0,179,0.00,0.00,-157.65,0.000,2,0.000,0.000,113,2500,3175,0,0,0,0,0,0
$GC,183,-0.62,-146.0,5.1,-6.3,28,214,13.12,2.33,-10.48,0.000,4,0.318,0.093,2654,3892,3627,0,0,0,0,0,0
$GC,293,-0.56,-146.0,30.4,-16.6,46,301,0.10,2.25,0.00,0.000,6,0.203,0.063,2677,2493,3628,0,0,0,0,0,0
$GC,642,-0.50,-146.0,78.7,-13.2,107,649,0.00,2.30,0.00,0.000,4,0.000,0.070,2677,1073,3628,0,0,0,0,0,0
$GC,776,-0.48,-146.0,95.9,-12.0,130,783,0.12,2.28,0.00,0.000,6,0.214,0.064,2707,2480,3628,0,0,0,0,0,0
$GC,1111,-0.51,-146.0,127.8,-8.7,164,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2480,3628,0,0,0,0,0,0
$GC,1430,-0.55,-146.0,156.3,-9.2,194,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2480,3627,0,0,0,0,0,0
$GC,1751,-0.61,-146.0,184.7,-8.8,224,1758,0.12,0.00,0.00,0.000,6,0.125,0.000,2661,2480,3627,0,0,0,0,0,0
$GC,2077,-0.56,-146.0,225.6,-12.5,255,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2479,3626,0,0,0,0,0,0
$GC,2396,-0.51,-146.0,264.0,-11.8,285,2398,0.15,0.00,0.00,0.000,6,0.199,0.000,2697,2480,3628,0,0,0,0,0,0
$GC,2716,-0.56,-146.0,292.2,-8.8,315,2721,0.00,2.25,0.00,0.000,4,0.000,0.066,2698,1082,3629,0,0,0,0,0,0
$GC,2739,-0.60,-146.0,294.4,-8.5,316,2746,0.00,2.28,0.00,0.000,6,0.000,0.060,2698,2497,3629,0,0,0,0,0,0
$GC,3065,-0.66,-146.0,322.4,-8.5,347,3067,0.15,0.00,0.00,0.000,6,0.109,0.000,2643,2497,3630,0,0,0,0,0,0
$GC,3384,-0.57,-146.0,361.7,-12.8,377,3389,0.12,2.33,0.00,0.000,4,0.201,0.063,2672,1080,3630,0,0,0,0,0,0
$GC,3395,-0.49,-146.0,363.5,-12.5,377,3402,0.12,2.28,0.00,0.000,6,0.213,0.058,2700,2499,3631,0,0,0,0,0,0
$GC,3723,-0.56,-146.0,388.9,-7.4,408,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2499,3632,0,0,0,0,0,0
$GC,4051,-0.62,-146.0,414.5,-7.6,439,4056,0.12,2.30,0.00,0.000,4,0.119,0.061,2655,1073,3633,0,0,0,0,0,0
$GC,4081,-0.62,-146.0,417.4,-10.2,441,4085,0.00,2.25,0.00,0.000,6,0.000,0.058,2655,2495,3633,0,0,0,0,0,0
$GC,4412,-0.57,-146.0,455.1,-11.4,472,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2495,3632,0,0,0,0,0,0
$GC,4733,-0.53,-146.0,489.1,-11.0,502,4740,0.15,0.00,0.00,0.000,6,0.200,0.000,2692,2496,3633,0,0,0,0,0,0
$GC,5060,-0.58,-146.0,516.9,-8.4,533,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2495,3635,0,0,0,0,0,0
$STATE,5258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5258,begin apogee
$GC,5265,-0.12,0.0,533.5,8.2,552,5398,0.40,0.00,125.10,1.206,6,0.161,0.000,2814,2251,3030,0,0,0,0,0,0
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5402,0.62,146.0,538.4,0.0,564,5539,0.75,2.45,127.38,1.167,4,0.122,0.067,3061,877,2433,0,0,0,0,0,0
$GC,5575,0.58,146.0,526.9,10.9,579,5580,0.00,2.40,0.00,0.000,6,0.000,0.053,3061,2277,2431,0,0,0,0,0,0
$GC,5903,0.53,146.0,489.7,11.4,609,5907,0.00,2.28,0.00,0.000,4,0.000,0.069,3062,3693,2429,0,0,0,0,0,0
$GC,6036,0.44,146.0,471.8,14.3,620,6041,0.22,2.22,0.00,0.000,6,0.174,0.051,3011,2273,2428,0,0,0,0,0,0
$GC,6363,0.52,183.9,442.8,8.2,650,6401,0.00,2.30,32.42,1.092,4,0.000,0.067,3019,867,2281,0,0,0,0,0,0
$GC,6443,0.66,214.7,436.0,8.6,656,6482,0.15,2.28,28.73,1.075,6,0.092,0.053,3088,2284,2153,0,0,0,0,0,0
$GC,6800,0.59,214.7,384.0,15.4,690,6805,0.12,2.28,0.00,0.000,4,0.180,0.068,3056,3694,2148,0,0,0,0,0,0
$GC,6980,0.57,214.7,359.0,13.4,705,6987,0.00,2.22,0.00,0.000,6,0.000,0.050,3065,2272,2147,0,0,0,0,0,0
$GC,7308,0.57,214.7,318.1,12.2,736,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2271,2146,0,0,0,0,0,0
$GC,7627,0.57,214.7,279.7,12.2,766,7631,0.00,2.33,0.00,0.000,4,0.000,0.065,3065,3694,2146,0,0,0,0,0,0
