version: 66.08
glider: 141
mission: 15
dive: 225
start: 3 26 111 21 40 13
data:
$ID,141
$MISSION,15
$DIVE,225
$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,46
$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
$GPS1,260311,204800,6720.976,-5751.120,0,2109.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.36
$_SM_ANGLEo,-1.7
$GPS2,260311,204800,6720.976,-5751.120,0,2109.5,0,-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,164.3,56444,-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,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,-6.95,0.000,2,0.000,0.000,2883,884,3194,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.8,-0.0,1,47,0.62,4.82,-9.80,0.000,4,0.119,0.062,2668,3899,3629,0,0,0,0,0,0
$GC,177,-0.56,-146.0,32.0,-14.8,27,184,0.00,2.15,0.00,0.000,6,0.000,0.037,2668,2487,3630,0,0,0,0,0,0
$GC,522,-0.47,-146.0,88.8,-16.4,88,529,0.15,0.00,0.00,0.000,6,0.213,0.000,2703,2487,3630,0,0,0,0,0,0
$GC,853,-0.47,-146.0,129.4,-11.6,126,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2487,3629,0,0,0,0,0,0
$GC,1173,-0.47,-146.0,163.3,-9.5,156,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2487,3627,0,0,0,0,0,0
$GC,1494,-0.50,-146.0,190.1,-7.5,186,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2487,3625,0,0,0,0,0,0
$GC,1821,-0.54,-146.0,214.0,-6.8,217,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2487,3624,0,0,0,0,0,0
$GC,2139,-0.59,-146.0,235.7,-6.7,247,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2486,3624,0,0,0,0,0,0
$GC,2457,-0.64,-146.0,258.7,-7.7,277,2459,0.15,0.00,0.00,0.000,6,0.120,0.000,2652,2486,3624,0,0,0,0,0,0
$GC,2776,-0.57,-146.0,297.7,-12.7,307,2780,0.00,2.25,0.00,0.000,4,0.000,0.063,2651,3898,3624,0,0,0,0,0,0
$GC,2853,-0.54,-146.0,307.6,-11.7,313,2861,0.15,2.10,0.00,0.000,6,0.196,0.035,2688,2487,3624,0,0,0,0,0,0
$GC,3179,-0.57,-146.0,338.0,-9.5,344,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2486,3625,0,0,0,0,0,0
$GC,3499,-0.60,-146.0,365.5,-8.5,374,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2486,3626,0,0,0,0,0,0
$GC,3819,-0.63,-146.0,392.1,-8.6,404,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2486,3627,0,0,0,0,0,0
$GC,4145,-0.96,-146.0,410.1,-0.1,435,4147,0.40,0.00,0.00,0.000,6,0.096,0.000,2548,2486,3627,0,0,0,0,0,0
$STATE,4205,end dive,NO_VERTICAL_VELOCITY
$STATE,4206,begin apogee
$GC,4211,-0.12,0.0,410.1,0.0,441,4334,0.82,0.00,116.85,1.123,6,0.132,0.000,2816,2251,3030,0,0,0,0,0,0
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4337,0.62,146.0,410.0,0.0,452,4467,0.75,2.47,120.18,1.076,4,0.132,0.054,3052,3677,2433,0,0,0,0,0,0
$GC,4541,0.50,146.0,390.3,15.0,471,4549,0.15,2.28,0.00,0.000,6,0.184,0.039,3027,2294,2429,0,0,0,0,0,0
$GC,4866,0.46,146.0,353.4,11.4,502,4870,0.00,2.28,0.00,0.000,4,0.000,0.054,3035,871,2427,0,0,0,0,0,0
$GC,4923,0.46,146.0,346.9,11.2,507,4927,0.00,2.22,0.00,0.000,6,0.000,0.042,3035,2276,2427,0,0,0,0,0,0
