version: 66.08
glider: 141
mission: 15
dive: 730
start: 6 2 111 8 37 25
data:
$ID,141
$MISSION,15
$DIVE,730
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,020611,060013,6641.980,-5703.219,0,10000.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,3.4
$GPS2,020611,060013,6641.980,-5703.219,0,10000.0,0,-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,53.4,40450,-17.5,-10.000
$D_GRID,644
$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,-146.0,0.0,0.0,0,203,0.00,0.35,-177.93,0.000,6,0.000,0.152,3085,2487,3625,0,0,0,0,0,0
$GC,207,-0.62,-146.0,4.9,-8.7,32,215,1.40,2.33,0.00,0.000,4,0.172,0.076,2673,3895,3626,0,0,0,0,0,0
$GC,358,-0.62,-146.0,23.7,-13.0,58,365,0.00,2.20,0.00,0.000,6,0.000,0.050,2673,2487,3626,0,0,0,0,0,0
$GC,704,-0.56,-146.0,75.0,-15.3,119,711,0.00,2.25,0.00,0.000,4,0.000,0.067,2673,1082,3626,0,0,0,0,0,0
$GC,781,-0.56,-146.0,86.7,-14.7,132,788,0.00,2.30,0.00,0.000,6,0.000,0.063,2673,2495,3626,0,0,0,0,0,0
$GC,1113,-0.53,-146.0,133.3,-13.0,171,1117,0.00,2.35,0.00,0.000,4,0.000,0.080,2673,3903,3624,0,0,0,0,0,0
$GC,1177,-0.53,-146.0,141.6,-12.7,176,1181,0.00,2.22,0.00,0.000,6,0.000,0.050,2673,2491,3624,0,0,0,0,0,0
$GC,1508,-0.53,-146.0,181.6,-11.2,207,1512,0.00,2.25,0.00,0.000,4,0.000,0.067,2673,1085,3623,0,0,0,0,0,0
$GC,1575,-0.53,-146.0,189.0,-10.4,212,1581,0.00,2.30,0.00,0.000,6,0.000,0.063,2673,2497,3623,0,0,0,0,0,0
$GC,1902,-0.53,-146.0,220.2,-9.2,243,1906,0.00,2.33,0.00,0.000,4,0.000,0.077,2673,3899,3623,0,0,0,0,0,0
$GC,1980,-0.56,-146.0,226.8,-8.0,249,1987,0.00,2.22,0.00,0.000,6,0.000,0.059,2673,2490,3623,0,0,0,0,0,0
$GC,2307,-0.56,-146.0,252.8,-7.6,280,2311,0.00,2.28,0.00,0.000,4,0.000,0.065,2673,1077,3623,0,0,0,0,0,0
$GC,2382,-0.59,-146.0,258.8,-7.8,286,2386,0.00,2.28,0.00,0.000,6,0.000,0.060,2673,2489,3623,0,0,0,0,0,0
$GC,2714,-0.59,-146.0,284.4,-7.7,317,2718,0.00,2.30,0.00,0.000,4,0.000,0.075,2673,3899,3623,0,0,0,0,0,0
$GC,2793,-0.63,-146.0,290.8,-8.1,323,2800,0.00,2.22,0.00,0.000,6,0.000,0.046,2673,2480,3624,0,0,0,0,0,0
$GC,3120,-0.63,-146.0,318.7,-9.1,354,3124,0.00,2.22,0.00,0.000,4,0.000,0.062,2673,1074,3625,0,0,0,0,0,0
$GC,3178,-0.66,-146.0,324.2,-8.7,358,3184,0.00,2.28,0.00,0.000,6,0.000,0.057,2673,2491,3624,0,0,0,0,0,0
$GC,3503,-0.66,-146.0,354.3,-9.1,389,3508,0.00,2.30,0.00,0.000,4,0.000,0.073,2673,3905,3625,0,0,0,0,0,0
$GC,3549,-0.71,-146.0,358.7,-9.2,392,3557,0.12,2.22,0.00,0.000,6,0.121,0.044,2629,2479,3625,0,0,0,0,0,0