$GC,7682,0.53,214.7,271.8,13.6,770,7690,0.15,2.22,0.00,0.000,6,0.174,0.049,3036,2270,2146,0,0,0,0,0,0
$GC,8008,0.60,227.8,239.9,9.4,801,8027,0.00,0.00,11.52,0.922,6,0.000,0.000,3036,2270,2100,0,0,0,0,0,0
$GC,8348,0.67,232.4,206.4,9.8,833,8362,0.12,2.30,5.60,0.758,4,0.101,0.063,3098,3691,2081,0,0,0,0,0,0
$GC,8415,0.58,232.4,195.9,16.9,838,8422,0.20,2.22,0.00,0.000,6,0.177,0.049,3055,2267,2081,0,0,0,0,0,0
$GC,8740,0.61,232.4,158.0,11.3,869,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2267,2081,0,0,0,0,0,0
$GC,9062,0.65,232.4,122.2,10.7,899,9066,0.00,2.30,0.00,0.000,4,0.000,0.064,3055,3696,2080,0,0,0,0,0,0
$GC,9123,0.67,232.4,114.6,11.7,904,9130,0.00,2.25,0.00,0.000,6,0.000,0.049,3064,2268,2081,0,0,0,0,0,0
$GC,9461,0.71,232.5,80.1,10.0,952,9468,0.00,2.22,0.00,0.000,4,0.000,0.066,3073,867,2080,0,0,0,0,0,0
$GC,9511,0.81,250.8,75.7,9.2,960,9536,0.15,2.28,17.48,0.886,6,0.094,0.054,3138,2288,2006,0,0,0,0,0,0
$GC,9876,0.74,250.8,23.0,14.8,1024,9884,0.12,2.25,0.00,0.000,4,0.190,0.065,3107,3683,2004,0,0,0,0,0,0
$GC,9973,0.70,250.8,11.6,11.7,1040,9980,0.00,2.25,0.00,0.000,6,0.000,0.060,3115,2269,2003,0,0,0,0,0,0
$FREEZE,8.59,-0.798,-1.817,2,90,2
$FREEZE,7.97,-0.808,-1.817,2,90,2
$FREEZE,7.43,-0.797,-1.816,2,90,2
$FREEZE,6.83,-0.808,-1.816,2,90,2
$FREEZE,6.18,-0.835,-1.815,2,90,2
$FREEZE,5.62,-0.848,-1.814,2,90,2
$FREEZE,5.04,-0.822,-1.814,2,90,2
$FREEZE,4.47,-0.826,-1.813,2,90,2
$FREEZE,3.88,-0.835,-1.813,2,90,2
$FREEZE,3.41,-0.839,-1.812,2,90,2
$FREEZE,2.80,-0.875,-1.812,2,90,2
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10051,begin surface coast
$FREEZE,2.32,-0.939,-1.811,2,90,2
$FREEZE,2.28,-0.932,-1.810,2,90,2
$FREEZE,2.32,-0.957,-1.810,2,90,2
$FREEZE,2.29,-0.933,-1.809,2,90,2
$FREEZE,2.28,-0.929,-1.809,2,90,2
$FINISH,2.3,1.026522
$STATE,10079,end surface coast,CONTROL_FINISHED_OK
$STATE,10079,begin surface
$SM_CCo,10219,135.15,0.061,0,0,750,559.04
$SM_GC,2.67,0.00,0.00,135.15,0.000,0.000,0.061,107,2502,750,-8.62,0.31,559.04
$RAFOS_CLK,570
$RAFOS,6,1306975741,0.833333,0.816944,113,64,60,59,53,53,764,206,162,229,185,130
$RAFOS,5,1306975266,0.700000,0.685000,101,65,57,56,56,55,627,162,192,127,114,209
$RAFOS,4,1306974788,0.566667,0.552222,64,62,59,59,54,52,203,193,213,1070,141,822
$RAFOS,3,1306974311,0.433333,0.419722,64,63,62,55,54,53,216,206,156,177,144,112
$RAFOS,2,1306973822,0.300000,0.283889,62,61,59,58,55,51,200,174,211,118,136,157
$RAFOS,1,1306973344,0.166667,0.151111,56,55,53,50,50,50,229,204,146,134,216,171
$RAFOS,0,1306972866,0.033333,0.018333,75,55,54,54,52,51,191,160,173,141,219,201
$RAFOS_FIX,6712.510254,-5724.361328,020611,000056,2,107,0.14
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.025466
$HUMID,45.58
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.40
$XPDR_PINGS,71
$ALTIM_TOP_PING,19.4,17.2
$ALTIM_BOTTOM_PING,500.1,47.6
$24V_AH,22.1,98.200
$10V_AH,9.9,50.821
$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,25.375,64.625,348.225,135.150,0.000,96.348,30.306,0.000,19.500,0.000,183.291,2530.656,5504.373,639.719,1975.579,656.861,0.000,1553.238,0.000,1653.442,2520.000,14.247,0.000
$DEVICE_MAMPS,318.240,93.330,1206.405,61.200,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.466,795.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,40055,1059
$CAP_FILE_SIZE,119879,0
$CFSIZE,260165632,205324288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$GPS,020611,004656,6712.510,-5724.361,0,2107.0,0,-37.6