version: 66.08
glider: 141
mission: 15
dive: 729
start: 6 2 111 6 8 35
data:
$ID,141
$MISSION,15
$DIVE,729
$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,-53057.988
$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
$GPS1,020611,044344,6714.138,-5721.774,0,3098.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.2
$GPS2,020611,044344,6714.138,-5721.774,181,99.0,181,-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,167.8,31943,-17.5,-10.000
$D_GRID,564
$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,-146.0,0.0,0.0,0,187,0.00,0.00,-166.82,0.000,2,0.000,0.000,112,2500,3316,0,0,0,0,0,0
$GC,190,-0.62,-146.0,5.8,-9.2,29,216,13.02,2.42,-7.00,0.000,4,0.317,0.095,2652,3902,3629,0,0,0,0,0,0
$GC,410,-0.56,-146.0,48.9,-15.2,67,418,0.10,2.25,0.00,0.000,6,0.197,0.055,2676,2499,3632,0,0,0,0,0,0
$GC,758,-0.51,-146.0,93.4,-12.3,128,765,0.00,2.33,0.00,0.000,4,0.000,0.071,2676,1080,3630,0,0,0,0,0,0
$GC,785,-0.47,-146.0,96.9,-12.7,132,792,0.12,2.30,0.00,0.000,6,0.211,0.066,2706,2488,3630,0,0,0,0,0,0
$GC,1114,-0.52,-146.0,131.6,-11.1,165,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2488,3630,0,0,0,0,0,0
$GC,1435,-0.58,-146.0,163.9,-9.1,195,1439,0.00,2.35,0.00,0.000,4,0.000,0.080,2706,3900,3630,0,0,0,0,0,0
$GC,1454,-0.65,-146.0,165.8,-8.9,196,1459,0.17,2.25,0.00,0.000,6,0.100,0.052,2642,2476,3630,0,0,0,0,0,0
$GC,1780,-0.56,-146.0,207.4,-12.5,226,1785,0.15,2.28,0.00,0.000,4,0.203,0.070,2679,1083,3630,0,0,0,0,0,0
$GC,1803,-0.52,-146.0,210.1,-11.6,227,1810,0.00,2.30,0.00,0.000,6,0.000,0.063,2678,2493,3629,0,0,0,0,0,0
$GC,2129,-0.52,-146.0,238.2,-9.0,258,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2493,3630,0,0,0,0,0,0
$GC,2452,-0.52,-146.0,267.2,-9.7,288,2456,0.00,2.33,0.00,0.000,4,0.000,0.078,2678,3902,3631,0,0,0,0,0,0
$GC,2463,-0.52,-146.0,269.0,-9.7,288,2470,0.00,2.25,0.00,0.000,6,0.000,0.047,2678,2477,3631,0,0,0,0,0,0
$GC,2790,-0.52,-146.0,300.4,-9.8,319,2794,0.00,2.25,0.00,0.000,4,0.000,0.065,2678,1073,3632,0,0,0,0,0,0
$GC,2812,-0.52,-146.0,302.8,-9.7,320,2819,0.00,2.33,0.00,0.000,6,0.000,0.062,2679,2497,3631,0,0,0,0,0,0
$GC,3139,-0.54,-146.0,332.5,-8.8,351,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2497,3633,0,0,0,0,0,0
$GC,3459,-0.56,-146.0,358.0,-7.8,381,3463,0.00,2.30,0.00,0.000,4,0.000,0.076,2678,3899,3634,0,0,0,0,0,0
$GC,3490,-0.60,-146.0,360.4,-7.8,383,3494,0.00,2.20,0.00,0.000,6,0.000,0.047,2679,2488,3634,0,0,0,0,0,0
$GC,3816,-0.63,-146.0,385.2,-7.3,413,3820,0.00,2.22,0.00,0.000,4,0.000,0.062,2679,1086,3635,0,0,0,0,0,0
$GC,3828,-0.65,-146.0,386.2,-7.9,413,3835,0.00,2.25,0.00,0.000,6,0.000,0.058,2679,2489,3635,0,0,0,0,0,0
$GC,4154,-0.68,-146.0,413.1,-8.7,444,4159,0.12,2.35,0.00,0.000,4,0.114,0.074,2631,3900,3636,0,0,0,0,0,0
$GC,4168,-0.68,-146.0,414.4,-9.0,445,4172,0.00,2.20,0.00,0.000,6,0.000,0.045,2631,2482,3636,0,0,0,0,0,0
$GC,4494,-0.60,-146.0,455.4,-12.5,475,4496,0.15,0.00,0.00,0.000,6,0.205,0.000,2666,2482,3636,0,0,0,0,0,0
$STATE,4502,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4502,begin apogee
$GC,4509,-0.12,0.0,456.7,12.5,476,4642,0.50,0.00,124.68,1.157,6,0.171,0.000,2815,2256,3030,0,0,0,0,0,0
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4646,0.62,146.0,460.9,0.0,488,4783,0.75,2.45,126.35,1.115,4,0.127,0.068,3059,883,2434,0,0,0,0,0,0
$GC,4830,0.59,146.0,447.3,11.1,504,4836,0.00,2.38,0.00,0.000,6,0.000,0.059,3059,2284,2430,0,0,0,0,0,0
$GC,5155,0.52,146.0,408.3,11.8,535,5159,0.00,2.28,0.00,0.000,4,0.000,0.068,3059,3692,2429,0,0,0,0,0,0
