version: 66.08
glider: 141
mission: 15
dive: 104
start: 3 8 111 11 42 28
data:
$ID,141
$MISSION,15
$DIVE,104
$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,-26099.324
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,080311,084656,6720.882,-5750.748,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-50.5
$GPS2,080311,084656,6720.882,-5750.748,181,99.0,181,-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,164.4,56125,-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,-146.0,0.0,0.0,0,174,0.00,0.00,-153.80,0.000,2,0.000,0.000,111,2503,3474,0,0,0,0,0,0
$GC,177,-0.62,-146.0,5.9,-12.2,27,202,12.30,2.28,-3.15,0.000,4,0.327,0.077,2653,3889,3630,0,0,0,0,0,0
$GC,411,-0.53,-146.0,56.5,-16.4,68,419,0.12,2.15,0.00,0.000,6,0.212,0.041,2683,2483,3632,0,0,0,0,0,0
$GC,759,-0.48,-146.0,109.7,-15.0,124,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2483,3630,0,0,0,0,0,0
$GC,1078,-0.44,-146.0,149.6,-11.9,154,1083,0.12,2.20,0.00,0.000,4,0.223,0.057,2715,1080,3629,0,0,0,0,0,0
$GC,1094,-0.44,-146.0,151.8,-11.2,155,1101,0.00,2.20,0.00,0.000,6,0.000,0.051,2715,2487,3629,0,0,0,0,0,0
$GC,1420,-0.49,-146.0,178.8,-8.1,186,1424,0.00,2.22,0.00,0.000,4,0.000,0.067,2715,3899,3629,0,0,0,0,0,0
$GC,1464,-0.57,-146.0,182.5,-7.8,189,1472,0.12,2.15,0.00,0.000,6,0.118,0.038,2671,2485,3629,0,0,0,0,0,0
$GC,1789,-0.52,-146.0,221.8,-13.4,220,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2485,3630,0,0,0,0,0,0
$GC,2108,-0.48,-146.0,262.6,-12.8,250,2110,0.15,0.00,0.00,0.000,6,0.212,0.000,2707,2484,3631,0,0,0,0,0,0
$GC,2427,-0.52,-146.0,293.1,-8.5,280,2431,0.00,2.12,0.00,0.000,4,0.000,0.053,2707,1088,3632,0,0,0,0,0,0
$GC,2437,-0.56,-146.0,294.1,-8.7,280,2445,0.00,2.17,0.00,0.000,6,0.000,0.049,2707,2492,3632,0,0,0,0,0,0
$GC,2763,-0.60,-146.0,319.9,-7.8,311,2765,0.12,0.00,0.00,0.000,6,0.122,0.000,2663,2493,3633,0,0,0,0,0,0
$GC,3080,-0.55,-146.0,355.6,-11.7,341,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2493,3633,0,0,0,0,0,0
$STATE,3142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3142,begin apogee
$GC,3148,-0.12,0.0,362.7,10.9,347,3270,0.52,0.00,117.15,1.095,6,0.195,0.000,2815,2253,3030,0,0,0,0,0,0
$STATE,3271,end apogee,CONTROL_FINISHED_OK
$STATE,3271,begin climb
$GC,3273,0.62,146.0,367.1,0.0,358,3396,0.77,0.00,118.68,1.055,6,0.137,0.000,3056,2253,2434,0,0,0,0,0,0
$GC,3713,0.54,146.0,318.7,12.7,400,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2253,2427,0,0,0,0,0,0
$GC,4031,0.48,146.0,277.7,12.6,430,4036,0.12,2.33,0.00,0.000,4,0.196,0.057,3025,3692,2426,0,0,0,0,0,0
$GC,4155,0.42,146.0,261.9,12.8,440,4162,0.12,2.15,0.00,0.000,6,0.191,0.041,3003,2298,2426,0,0,0,0,0,0
$GC,4480,0.44,146.0,229.5,10.0,471,4484,0.00,2.22,0.00,0.000,4,0.000,0.057,3006,873,2426,0,0,0,0,0,0
$GC,4553,0.50,151.1,222.4,9.8,477,4564,0.00,2.17,4.20,0.630,6,0.000,0.045,3006,2280,2414,0,0,0,0,0,0
$GC,4889,0.56,178.3,191.3,8.7,509,4924,0.12,2.28,24.17,0.951,4,0.104,0.057,3062,3678,2302,0,0,0,0,0,0
