version: 66.08
glider: 141
mission: 15
dive: 728
start: 6 2 111 3 0 10
data:
$ID,141
$MISSION,15
$DIVE,728
$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,-52689.41
$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,28
$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
$GPS1,020611,004656,6712.510,-5724.361,0,2107.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-54.3
$GPS2,020611,004656,6712.510,-5724.361,181,99.0,181,-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,161.5,31618,-17.5,-10.000
$D_GRID,636
$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,-146.0,0.0,0.0,0,232,0.00,0.00,-208.57,0.000,6,0.000,0.000,107,2503,3625,0,0,0,0,0,0
$GC,236,-0.62,-146.0,3.0,0.0,37,255,10.77,2.40,0.00,0.000,4,0.252,0.084,2659,3889,3627,0,0,0,0,0,0
$GC,319,-0.44,-146.0,9.6,-16.1,51,327,0.22,2.22,0.00,0.000,6,0.201,0.052,2715,2493,3628,0,0,0,0,0,0
$GC,667,-0.47,-146.0,51.4,-10.3,112,673,0.00,2.33,0.00,0.000,4,0.000,0.076,2715,3894,3627,0,0,0,0,0,0
$GC,693,-0.52,-146.0,54.1,-10.1,116,699,0.00,2.25,0.00,0.000,6,0.000,0.053,2715,2486,3627,0,0,0,0,0,0
$GC,1040,-0.56,-146.0,89.5,-10.2,177,1047,0.00,2.30,0.00,0.000,4,0.000,0.073,2715,1073,3627,0,0,0,0,0,0
$GC,1139,-0.62,-146.0,99.8,-10.3,194,1146,0.17,2.30,0.00,0.000,6,0.106,0.066,2654,2485,3626,0,0,0,0,0,0
$GC,1464,-0.55,-146.0,145.8,-13.2,225,1466,0.12,0.00,0.00,0.000,6,0.203,0.000,2683,2485,3626,0,0,0,0,0,0
$GC,1783,-0.55,-146.0,180.3,-10.4,255,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2484,3625,0,0,0,0,0,0
$GC,2103,-0.55,-146.0,214.7,-10.0,285,2107,0.00,2.33,0.00,0.000,4,0.000,0.070,2683,1074,3626,0,0,0,0,0,0
$GC,2122,-0.55,-146.0,216.9,-11.0,286,2126,0.00,2.30,0.00,0.000,6,0.000,0.064,2683,2491,3626,0,0,0,0,0,0
$GC,2447,-0.55,-146.0,247.3,-8.8,316,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2491,3626,0,0,0,0,0,0
$GC,2769,-0.55,-146.0,276.3,-9.3,346,2773,0.00,2.30,0.00,0.000,4,0.000,0.067,2683,1081,3628,0,0,0,0,0,0
$GC,2785,-0.55,-146.0,278.2,-9.1,347,2792,0.00,2.28,0.00,0.000,6,0.000,0.062,2684,2493,3628,0,0,0,0,0,0
$GC,3112,-0.55,-146.0,308.0,-9.1,378,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2493,3628,0,0,0,0,0,0
$GC,3431,-0.55,-146.0,338.4,-9.5,408,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2493,3629,0,0,0,0,0,0
$GC,3758,-0.57,-146.0,369.9,-9.7,439,3762,0.00,2.30,0.00,0.000,4,0.000,0.063,2683,1073,3630,0,0,0,0,0,0
$GC,3769,-0.57,-146.0,371.1,-9.8,439,3776,0.00,2.28,0.00,0.000,6,0.000,0.060,2684,2495,3630,0,0,0,0,0,0
$GC,4096,-0.59,-146.0,401.2,-8.7,470,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2496,3631,0,0,0,0,0,0
$GC,4415,-0.62,-146.0,429.9,-8.8,500,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2496,3632,0,0,0,0,0,0
$GC,4741,-0.65,-146.0,459.2,-9.2,531,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2496,3633,0,0,0,0,0,0
$STATE,4972,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4972,begin apogee
$GC,4980,-0.12,0.0,480.6,9.2,553,5113,0.45,0.00,124.07,1.172,6,0.171,0.000,2817,2254,3029,0,0,0,0,0,0
$STATE,5114,end apogee,CONTROL_FINISHED_OK
$STATE,5114,begin climb
$GC,5116,0.62,146.0,485.6,0.0,565,5254,0.75,2.45,126.70,1.134,4,0.128,0.067,3061,880,2433,0,0,0,0,0,0
$GC,5323,0.58,146.0,471.7,10.2,583,5327,0.00,2.38,0.00,0.000,6,0.000,0.054,3061,2285,2429,0,0,0,0,0,0
$GC,5649,0.51,146.0,435.8,11.2,613,5654,0.12,2.33,0.00,0.000,4,0.181,0.070,3030,3697,2428,0,0,0,0,0,0
$GC,5793,0.47,146.0,420.5,10.6,625,5797,0.00,2.22,0.00,0.000,6,0.000,0.053,3038,2282,2428,0,0,0,0,0,0
$GC,6118,0.47,146.0,387.4,10.3,655,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2282,2428,0,0,0,0,0,0
$GC,6440,0.47,149.0,355.4,9.9,685,6444,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3687,2428,0,0,0,0,0,0
