version: 66.08
glider: 141
mission: 15
dive: 223
start: 3 26 111 16 37 49
data:
$ID,141
$MISSION,15
$DIVE,223
$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,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,2.48
$_SM_ANGLEo,7.9
$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,-146.0,0.0,0.0,0,114,0.00,0.32,-90.65,0.000,6,0.000,0.145,3075,2494,3625,0,0,0,0,0,0
$GC,118,-0.62,-146.0,5.1,-9.7,17,125,1.23,2.22,0.00,0.000,4,0.132,0.062,2672,3899,3625,0,0,0,0,0,0
$GC,177,-0.62,-146.0,11.5,-10.3,27,184,0.00,2.15,0.00,0.000,6,0.000,0.040,2672,2483,3626,0,0,0,0,0,0
$GC,523,-0.55,-146.0,61.0,-13.4,88,530,0.00,2.15,0.00,0.000,4,0.000,0.054,2672,1084,3625,0,0,0,0,0,0
$GC,566,-0.50,-146.0,67.2,-13.8,95,573,0.00,2.20,0.00,0.000,6,0.000,0.051,2671,2484,3625,0,0,0,0,0,0
$GC,905,-0.44,-146.0,114.8,-14.7,147,910,0.17,2.30,0.00,0.000,4,0.214,0.067,2715,3906,3623,0,0,0,0,0,0
$GC,937,-0.49,-146.0,119.0,-11.3,149,944,0.00,2.15,0.00,0.000,6,0.000,0.038,2715,2482,3623,0,0,0,0,0,0
$GC,1263,-0.54,-146.0,151.5,-9.7,180,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2482,3622,0,0,0,0,0,0
$GC,1585,-0.61,-146.0,180.1,-7.8,210,1591,0.15,0.00,0.00,0.000,6,0.118,0.000,2664,2482,3620,0,0,0,0,0,0
$GC,1910,-0.57,-146.0,215.6,-10.4,241,1914,0.00,2.25,0.00,0.000,4,0.000,0.065,2664,3899,3620,0,0,0,0,0,0
$GC,1962,-0.57,-146.0,220.9,-9.6,245,1966,0.00,2.15,0.00,0.000,6,0.000,0.038,2664,2478,3620,0,0,0,0,0,0
$GC,2292,-0.53,-146.0,254.8,-10.0,276,2296,0.00,2.28,0.00,0.000,4,0.000,0.063,2664,3900,3619,0,0,0,0,0,0
$GC,2310,-0.50,-146.0,256.5,-10.0,277,2315,0.15,2.12,0.00,0.000,6,0.200,0.037,2701,2489,3619,0,0,0,0,0,0
$GC,2641,-0.56,-146.0,282.0,-7.7,308,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2489,3620,0,0,0,0,0,0
$GC,2961,-0.63,-146.0,306.7,-7.7,338,2963,0.12,0.00,0.00,0.000,6,0.125,0.000,2658,2489,3620,0,0,0,0,0,0
$GC,3278,-0.59,-146.0,340.1,-10.9,368,3282,0.00,2.25,0.00,0.000,4,0.000,0.063,2658,3899,3621,0,0,0,0,0,0
$GC,3318,-0.59,-146.0,344.4,-10.7,371,3322,0.00,2.12,0.00,0.000,6,0.000,0.036,2658,2487,3621,0,0,0,0,0,0
$GC,3648,-0.56,-146.0,380.5,-10.9,402,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2487,3622,0,0,0,0,0,0
$GC,3969,-0.53,-146.0,414.4,-10.7,432,3973,0.12,2.28,0.00,0.000,4,0.210,0.063,2687,3902,3622,0,0,0,0,0,0
$GC,3990,-0.55,-146.0,416.6,-9.2,433,3997,0.00,2.12,0.00,0.000,6,0.000,0.034,2687,2484,3622,0,0,0,0,0,0
$GC,4316,-0.60,-146.0,443.3,-8.3,464,4320,0.00,2.25,0.00,0.000,4,0.000,0.062,2687,3901,3623,0,0,0,0,0,0
$GC,4339,-0.66,-146.0,445.3,-8.8,466,4344,0.12,2.12,0.00,0.000,6,0.119,0.034,2644,2483,3623,0,0,0,0,0,0
$STATE,4450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4450,begin apogee
$GC,4456,-0.12,0.0,458.3,12.3,476,4579,0.60,0.00,116.62,1.154,6,0.190,0.000,2815,2248,3031,0,0,0,0,0,0
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4581,0.62,146.0,461.7,0.0,487,4711,0.75,2.33,120.85,1.111,4,0.128,0.054,3063,896,2434,0,0,0,0,0,0
$GC,4769,0.53,146.0,444.8,13.3,504,4773,0.00,2.28,0.00,0.000,6,0.000,0.041,3063,2277,2430,0,0,0,0,0,0
$GC,5094,0.41,146.0,398.3,14.1,534,5099,0.22,2.28,0.00,0.000,4,0.181,0.056,3004,3688,2428,0,0,0,0,0,0
$GC,5190,0.38,146.0,386.8,11.1,542,5195,0.00,2.20,0.00,0.000,6,0.000,0.040,3012,2290,2428,0,0,0,0,0,0