$GC,3875,-0.61,-146.0,398.8,-12.9,423,3880,0.12,2.25,0.00,0.000,4,0.211,0.060,2659,1077,3625,0,0,0,0,0,0
$GC,3911,-0.61,-146.0,402.8,-10.7,426,3915,0.00,2.28,0.00,0.000,6,0.000,0.057,2659,2490,3626,0,0,0,0,0,0
$STATE,3980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3980,begin apogee
$GC,3986,-0.12,0.0,410.1,10.2,432,4119,0.52,0.00,121.88,1.125,6,0.181,0.000,2810,2263,3029,0,0,0,0,0,0
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4120,begin climb
$GC,4123,0.62,146.0,413.8,0.0,444,4258,0.77,2.47,124.72,1.083,4,0.129,0.068,3064,884,2434,0,0,0,0,0,0
$GC,4301,0.58,146.0,399.8,12.2,460,4305,0.00,2.35,0.00,0.000,6,0.000,0.054,3064,2283,2430,0,0,0,0,0,0
$GC,4632,0.51,146.0,359.2,11.5,491,4637,0.12,2.28,0.00,0.000,4,0.180,0.070,3032,3687,2429,0,0,0,0,0,0
$GC,4718,0.48,146.0,349.4,11.3,498,4723,0.00,2.25,0.00,0.000,6,0.000,0.054,3040,2273,2428,0,0,0,0,0,0
$GC,5044,0.48,146.0,316.1,10.2,528,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2273,2428,0,0,0,0,0,0
$GC,5367,0.49,156.3,284.8,9.5,558,5382,0.00,2.35,9.05,0.894,4,0.000,0.066,3040,3684,2393,0,0,0,0,0,0
$GC,5394,0.50,162.0,281.6,9.7,560,5405,0.00,2.25,6.88,0.832,6,0.000,0.051,3050,2263,2369,0,0,0,0,0,0
$GC,5725,0.50,162.0,246.1,10.6,591,5729,0.00,2.22,0.00,0.000,4,0.000,0.068,3061,869,2368,0,0,0,0,0,0
$GC,5746,0.50,162.0,243.7,10.5,592,5754,0.12,2.25,0.00,0.000,6,0.176,0.054,3030,2285,2367,0,0,0,0,0,0
$GC,6072,0.56,189.7,214.3,8.7,623,6106,0.00,2.33,24.65,0.965,4,0.000,0.067,3030,3680,2255,0,0,0,0,0,0
$GC,6145,0.56,191.0,207.4,9.9,629,6152,0.00,2.25,0.00,0.000,6,0.000,0.051,3038,2267,2254,0,0,0,0,0,0
$GC,6471,0.61,202.7,177.7,9.5,660,6490,0.00,0.00,12.23,0.891,6,0.000,0.000,3037,2266,2203,0,0,0,0,0,0
$GC,6811,0.67,223.5,147.0,9.0,692,6841,0.12,2.33,19.30,0.915,4,0.103,0.068,3109,865,2118,0,0,0,0,0,0
$GC,6848,0.62,223.5,142.5,12.6,695,6855,0.17,2.25,0.00,0.000,6,0.182,0.054,3063,2281,2117,0,0,0,0,0,0
$GC,7173,0.62,223.5,107.4,10.3,726,7177,0.00,2.25,0.00,0.000,4,0.000,0.067,3063,3685,2115,0,0,0,0,0,0
$GC,7218,0.62,223.5,102.1,12.4,729,7225,0.00,2.25,0.00,0.000,6,0.000,0.051,3072,2266,2115,0,0,0,0,0,0
$GC,7562,0.65,223.5,66.2,11.0,788,7569,0.00,2.25,0.00,0.000,4,0.000,0.067,3082,860,2115,0,0,0,0,0,0
$GC,7605,0.68,223.5,61.7,10.7,795,7612,0.00,2.25,0.00,0.000,6,0.000,0.054,3082,2278,2114,0,0,0,0,0,0
