version: 66.08
glider: 141
mission: 15
dive: 222
start: 3 26 111 13 56 38
data:
$ID,141
$MISSION,15
$DIVE,222
$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,33
$R_STBD_OVSHOOT,32
$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,6.18
$_SM_ANGLEo,4.1
$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,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.78,0.000,2,0.000,0.000,2886,2277,3092,0,0,0,0,0,0
$GC,27,-0.62,-146.0,6.5,-0.0,1,52,0.62,2.65,-18.05,0.000,4,0.108,0.074,2665,3900,3628,0,0,0,0,0,0
$GC,71,-0.50,-146.0,10.8,-12.5,8,78,0.15,2.12,0.00,0.000,6,0.211,0.035,2701,2481,3629,0,0,0,0,0,0
$GC,416,-0.50,-146.0,50.3,-10.7,69,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2480,3629,0,0,0,0,0,0
$GC,760,-0.50,-146.0,89.9,-11.2,130,767,0.00,2.15,0.00,0.000,4,0.000,0.055,2700,1085,3627,0,0,0,0,0,0
$GC,795,-0.50,-146.0,94.1,-11.6,136,802,0.00,2.17,0.00,0.000,6,0.000,0.051,2700,2485,3628,0,0,0,0,0,0
$GC,1130,-0.50,-146.0,130.8,-11.1,172,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2485,3626,0,0,0,0,0,0
$GC,1451,-0.52,-146.0,163.8,-9.7,202,1455,0.00,2.25,0.00,0.000,4,0.000,0.068,2701,3905,3624,0,0,0,0,0,0
$GC,1513,-0.60,-146.0,169.9,-8.6,207,1517,0.00,2.15,0.00,0.000,6,0.000,0.040,2700,2492,3624,0,0,0,0,0,0
$GC,1839,-0.65,-146.0,198.4,-8.6,237,1844,0.15,2.25,0.00,0.000,4,0.122,0.064,2651,3899,3623,0,0,0,0,0,0
$GC,1856,-0.65,-146.0,200.0,-8.5,238,1860,0.00,2.15,0.00,0.000,6,0.000,0.039,2651,2486,3623,0,0,0,0,0,0
$GC,2181,-0.57,-146.0,237.8,-11.4,268,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2486,3623,0,0,0,0,0,0
$GC,2501,-0.51,-146.0,275.9,-12.2,298,2503,0.17,0.00,0.00,0.000,6,0.210,0.000,2694,2486,3623,0,0,0,0,0,0
$GC,2820,-0.55,-146.0,306.2,-8.9,328,2823,0.00,2.12,0.00,0.000,4,0.000,0.052,2693,1089,3624,0,0,0,0,0,0
$GC,2836,-0.60,-146.0,308.1,-9.2,329,2843,0.00,2.17,0.00,0.000,6,0.000,0.050,2693,2498,3623,0,0,0,0,0,0
$GC,3163,-0.65,-146.0,336.0,-8.3,360,3165,0.12,0.00,0.00,0.000,6,0.125,0.000,2649,2498,3623,0,0,0,0,0,0
$GC,3480,-0.60,-146.0,371.2,-11.1,390,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2498,3624,0,0,0,0,0,0
$GC,3800,-0.54,-146.0,405.3,-10.7,420,3802,0.15,0.00,0.00,0.000,6,0.205,0.000,2685,2498,3624,0,0,0,0,0,0
$GC,4117,-0.59,-146.0,429.3,-7.3,450,4121,0.00,2.22,0.00,0.000,4,0.000,0.065,2685,3903,3625,0,0,0,0,0,0
$GC,4152,-0.65,-146.0,431.9,-7.8,453,4156,0.00,2.12,0.00,0.000,6,0.000,0.036,2686,2476,3625,0,0,0,0,0,0
$GC,4483,-0.70,-146.0,454.3,-6.7,484,4488,0.15,2.28,0.00,0.000,4,0.118,0.062,2635,3897,3626,0,0,0,0,0,0
$GC,4494,-0.73,-146.0,455.2,-7.1,484,4500,0.00,2.10,0.00,0.000,6,0.000,0.035,2634,2485,3626,0,0,0,0,0,0
$STATE,4776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4776,begin apogee
$GC,4781,-0.12,0.0,487.2,11.7,511,4904,0.62,0.00,117.93,1.178,6,0.197,0.000,2811,2249,3030,0,0,0,0,0,0
$STATE,4905,end apogee,CONTROL_FINISHED_OK
$STATE,4905,begin climb
$GC,4907,0.62,146.0,491.0,0.0,522,5040,0.77,2.33,121.35,1.134,4,0.135,0.054,3061,900,2433,0,0,0,0,0,0
$GC,5086,0.54,146.0,475.5,12.5,538,5090,0.00,2.33,0.00,0.000,6,0.000,0.043,3061,2283,2429,0,0,0,0,0,0
$GC,5416,0.43,146.0,431.0,13.8,569,5421,0.20,2.28,0.00,0.000,4,0.180,0.059,3010,3694,2427,0,0,0,0,0,0
$GC,5516,0.39,146.0,417.7,13.3,577,5523,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2304,2426,0,0,0,0,0,0
$GC,5843,0.36,146.0,379.1,12.1,608,5848,0.15,2.22,0.00,0.000,4,0.187,0.057,2980,3693,2425,0,0,0,0,0,0
