version: 66.08
glider: 141
mission: 15
dive: 221
start: 3 26 111 11 13 16
data:
$ID,141
$MISSION,15
$DIVE,221
$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,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,-30532.186
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.52
$_SM_ANGLEo,1.8
$GPS2,260311,084656,6720.620,-5757.953,0,2109.5,0,-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,161.1,60139,-17.5,-10.000
$D_GRID,788
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.38,0.000,2,0.000,0.000,2884,867,3089,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.4,-0.0,1,52,0.62,4.82,-16.62,0.000,4,0.123,0.063,2670,3892,3626,0,0,0,0,0,0
$GC,205,-0.57,-146.0,30.5,-15.9,32,211,0.00,2.15,0.00,0.000,6,0.000,0.037,2670,2476,3628,0,0,0,0,0,0
$GC,550,-0.48,-146.0,85.1,-16.1,93,557,0.15,0.00,0.00,0.000,6,0.216,0.000,2705,2476,3627,0,0,0,0,0,0
$GC,883,-0.48,-146.0,123.3,-10.9,134,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2476,3625,0,0,0,0,0,0
$GC,1204,-0.52,-146.0,154.9,-9.1,164,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2476,3625,0,0,0,0,0,0
$GC,1522,-0.56,-146.0,182.1,-8.1,194,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2476,3623,0,0,0,0,0,0
$GC,1842,-0.61,-146.0,208.6,-8.4,224,1848,0.12,0.00,0.00,0.000,6,0.129,0.000,2662,2476,3623,0,0,0,0,0,0
$GC,2167,-0.57,-146.0,245.9,-10.5,255,2171,0.00,2.25,0.00,0.000,4,0.000,0.064,2662,3899,3622,0,0,0,0,0,0
$GC,2184,-0.52,-146.0,247.8,-11.1,256,2189,0.12,2.12,0.00,0.000,6,0.200,0.037,2690,2482,3622,0,0,0,0,0,0
$GC,2510,-0.55,-146.0,271.9,-6.9,286,2514,0.00,2.22,0.00,0.000,4,0.000,0.064,2690,3892,3622,0,0,0,0,0,0
$GC,2520,-0.58,-146.0,272.8,-6.9,286,2527,0.00,2.12,0.00,0.000,6,0.000,0.036,2690,2485,3622,0,0,0,0,0,0
$GC,2846,-0.62,-146.0,294.3,-7.0,317,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2485,3623,0,0,0,0,0,0
$GC,3164,-0.67,-146.0,318.1,-7.4,347,3166,0.12,0.00,0.00,0.000,6,0.127,0.000,2648,2485,3623,0,0,0,0,0,0
$GC,3483,-0.60,-146.0,353.1,-11.2,377,3487,0.00,2.12,0.00,0.000,4,0.000,0.052,2648,1087,3623,0,0,0,0,0,0
$GC,3527,-0.57,-146.0,358.3,-11.1,380,3534,0.12,2.15,0.00,0.000,6,0.216,0.050,2676,2484,3624,0,0,0,0,0,0
$GC,3852,-0.57,-146.0,386.5,-8.8,411,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2484,3624,0,0,0,0,0,0
$GC,4172,-0.57,-146.0,415.3,-9.3,441,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2485,3624,0,0,0,0,0,0
$GC,4489,-0.57,-146.0,444.0,-8.5,471,4493,0.00,2.22,0.00,0.000,4,0.000,0.064,2676,3898,3625,0,0,0,0,0,0
$GC,4513,-0.60,-146.0,446.0,-8.6,473,4517,0.00,2.10,0.00,0.000,6,0.000,0.034,2676,2484,3625,0,0,0,0,0,0
$GC,4839,-0.62,-146.0,473.5,-8.5,503,4843,0.00,2.25,0.00,0.000,4,0.000,0.061,2676,3900,3626,0,0,0,0,0,0
$GC,4868,-0.65,-146.0,476.2,-9.0,505,4872,0.00,2.12,0.00,0.000,6,0.000,0.035,2676,2484,3626,0,0,0,0,0,0
$STATE,5129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5129,begin apogee
$GC,5134,-0.12,0.0,498.3,8.5,529,5258,0.45,0.00,118.18,1.180,6,0.180,0.000,2812,2252,3030,0,0,0,0,0,0
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,0.62,146.0,501.4,0.0,540,5391,0.77,2.35,121.65,1.139,4,0.131,0.054,3065,891,2433,0,0,0,0,0,0
$GC,5454,0.53,146.0,484.1,13.3,558,5459,0.00,2.33,0.00,0.000,6,0.000,0.042,3065,2283,2429,0,0,0,0,0,0
$GC,5779,0.42,146.0,441.1,13.1,588,5784,0.22,2.28,0.00,0.000,4,0.183,0.056,3007,3696,2427,0,0,0,0,0,0
$GC,5942,0.38,146.0,422.1,11.5,602,5947,0.00,2.20,0.00,0.000,6,0.000,0.041,3015,2302,2426,0,0,0,0,0,0