$GC,7950,0.68,226.0,26.3,9.9,856,7957,0.00,2.28,0.00,0.000,4,0.000,0.069,3082,3694,2114,0,0,0,0,0,0
$GC,8027,0.68,226.0,18.0,11.7,869,8034,0.00,2.28,0.00,0.000,6,0.000,0.054,3092,2269,2114,0,0,0,0,0,0
$FREEZE,8.77,-0.794,-1.818,0,93,0
$FREEZE,8.44,-0.799,-1.818,0,93,0
$FREEZE,8.13,-0.812,-1.818,0,93,0
$FREEZE,7.93,-0.809,-1.817,0,93,0
$FREEZE,7.67,-0.799,-1.817,0,93,0
$FREEZE,7.38,-0.802,-1.816,0,93,0
$FREEZE,7.08,-0.813,-1.816,0,93,0
$FREEZE,6.64,-0.824,-1.816,0,93,0
$FREEZE,5.73,-0.822,-1.814,0,93,0
$FREEZE,5.08,-0.802,-1.814,0,93,0
$FREEZE,4.55,-0.836,-1.814,0,93,0
$FREEZE,4.36,-0.847,-1.813,0,93,0
$FREEZE,3.92,-0.862,-1.813,0,93,0
$FREEZE,3.62,-0.849,-1.812,0,93,0
$FREEZE,3.14,-0.863,-1.812,0,93,0
$FREEZE,2.87,-0.877,-1.812,0,93,0
$STATE,8197,end climb,SURFACE_DEPTH_REACHED
$STATE,8197,begin surface coast
$FREEZE,2.49,-0.894,-1.811,0,93,0
$FREEZE,2.37,-0.923,-1.813,0,93,0
$FREEZE,2.41,-0.934,-1.812,0,93,0
$FREEZE,2.42,-0.978,-1.814,0,93,0
$FREEZE,2.41,-0.890,-1.807,0,93,0
$FREEZE,2.41,-0.917,-1.810,0,93,0
$FREEZE,2.46,-0.890,-1.809,0,93,0
$FREEZE,2.49,-0.883,-1.809,0,93,0
$FINISH,2.5,1.026516
$STATE,8242,end surface coast,CONTROL_FINISHED_OK
$STATE,8242,begin surface
$SM_CCo,8382,148.30,0.063,0,0,751,559.04
$SM_GC,3.44,0.00,0.00,148.30,0.000,0.000,0.063,112,2499,751,-8.60,0.25,559.04
$RAFOS_CLK,442
$RAFOS,6,1307004541,8.833333,8.816944,108,56,52,51,50,50,783,150,171,132,188,159
$RAFOS,5,1307004064,8.700000,8.684444,119,75,60,59,58,55,647,202,134,219,185,146
$RAFOS,3,1307003105,8.433333,8.418056,62,60,59,58,56,54,202,212,116,157,170,140
$RAFOS_FIX,6644.824219,-5805.857422,020611,080856,2,114,4.61
$IRIDIUM_FIX,6641.98,-5703.22,020611,060613
$TT8_MAMPS,0.026215
$HUMID,46.29
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.20
$XPDR_PINGS,66
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,400.3,24.5
$24V_AH,22.4,98.570
$10V_AH,9.8,51.033
$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,12.125,87.575,318.700,148.300,0.000,0.000,0.000,0.000,17.750,0.000,0.000,2153.035,4140.643,641.247,1474.694,195.330,0.000,1466.077,0.000,1460.180,720.000,10.840,0.000
$DEVICE_MAMPS,211.140,152.235,1124.550,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.773,669.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,36701,908
$CAP_FILE_SIZE,101349,0
$CFSIZE,260165632,205160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,020611,060013,6641.980,-5703.219,181,99.0,181,-37.6