$GC,5894,0.36,146.0,373.6,10.3,612,5898,0.00,2.20,0.00,0.000,6,0.000,0.041,2988,2265,2424,0,0,0,0,0,0
$GC,6219,0.44,178.2,345.7,8.5,642,6249,0.00,0.00,26.62,1.054,6,0.000,0.000,2988,2265,2303,0,0,0,0,0,0
$GC,6569,0.52,202.8,314.5,8.9,675,6598,0.12,0.00,21.95,1.021,6,0.100,0.000,3044,2265,2202,0,0,0,0,0,0
$GC,6916,0.48,202.8,268.5,12.9,708,6920,0.00,2.20,0.00,0.000,4,0.000,0.055,3054,863,2199,0,0,0,0,0,0
$GC,6954,0.45,202.8,263.6,12.7,711,6962,0.15,2.22,0.00,0.000,6,0.177,0.044,3016,2289,2198,0,0,0,0,0,0
$GC,7279,0.45,202.8,229.2,10.8,742,7283,0.00,2.17,0.00,0.000,4,0.000,0.057,3016,3685,2197,0,0,0,0,0,0
$GC,7363,0.45,202.8,219.5,11.5,749,7367,0.00,2.17,0.00,0.000,6,0.000,0.041,3024,2265,2196,0,0,0,0,0,0
$GC,7688,0.45,202.8,183.7,10.6,779,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2266,2197,0,0,0,0,0,0
$GC,8007,0.49,216.6,151.2,9.4,809,8029,0.00,2.25,12.40,0.893,4,0.000,0.054,3030,868,2145,0,0,0,0,0,0
$GC,8075,0.56,221.1,144.5,9.8,815,8088,0.00,2.17,5.30,0.724,6,0.000,0.042,3030,2281,2128,0,0,0,0,0,0
$GC,8406,0.60,221.1,110.8,10.3,846,8410,0.00,2.20,0.00,0.000,4,0.000,0.057,3030,3694,2127,0,0,0,0,0,0
$GC,8496,0.60,221.1,100.1,12.3,854,8500,0.00,2.17,0.00,0.000,6,0.000,0.040,3041,2265,2127,0,0,0,0,0,0
$GC,8840,0.66,237.5,65.0,9.2,914,8865,0.10,2.22,15.77,0.877,4,0.117,0.054,3097,877,2060,0,0,0,0,0,0
$GC,8911,0.62,237.5,56.5,12.2,926,8918,0.12,2.20,0.00,0.000,6,0.190,0.044,3067,2287,2058,0,0,0,0,0,0
$GC,9258,0.62,237.5,19.8,12.1,987,9265,0.00,2.20,0.00,0.000,4,0.000,0.057,3066,3685,2058,0,0,0,0,0,0
$GC,9328,0.62,237.5,10.4,15.2,999,9334,0.00,2.17,0.00,0.000,6,0.000,0.045,3074,2272,2057,0,0,0,0,0,0
$FREEZE,8.71,-1.569,-1.836,3,97,0
$FREEZE,8.22,-1.572,-1.835,3,97,0
$FREEZE,7.78,-1.571,-1.835,3,97,0
$FREEZE,7.23,-1.572,-1.835,3,97,0
$FREEZE,6.73,-1.571,-1.834,3,97,0
$FREEZE,6.19,-1.573,-1.834,3,97,0
$FREEZE,5.70,-1.574,-1.833,3,97,0
$FREEZE,5.21,-1.575,-1.833,3,97,0
$FREEZE,4.55,-1.575,-1.833,3,97,0
$FREEZE,4.10,-1.576,-1.832,3,97,0
$FREEZE,3.47,-1.577,-1.832,3,97,0
$FREEZE,3.00,-1.579,-1.831,3,97,0
$FREEZE,2.37,-1.581,-1.831,3,97,0
$STATE,9403,end climb,SURFACE_DEPTH_REACHED
$STATE,9403,begin surface coast
$FREEZE,2.08,-1.585,-1.830,3,97,0
$FREEZE,2.19,-1.593,-1.831,3,97,0
$FREEZE,2.11,-1.592,-1.831,3,97,0
$FREEZE,2.14,-1.590,-1.831,3,97,0
$FREEZE,2.18,-1.592,-1.831,3,97,0
$FREEZE,2.22,-1.599,-1.831,3,97,0
$FINISH,2.2,1.026858
$STATE,9435,end surface coast,CONTROL_FINISHED_OK
$STATE,9435,begin surface
$RAFOS_CLK,498
$RAFOS,3,1301156702,16.433332,16.417223,57,56,55,54,52,50,162,205,147,123,220,171
$RAFOS,2,1301156225,16.299999,16.284721,55,54,54,53,53,51,209,177,146,195,218,127
$RAFOS,1,1301155749,16.166666,16.152500,59,58,57,53,53,50,190,416,161,152,173,116
$RAFOS,0,1301155271,16.033333,16.019722,65,55,54,54,53,53,228,120,210,186,162,195
$RAFOS_FIX,6720.620117,-5757.952637,260311,080856,2,110,0.15
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,450.8,51.0
$24V_AH,23.0,32.191
$10V_AH,10.3,17.732
$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,3.775,71.125,321.325,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2455.337,5069.150,352.367,1604.755,135.674,0.000,1202.888,0.000,1589.466,1800.000,12.480,0.000
$DEVICE_MAMPS,211.140,74.205,1178.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.401,763.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40065,1019
$CAP_FILE_SIZE,107166,0
$CFSIZE,260165632,236806144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2