$GC,6267,0.39,154.0,388.6,9.6,632,6280,0.00,2.28,6.38,0.854,4,0.000,0.054,3025,860,2403,0,0,0,0,0,0
$GC,6341,0.39,154.0,381.2,10.3,638,6349,0.10,2.25,0.00,0.000,6,0.168,0.044,2996,2279,2402,0,0,0,0,0,0
$GC,6667,0.45,187.0,353.2,8.5,669,6702,0.00,2.33,29.40,1.060,4,0.000,0.058,2996,3683,2267,0,0,0,0,0,0
$GC,6770,0.45,187.0,343.5,10.3,678,6774,0.00,2.20,0.00,0.000,6,0.000,0.041,3003,2276,2265,0,0,0,0,0,0
$GC,7095,0.50,202.8,314.0,9.3,708,7118,0.00,2.28,14.35,0.993,4,0.000,0.057,3014,870,2202,0,0,0,0,0,0
$GC,7180,0.60,238.1,306.5,8.4,715,7220,0.12,2.20,31.65,1.024,6,0.106,0.043,3072,2284,2059,0,0,0,0,0,0
$GC,7537,0.52,238.1,252.3,15.7,749,7542,0.15,2.22,0.00,0.000,4,0.176,0.057,3033,3681,2052,0,0,0,0,0,0
$GC,7594,0.52,238.1,244.3,13.0,754,7598,0.00,2.17,0.00,0.000,6,0.000,0.042,3042,2276,2052,0,0,0,0,0,0
$GC,7919,0.52,238.1,203.4,12.0,784,7923,0.00,2.20,0.00,0.000,4,0.000,0.055,3051,861,2051,0,0,0,0,0,0
$GC,7997,0.56,238.1,194.6,10.5,790,8003,0.00,2.20,0.00,0.000,6,0.000,0.041,3051,2284,2050,0,0,0,0,0,0
$GC,8323,0.56,238.1,154.4,13.0,821,8327,0.00,2.17,0.00,0.000,4,0.000,0.056,3051,3691,2049,0,0,0,0,0,0
$GC,8447,0.53,238.1,136.7,13.8,831,8454,0.00,2.17,0.00,0.000,6,0.000,0.041,3061,2264,2049,0,0,0,0,0,0
$GC,8773,0.53,238.1,97.4,10.6,864,8780,0.00,2.15,0.00,0.000,4,0.000,0.055,3071,865,2050,0,0,0,0,0,0
$GC,8826,0.53,238.1,91.9,10.9,873,8833,0.12,2.15,0.00,0.000,6,0.176,0.042,3039,2276,2048,0,0,0,0,0,0
$GC,9174,0.62,260.9,63.1,8.9,934,9199,0.00,2.28,19.52,0.900,4,0.000,0.057,3039,3681,1965,0,0,0,0,0,0
$GC,9234,0.68,260.9,57.0,10.7,944,9242,0.12,2.20,0.00,0.000,6,0.109,0.041,3093,2269,1964,0,0,0,0,0,0
$GC,9581,0.66,260.9,15.7,12.1,1005,9588,0.00,2.20,0.00,0.000,4,0.000,0.057,3104,867,1962,0,0,0,0,0,0
$FREEZE,8.73,-1.653,-1.835,3,96,0
$STATE,9639,end climb,FINISH_DEPTH_REACHED
$STATE,9639,begin subsurface finish
$FINISH1,8.7,1.026849,32
$GC,9647,0.04,31.9,8.7,-12.6,1015,9689,0.73,0.00,-33.42,0.000,6,0.173,0.000,2886,2276,2900,0,0,0,0,0,0
$FINISH2,6.0
$STATE,9690,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9690,begin surface
$RAFOS_CLK,505
$RAFOS,6,1301143741,12.833333,12.816944,137,66,58,57,51,48,688,162,212,194,174,310
$RAFOS,5,1301143262,12.700000,12.683888,61,60,58,55,54,50,170,217,203,226,117,191
$RAFOS,4,1301142789,12.566667,12.552500,66,65,61,56,53,52,198,214,183,170,144,154
$RAFOS,3,1301142303,12.433333,12.417500,61,58,56,56,55,53,215,234,114,200,181,141
$RAFOS,2,1301141825,12.300000,12.284722,64,60,58,55,54,51,221,163,206,138,184,121
$RAFOS,1,1301141349,12.166667,12.152500,61,56,51,50,49,49,214,223,125,197,168,157
$RAFOS,0,1301140871,12.033333,12.019722,68,67,65,56,56,49,115,217,140,181,235,169
$RAFOS_FIX,6720.620117,-5757.952637,260311,080856,2,110,0.15
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,27.3
$ALTIM_BOTTOM_PING,450.2,62.2
$24V_AH,23.1,32.091
$10V_AH,10.2,17.674
$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,4.075,78.000,341.125,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2425.832,5146.155,390.659,1645.673,138.663,0.000,1259.566,0.000,1628.033,2520.000,12.526,0.000
$DEVICE_MAMPS,216.495,64.260,1180.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.246,766.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,40008,1022
$CAP_FILE_SIZE,107200,0
$CFSIZE,260165632,236867584
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2