$GC,5026,0.46,178.3,172.5,14.7,521,5031,0.20,2.20,0.00,0.000,6,0.177,0.041,3019,2272,2300,0,0,0,0,0,0
$GC,5351,0.50,184.4,139.8,9.7,551,5363,0.00,0.00,6.28,0.751,6,0.000,0.000,3019,2272,2277,0,0,0,0,0,0
$GC,5683,0.56,202.0,107.4,9.2,582,5702,0.00,0.00,16.05,0.874,6,0.000,0.000,3019,2271,2206,0,0,0,0,0,0
$GC,6035,0.67,233.5,76.6,8.5,638,6065,0.17,0.00,27.27,0.887,6,0.087,0.000,3090,2271,2078,0,0,0,0,0,0
$GC,6404,0.64,233.5,29.6,11.5,703,6411,0.00,2.25,0.00,0.000,4,0.000,0.055,3090,3684,2073,0,0,0,0,0,0
$GC,6451,0.57,233.5,23.4,13.3,711,6459,0.20,2.17,0.00,0.000,6,0.181,0.040,3047,2265,2073,0,0,0,0,0,0
$FREEZE,8.90,-1.319,-1.828,3,6,0
$FREEZE,8.50,-1.319,-1.828,3,6,0
$FREEZE,8.17,-1.319,-1.828,3,6,0
$FREEZE,7.76,-1.318,-1.827,3,6,0
$FREEZE,7.29,-1.317,-1.827,3,6,0
$FREEZE,6.80,-1.318,-1.827,3,6,0
$FREEZE,6.47,-1.319,-1.826,3,6,0
$FREEZE,6.09,-1.322,-1.826,3,6,0
$FREEZE,5.58,-1.323,-1.826,3,6,0
$FREEZE,5.16,-1.321,-1.825,3,6,0
$FREEZE,4.62,-1.320,-1.825,3,6,0
$FREEZE,4.32,-1.320,-1.825,3,6,0
$FREEZE,3.80,-1.322,-1.824,3,6,0
$FREEZE,3.38,-1.321,-1.824,3,6,0
$FREEZE,2.97,-1.325,-1.823,3,6,0
$STATE,6678,end climb,SURFACE_DEPTH_REACHED
$STATE,6678,begin surface coast
$FREEZE,2.45,-1.327,-1.823,3,6,0
$FREEZE,1.99,-1.326,-1.823,3,6,0
$FREEZE,1.65,-1.332,-1.823,3,6,0
$FREEZE,1.30,-1.434,-1.053,3,6,0
$FINISH,1.3,1.015537
$STATE,6699,end surface coast,FINISH_DEPTH_REACHED
$STATE,6700,begin surface
$SM_CCo,6716,140.43,0.061,0,0,750,559.04
$SM_GC,1.52,0.00,0.00,140.43,0.000,0.000,0.061,108,2500,750,-8.61,0.28,559.04
$RAFOS_CLK,386
$RAFOS,6,1299588545,12.833333,12.818055,113,58,56,56,55,55,687,205,119,184,173,218
$RAFOS,5,1299588067,12.700000,12.685278,139,59,58,58,57,55,669,115,197,171,215,157
$RAFOS,4,1299587589,12.566667,12.552500,64,60,60,57,53,53,206,196,215,128,181,114
$RAFOS,3,1299587106,12.433333,12.418333,63,58,56,53,50,50,187,201,165,129,117,225
$RAFOS,2,1299586622,12.300000,12.283889,60,59,57,55,52,49,178,214,115,228,193,130
$RAFOS,1,1299586144,12.166667,12.151111,61,54,53,52,52,50,202,147,181,122,165,215
$RAFOS,0,1299585668,12.033333,12.018888,61,55,54,53,53,52,215,139,157,172,224,185
$RAFOS_FIX,6721.298828,-5749.103516,080311,121200,2,126,0.10
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,42.87
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,350.7,26.5
$24V_AH,23.7,17.439
$10V_AH,10.3,9.156
$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,23.275,35.950,313.800,140.425,0.000,98.622,17.403,0.000,1.250,0.000,183.285,1767.130,3433.576,574.781,1477.199,313.457,0.000,1217.984,0.000,1170.192,2520.000,11.804,0.000
$DEVICE_MAMPS,327.420,77.265,1095.480,61.200,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.062,572.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150652
$DATA_FILE_SIZE,30082,756
$CAP_FILE_SIZE,86360,0
$CFSIZE,260165632,244744192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.9
$GPS,080311,133824,6723.491,-5739.756,24,1.6,42,-38.2