version: 66.08
glider: 141
mission: 15
dive: 224
start: 3 26 111 19 23 37
data:
$ID,141
$MISSION,15
$DIVE,224
$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,-30900.768
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,260311,164656,6720.945,-5754.380,0,2076.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-57.1
$GPS2,260311,164656,6720.945,-5754.380,181,99.0,181,-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,162.9,58330,-17.5,-10.000
$D_GRID,693
$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,-146.0,0.0,0.0,0,167,0.00,0.00,-146.20,0.000,2,0.000,0.000,111,2504,3328,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.4,-7.6,26,195,12.52,2.30,-6.90,0.000,4,0.324,0.066,2652,1074,3629,0,0,0,0,0,0
$GC,359,-0.52,-146.0,44.1,-15.2,59,367,0.15,2.20,0.00,0.000,6,0.207,0.054,2690,2474,3630,0,0,0,0,0,0
$GC,705,-0.46,-146.0,92.3,-13.4,120,711,0.00,2.28,0.00,0.000,4,0.000,0.068,2690,3900,3630,0,0,0,0,0,0
$GC,741,-0.43,-146.0,97.2,-12.8,126,749,0.12,2.15,0.00,0.000,6,0.209,0.040,2720,2489,3630,0,0,0,0,0,0
$GC,1075,-0.46,-146.0,131.4,-9.6,159,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2488,3630,0,0,0,0,0,0
$GC,1395,-0.51,-146.0,161.6,-8.6,189,1399,0.00,2.17,0.00,0.000,4,0.000,0.059,2721,1088,3628,0,0,0,0,0,0
$GC,1407,-0.55,-146.0,162.9,-9.3,189,1414,0.12,2.20,0.00,0.000,6,0.129,0.054,2677,2489,3628,0,0,0,0,0,0
$GC,1732,-0.51,-146.0,201.6,-11.6,220,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2490,3627,0,0,0,0,0,0
$GC,2052,-0.49,-146.0,236.9,-11.2,250,2056,0.00,2.28,0.00,0.000,4,0.000,0.068,2677,3899,3627,0,0,0,0,0,0
$GC,2091,-0.49,-146.0,241.6,-11.6,253,2098,0.00,2.17,0.00,0.000,6,0.000,0.040,2677,2478,3627,0,0,0,0,0,0
$GC,2416,-0.47,-146.0,277.9,-10.8,284,2418,0.12,0.00,0.00,0.000,6,0.210,0.000,2706,2478,3628,0,0,0,0,0,0
$GC,2738,-0.53,-146.0,304.2,-8.2,314,2742,0.00,2.25,0.00,0.000,4,0.000,0.063,2706,3900,3629,0,0,0,0,0,0
$GC,2768,-0.60,-146.0,306.8,-7.6,316,2773,0.12,2.12,0.00,0.000,6,0.122,0.037,2663,2486,3629,0,0,0,0,0,0
$GC,3099,-0.55,-146.0,343.5,-11.1,347,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2486,3630,0,0,0,0,0,0
$GC,3417,-0.51,-146.0,378.0,-10.1,377,3419,0.12,0.00,0.00,0.000,6,0.211,0.000,2692,2486,3631,0,0,0,0,0,0
$GC,3736,-0.55,-146.0,404.6,-9.2,407,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3633,0,0,0,0,0,0
$STATE,3946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3946,begin apogee
$GC,3952,-0.12,0.0,423.9,8.2,427,4076,0.40,0.00,118.40,1.138,6,0.175,0.000,2814,2256,3030,0,0,0,0,0,0
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,0.62,146.0,427.8,0.0,438,4211,0.80,2.53,120.93,1.092,4,0.134,0.055,3057,3687,2433,0,0,0,0,0,0
$GC,4269,0.49,146.0,409.5,14.2,456,4274,0.17,2.28,0.00,0.000,6,0.183,0.040,3026,2300,2429,0,0,0,0,0,0
$GC,4595,0.45,146.0,376.2,10.5,486,4599,0.00,2.28,0.00,0.000,4,0.000,0.055,3034,870,2427,0,0,0,0,0,0
$GC,4661,0.42,146.0,368.4,10.5,491,4669,0.08,2.28,0.00,0.000,6,0.161,0.044,3004,2282,2426,0,0,0,0,0,0
$GC,4986,0.44,160.0,337.4,9.4,522,5008,0.00,2.33,12.10,0.952,4,0.000,0.057,3004,3695,2376,0,0,0,0,0,0