$GC,6531,0.41,149.0,344.9,11.4,693,6537,0.15,2.20,0.00,0.000,6,0.165,0.051,3004,2275,2428,0,0,0,0,0,0
$GC,6863,0.55,206.9,319.6,7.3,724,6923,0.12,0.00,52.30,1.047,6,0.102,0.000,3066,2275,2186,0,0,0,0,0,0
$GC,7243,0.53,206.9,272.7,12.9,760,7247,0.12,2.33,0.00,0.000,4,0.172,0.066,3033,3697,2181,0,0,0,0,0,0
$GC,7322,0.53,206.9,263.1,11.7,767,7326,0.00,2.22,0.00,0.000,6,0.000,0.050,3042,2269,2179,0,0,0,0,0,0
$GC,7653,0.56,206.9,229.0,10.3,798,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2269,2179,0,0,0,0,0,0
$GC,7974,0.62,231.7,198.5,8.9,828,8000,0.00,2.33,21.65,0.955,4,0.000,0.064,3042,3697,2084,0,0,0,0,0,0
$GC,8052,0.65,231.7,190.3,11.0,834,8060,0.00,2.25,0.00,0.000,6,0.000,0.049,3052,2275,2083,0,0,0,0,0,0
$GC,8379,0.69,236.3,159.0,9.8,865,8388,0.10,0.00,5.05,0.698,6,0.113,0.000,3101,2274,2066,0,0,0,0,0,0
$GC,8707,0.63,236.3,111.6,15.6,896,8712,0.12,2.30,0.00,0.000,4,0.186,0.064,3070,3694,2066,0,0,0,0,0,0
$GC,8756,0.63,236.3,104.1,14.2,900,8763,0.00,2.22,0.00,0.000,6,0.000,0.048,3078,2263,2065,0,0,0,0,0,0
$GC,9100,0.66,236.3,64.9,10.4,958,9107,0.00,2.22,0.00,0.000,4,0.000,0.065,3088,864,2066,0,0,0,0,0,0
$GC,9188,0.70,236.3,55.8,10.3,973,9195,0.00,2.25,0.00,0.000,6,0.000,0.053,3087,2278,2064,0,0,0,0,0,0
$GC,9536,0.74,247.5,23.7,9.5,1034,9549,0.00,2.28,5.93,0.774,4,0.000,0.066,3087,3689,2021,0,0,0,0,0,0
$GC,9612,0.77,271.1,17.0,8.9,1047,9632,0.00,2.25,12.32,0.840,6,0.000,0.051,3098,2266,1923,0,0,0,0,0,0
$FREEZE,8.79,-0.894,-1.815,2,91,0
$FREEZE,8.31,-0.898,-1.815,2,91,0
$FREEZE,7.81,-0.874,-1.814,2,91,0
$FREEZE,7.16,-0.878,-1.814,2,91,0
$FREEZE,6.71,-0.899,-1.814,2,91,0
$FREEZE,5.82,-0.904,-1.813,2,91,0
$FREEZE,5.31,-0.902,-1.812,2,91,0
$FREEZE,4.92,-0.898,-1.812,2,91,0
$FREEZE,4.53,-0.893,-1.812,2,91,0
$FREEZE,3.92,-0.892,-1.811,2,91,0
$FREEZE,3.32,-0.895,-1.811,2,91,0
$FREEZE,2.83,-0.907,-1.810,2,91,0
$STATE,9752,end climb,SURFACE_DEPTH_REACHED
$STATE,9752,begin surface coast
$FREEZE,2.19,-0.907,-1.810,2,91,0
$FREEZE,1.89,-0.906,-1.809,2,91,0
$FREEZE,1.88,-0.923,-1.454,2,91,0
$FREEZE,1.75,-0.869,-1.769,2,91,0
$FREEZE,1.87,-0.809,-1.676,2,91,0
$FINISH,1.9,1.024628
$STATE,9779,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9895,125.80,0.063,0,0,750,559.04
$SM_GC,2.84,0.00,0.00,125.80,0.000,0.000,0.063,114,2499,750,-8.60,0.25,559.04
$RAFOS_CLK,554
$RAFOS,6,1306990145,4.833333,4.818056,91,70,60,59,55,53,747,202,213,166,181,116
$RAFOS,5,1306989662,4.700000,4.683889,125,59,56,54,53,49,652,203,185,222,151,135
$RAFOS,4,1306989182,4.566667,4.550556,80,57,57,56,56,54,862,192,152,124,182,170
$RAFOS,3,1306988702,4.433333,4.417222,59,54,52,52,49,47,193,208,170,179,154,115
$RAFOS,2,1306988231,4.300000,4.286389,68,55,54,53,51,50,190,214,137,116,126,147
$RAFOS,1,1306987744,4.166667,4.151111,62,62,56,54,51,49,189,201,146,210,131,175
$RAFOS,0,1306987269,4.033333,4.019166,66,65,64,59,59,53,213,224,124,149,182,158
$RAFOS_FIX,6714.138184,-5721.774414,020611,040444,3,99,0.25
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,64
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,450.6,44.8
$24V_AH,22.0,98.318
$10V_AH,9.9,50.902
$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,21.800,64.825,348.025,125.800,0.000,87.347,54.234,0.000,17.500,0.000,183.290,2530.811,5160.616,654.396,1998.931,656.781,0.000,1571.120,0.000,1657.901,2520.000,12.666,0.000
$DEVICE_MAMPS,252.450,84.150,1171.980,62.730,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.778,802.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,40070,1077
$CAP_FILE_SIZE,116147,0
$CFSIZE,260165632,205262848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,020611,044344,6714.138,-5721.774,0,3098.7,0,-37.6