$GC,5521,0.38,147.7,354.8,9.9,573,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2290,2428,0,0,0,0,0,0
$GC,5841,0.38,148.8,323.2,9.9,603,5845,0.00,2.22,0.00,0.000,4,0.000,0.055,3012,3688,2427,0,0,0,0,0,0
$GC,5938,0.33,148.8,312.0,11.4,611,5942,0.17,2.20,0.00,0.000,6,0.179,0.041,2977,2264,2427,0,0,0,0,0,0
$GC,6268,0.46,200.9,287.0,7.6,642,6324,0.12,2.30,45.50,1.027,4,0.103,0.054,3043,868,2210,0,0,0,0,0,0
$GC,6362,0.46,200.9,276.0,12.2,650,6369,0.00,2.25,0.00,0.000,6,0.000,0.041,3043,2273,2207,0,0,0,0,0,0
$GC,6688,0.43,200.9,232.0,14.2,681,6692,0.15,2.25,0.00,0.000,4,0.177,0.056,3004,3685,2204,0,0,0,0,0,0
$GC,6800,0.45,200.9,217.6,12.6,690,6807,0.00,2.20,0.00,0.000,6,0.000,0.041,3012,2267,2203,0,0,0,0,0,0
$GC,7125,0.48,200.9,182.8,10.1,721,7129,0.00,2.17,0.00,0.000,4,0.000,0.054,3020,862,2203,0,0,0,0,0,0
$GC,7188,0.57,216.9,176.8,9.3,726,7211,0.00,2.20,14.00,0.907,6,0.000,0.042,3020,2284,2144,0,0,0,0,0,0
$GC,7529,0.61,216.9,143.4,10.4,758,7534,0.12,2.20,0.00,0.000,4,0.103,0.056,3076,3689,2142,0,0,0,0,0,0
$GC,7647,0.52,216.9,125.2,15.9,768,7654,0.20,2.17,0.00,0.000,6,0.181,0.041,3033,2265,2142,0,0,0,0,0,0
$GC,7975,0.61,254.2,93.9,8.3,805,8011,0.00,0.00,32.62,0.917,6,0.000,0.000,3033,2265,1993,0,0,0,0,0,0
$GC,8351,0.71,274.9,62.2,9.0,871,8376,0.17,2.28,18.67,0.874,4,0.088,0.055,3114,870,1909,0,0,0,0,0,0
$GC,8406,0.68,274.9,55.2,13.6,880,8413,0.12,2.20,0.00,0.000,6,0.193,0.042,3084,2282,1906,0,0,0,0,0,0
$GC,8752,0.68,274.9,12.8,13.4,941,8759,0.00,2.20,0.00,0.000,4,0.000,0.059,3084,3684,1905,0,0,0,0,0,0
$FREEZE,8.88,-1.566,-1.836,3,98,0
$FREEZE,8.22,-1.572,-1.835,3,98,0
$FREEZE,7.49,-1.581,-1.835,3,98,0
$FREEZE,6.70,-1.585,-1.834,3,98,0
$GC,8793,0.68,274.9,6.7,13.7,948,8800,0.00,2.17,0.00,0.000,6,0.000,0.041,3092,2265,1904,0,0,0,0,0,0
$FREEZE,5.29,-1.583,-1.833,3,98,0
$FREEZE,4.76,-1.585,-1.833,3,98,0
$FREEZE,4.22,-1.585,-1.832,3,98,0
$FREEZE,3.60,-1.586,-1.832,3,98,0
$FREEZE,2.77,-1.581,-1.831,3,98,0
$STATE,8826,end climb,SURFACE_DEPTH_REACHED
$STATE,8826,begin surface coast
$FREEZE,1.99,-1.581,-1.830,3,98,0
$FREEZE,1.69,-1.597,-1.743,3,98,0
$FINISH,1.7,1.025602
$STATE,8839,end surface coast,FINISH_DEPTH_REACHED
$STATE,8839,begin surface
$SM_CCo,8856,123.95,0.069,0,0,750,559.04
$SM_GC,2.89,0.00,0.00,123.95,0.000,0.000,0.069,111,2503,750,-8.60,0.37,559.04
$RAFOS_CLK,466
$RAFOS,6,1301158142,16.833334,16.817223,79,62,56,52,50,48,692,203,221,175,152,232
$RAFOS,5,1301157663,16.700001,16.684166,74,62,55,50,50,49,688,205,180,146,121,216
$RAFOS,4,1301157182,16.566668,16.550556,64,60,59,56,50,49,214,157,113,193,171,128
$RAFOS_FIX,6720.945312,-5754.379883,260311,161656,2,76,0.09
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,450.5,22.6
$24V_AH,23.1,32.299
$10V_AH,10.3,17.790
$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,13.175,76.200,348.275,123.950,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2255.770,4558.792,551.544,1535.105,147.518,0.000,1382.359,0.000,1528.061,720.000,12.403,0.000
$DEVICE_MAMPS,214.200,144.585,1153.620,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.939,720.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36757,956
$CAP_FILE_SIZE,105907,0
$CFSIZE,260165632,236752896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,260311,164656,6720.945,-5754.380,0,2076.5,0,-38.2