$GC,5065,0.44,160.0,329.9,10.2,529,5069,0.00,2.22,0.00,0.000,6,0.000,0.040,3013,2261,2375,0,0,0,0,0,0
$GC,5391,0.47,186.5,300.0,8.8,559,5424,0.00,2.38,23.15,1.005,4,0.000,0.055,3012,3693,2269,0,0,0,0,0,0
$GC,5459,0.47,186.5,293.1,11.4,565,5463,0.00,2.22,0.00,0.000,6,0.000,0.040,3022,2276,2268,0,0,0,0,0,0
$GC,5785,0.48,188.0,259.4,9.9,595,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2276,2266,0,0,0,0,0,0
$GC,6104,0.51,215.7,230.4,8.7,625,6133,0.00,0.00,25.67,0.978,6,0.000,0.000,3022,2276,2149,0,0,0,0,0,0
$GC,6453,0.53,215.7,195.2,10.5,658,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2276,2146,0,0,0,0,0,0
$GC,6771,0.58,215.7,161.9,10.7,688,6775,0.00,2.17,0.00,0.000,4,0.000,0.054,3029,871,2145,0,0,0,0,0,0
$GC,6811,0.66,215.7,157.4,10.8,691,6815,0.15,2.17,0.00,0.000,6,0.095,0.042,3098,2290,2144,0,0,0,0,0,0
$GC,7136,0.60,215.7,107.4,13.9,721,7140,0.15,2.20,0.00,0.000,4,0.178,0.055,3058,3684,2144,0,0,0,0,0,0
$GC,7204,0.57,215.7,98.5,13.4,727,7210,0.00,2.15,0.00,0.000,6,0.000,0.039,3067,2267,2143,0,0,0,0,0,0
$GC,7548,0.57,215.7,60.4,10.6,788,7555,0.00,2.15,0.00,0.000,4,0.000,0.056,3077,875,2143,0,0,0,0,0,0
$GC,7595,0.57,215.7,55.3,10.8,796,7602,0.00,2.15,0.00,0.000,6,0.000,0.044,3077,2279,2144,0,0,0,0,0,0
$GC,7939,0.59,224.9,20.0,9.6,857,7948,0.00,2.20,3.92,0.612,4,0.000,0.057,3077,3684,2113,0,0,0,0,0,0
$GC,8017,0.54,224.9,11.2,12.0,870,8025,0.17,2.15,0.00,0.000,6,0.187,0.037,3041,2269,2112,0,0,0,0,0,0
$FREEZE,8.86,-1.647,-1.834,3,99,0
$STATE,8036,end climb,FINISH_DEPTH_REACHED
$STATE,8036,begin subsurface finish
$FINISH1,8.9,1.026833,33
$GC,8042,0.04,32.7,8.9,-11.4,873,8078,0.50,2.20,-25.70,0.000,4,0.156,0.067,2883,884,2899,0,0,0,0,0,0
$FINISH2,6.8
$STATE,8079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8079,begin surface
$RAFOS_CLK,453
$RAFOS,6,1301172550,20.833334,20.819445,123,69,59,53,53,51,656,190,181,209,1057,221
$RAFOS,5,1301172066,20.700001,20.684999,96,62,57,52,52,46,671,156,187,214,122,87
$RAFOS,4,1301171582,20.566668,20.550556,61,60,55,54,53,52,200,215,118,234,163,174
$RAFOS,3,1301171114,20.433332,20.420555,66,61,53,51,48,48,205,178,162,214,151,226
$RAFOS,2,1301170630,20.299999,20.286112,77,63,57,54,53,50,205,220,169,133,184,231
$RAFOS,1,1301170149,20.166666,20.152500,58,57,54,53,52,52,120,222,209,169,143,198
$RAFOS,0,1301169671,20.033333,20.019722,65,59,55,54,53,53,222,140,205,187,170,119
$RAFOS_FIX,6720.975586,-5751.119629,260311,202000,2,110,0.16
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,400.7,38.1
$24V_AH,23.1,32.396
$10V_AH,10.2,17.855
$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,15.725,60.475,304.175,0.000,0.000,99.746,17.404,0.000,1.250,0.000,183.289,2031.557,4296.078,462.633,1665.803,344.048,0.000,1206.264,0.000,1351.663,2520.000,10.678,0.000
$DEVICE_MAMPS,323.595,68.085,1137.555,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.896,658.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150460
$DATA_FILE_SIZE,33462,879
$CAP_FILE_SIZE,97184,0
$CFSIZE,260165632,236699648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,260311,204800,6720.976,-5751.120,0,2109.5,0,-38.2