$GC,5257,0.41,146.0,394.5,13.3,543,5264,0.25,2.25,0.00,0.000,6,0.177,0.053,3003,2282,2428,0,0,0,0,0,0
$GC,5583,0.53,193.6,368.6,7.8,574,5633,0.00,2.40,40.85,1.061,4,0.000,0.070,3012,860,2239,0,0,0,0,0,0
$GC,5663,0.67,227.0,362.1,8.5,581,5704,0.20,2.25,30.42,1.036,6,0.080,0.052,3101,2279,2102,0,0,0,0,0,0
$GC,6021,0.59,227.0,304.4,16.3,615,6026,0.17,2.28,0.00,0.000,4,0.175,0.068,3054,3689,2096,0,0,0,0,0,0
$GC,6106,0.59,227.0,291.8,14.0,622,6113,0.00,2.22,0.00,0.000,6,0.000,0.053,3062,2275,2095,0,0,0,0,0,0
$GC,6431,0.59,227.0,247.6,13.3,653,6435,0.00,2.25,0.00,0.000,4,0.000,0.067,3073,866,2095,0,0,0,0,0,0
$GC,6484,0.61,227.0,240.9,12.5,657,6488,0.00,2.22,0.00,0.000,6,0.000,0.054,3073,2278,2093,0,0,0,0,0,0
$GC,6815,0.61,227.0,197.8,12.7,688,6819,0.00,2.25,0.00,0.000,4,0.000,0.068,3073,3683,2093,0,0,0,0,0,0
$GC,6934,0.58,227.0,181.1,13.8,698,6941,0.12,2.25,0.00,0.000,6,0.185,0.052,3052,2265,2092,0,0,0,0,0,0
$GC,7260,0.62,244.4,148.7,9.2,729,7283,0.00,2.30,14.75,0.901,4,0.000,0.069,3060,868,2032,0,0,0,0,0,0
$GC,7331,0.72,257.6,142.1,9.4,735,7355,0.10,2.22,13.43,0.890,6,0.113,0.054,3110,2276,1978,0,0,0,0,0,0
$GC,7677,0.67,257.6,89.0,16.6,773,7684,0.12,2.30,0.00,0.000,4,0.178,0.078,3078,3691,1975,0,0,0,0,0,0
$GC,7822,0.67,257.6,68.2,14.2,798,7829,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2267,1974,0,0,0,0,0,0
$GC,8168,0.71,257.6,29.3,10.5,859,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2267,1974,0,0,0,0,0,0
$FREEZE,8.49,-0.732,-1.818,2,92,0
$FREEZE,7.87,-0.738,-1.818,2,92,0
$FREEZE,7.43,-0.766,-1.817,2,92,0
$FREEZE,6.93,-0.765,-1.817,2,92,0
$FREEZE,6.36,-0.759,-1.816,2,92,0
$FREEZE,5.95,-0.800,-1.815,2,92,0
$FREEZE,5.52,-0.786,-1.815,2,92,0
$FREEZE,4.65,-0.795,-1.814,2,92,0
$FREEZE,4.24,-0.795,-1.814,2,92,0
$FREEZE,3.78,-0.817,-1.813,2,92,0
$FREEZE,3.37,-0.835,-1.813,2,92,0
$FREEZE,3.03,-0.806,-1.812,2,92,0
$FREEZE,2.96,-0.830,-1.811,2,92,0
$STATE,8450,end climb,SURFACE_DEPTH_REACHED
$STATE,8452,begin surface coast
$FREEZE,3.09,-0.812,-1.812,2,92,0
$FREEZE,2.87,-0.869,-1.813,2,92,0
$FREEZE,2.98,-0.867,-1.812,2,92,0
$FREEZE,2.95,-0.896,-1.812,2,92,0
$FREEZE,2.95,-0.866,-1.811,2,92,0
$FREEZE,2.95,-0.834,-1.808,2,92,0
$FREEZE,2.99,-0.829,-1.809,2,92,0
$FREEZE,3.03,-0.867,-1.812,2,92,0
$FREEZE,3.01,-0.877,-1.812,2,92,0
$FINISH,3.0,1.026556
$STATE,8500,end surface coast,CONTROL_FINISHED_OK
$STATE,8501,begin surface
$SM_CCo,8505,143.90,0.806,0,0,750,559.04
$RAFOS_CLK,499
$RAFOS,2,1307002621,8.300000,8.283611,64,63,59,57,55,54,213,155,138,195,167,222
$RAFOS,1,1307002151,8.166667,8.153055,67,60,57,56,54,53,205,222,162,187,126,147
$RAFOS,0,1307001664,8.033334,8.017777,77,63,58,57,53,49,204,176,144,222,162,110
$RAFOS_FIX,6714.138184,-5721.774414,020611,040444,3,99,0.25
$IRIDIUM_FIX,6641.98,-5703.22,020611,060613
$TT8_MAMPS,0.027713
$HUMID,46.06
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.30
$XPDR_PINGS,96
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,400.6,70.6
$24V_AH,22.2,98.469
$10V_AH,9.9,50.977
$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,16.075,78.025,350.475,143.900,0.000,101.193,86.815,0.000,25.250,0.000,183.290,2192.369,4494.444,645.159,1835.149,651.130,0.000,1474.359,0.000,1455.789,1440.000,10.772,0.000
$DEVICE_MAMPS,317.475,94.860,1156.680,806.310,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.990,686.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36662,919
$CAP_FILE_SIZE,109914,0
$CFSIZE,260165632,205209600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,020611,060013,6641.980,-5703.219,0,10000.0,0,-37.6