$GC,5248,0.41,146.0,307.5,12.0,537,5253,0.15,2.22,0.00,0.000,4,0.185,0.056,2998,3681,2426,0,0,0,0,0,0
$GC,5314,0.41,146.0,299.7,11.5,542,5321,0.00,2.17,0.00,0.000,6,0.000,0.041,3005,2269,2427,0,0,0,0,0,0
$GC,5639,0.44,168.2,268.3,9.0,573,5660,0.00,0.00,18.62,0.971,6,0.000,0.000,3005,2269,2343,0,0,0,0,0,0
$GC,5980,0.50,193.4,239.3,8.8,605,6007,0.00,2.28,22.08,0.962,4,0.000,0.053,3005,3684,2241,0,0,0,0,0,0
$GC,6057,0.50,193.4,231.4,11.1,611,6064,0.00,2.20,0.00,0.000,6,0.000,0.039,3015,2278,2240,0,0,0,0,0,0
$GC,6383,0.57,209.6,201.3,9.3,642,6406,0.10,2.25,15.07,0.919,4,0.117,0.054,3074,864,2174,0,0,0,0,0,0
$GC,6457,0.55,209.6,192.2,12.6,648,6464,0.12,2.20,0.00,0.000,6,0.180,0.043,3043,2279,2171,0,0,0,0,0,0
$GC,6782,0.55,209.6,156.5,10.8,679,6786,0.00,2.20,0.00,0.000,4,0.000,0.057,3043,3688,2171,0,0,0,0,0,0
$GC,6870,0.55,209.6,145.3,12.4,686,6878,0.00,2.22,0.00,0.000,6,0.000,0.041,3051,2268,2170,0,0,0,0,0,0
$GC,7197,0.55,209.6,106.5,10.9,717,7201,0.00,2.17,0.00,0.000,4,0.000,0.055,3060,865,2170,0,0,0,0,0,0
$GC,7265,0.55,209.6,99.3,10.1,723,7272,0.00,2.17,0.00,0.000,6,0.000,0.043,3060,2283,2169,0,0,0,0,0,0
$GC,7609,0.57,223.0,64.1,9.4,784,7628,0.00,2.20,12.50,0.856,4,0.000,0.056,3060,3684,2119,0,0,0,0,0,0
$GC,7674,0.57,223.0,57.2,10.9,795,7681,0.00,2.17,0.00,0.000,6,0.000,0.041,3070,2269,2119,0,0,0,0,0,0
$GC,8020,0.57,223.2,22.3,10.0,856,8026,0.00,2.20,0.00,0.000,4,0.000,0.057,3079,869,2117,0,0,0,0,0,0
$GC,8067,0.57,223.2,17.4,10.4,864,8074,0.12,2.15,0.00,0.000,6,0.176,0.043,3048,2277,2116,0,0,0,0,0,0
$FREEZE,8.88,-1.603,-1.836,3,100,2
$FREEZE,8.52,-1.602,-1.836,3,100,2
$FREEZE,8.11,-1.601,-1.835,3,100,2
$FREEZE,7.60,-1.603,-1.835,3,100,2
$FREEZE,7.19,-1.601,-1.835,3,100,2
$FREEZE,6.79,-1.606,-1.834,3,100,2
$FREEZE,6.29,-1.603,-1.834,3,100,2
$FREEZE,5.96,-1.602,-1.834,3,100,2
$FREEZE,5.55,-1.602,-1.833,3,100,2
$FREEZE,5.18,-1.603,-1.833,3,100,2
$FREEZE,4.76,-1.605,-1.833,3,100,2
$FREEZE,4.38,-1.604,-1.833,3,100,2
$FREEZE,4.06,-1.609,-1.832,3,100,2
$FREEZE,3.66,-1.612,-1.832,3,100,2
$FREEZE,3.53,-1.615,-1.832,3,100,2
$FREEZE,3.21,-1.616,-1.832,3,100,2
$FREEZE,2.94,-1.610,-1.831,3,100,2
$STATE,8253,end climb,SURFACE_DEPTH_REACHED
$STATE,8253,begin surface coast
$FREEZE,2.99,-1.610,-1.831,3,100,2
$FREEZE,2.93,-1.613,-1.831,3,100,2
$FREEZE,2.63,-1.612,-1.831,3,100,2
$FREEZE,2.49,-1.613,-1.831,3,100,2
$FREEZE,2.33,-1.618,-1.831,3,100,2
$FREEZE,2.33,-1.619,-1.831,3,100,2
$FREEZE,2.39,-1.622,-1.831,3,100,2
$FREEZE,2.39,-1.619,-1.831,3,100,2
$FREEZE,2.26,-1.614,-1.831,3,100,2
$FREEZE,2.25,-1.628,-1.832,3,100,2
$FREEZE,2.28,-1.607,-1.830,3,100,2
$FREEZE,2.29,-1.615,-1.831,3,100,2
$FINISH,2.3,1.026853
$STATE,8317,end surface coast,CONTROL_FINISHED_OK
$STATE,8317,begin surface
$SM_CCo,8454,146.50,0.067,0,0,750,559.04
$SM_GC,2.28,0.00,0.00,146.50,0.000,0.000,0.067,108,2509,750,-8.61,0.54,559.04
$RAFOS_CLK,449
$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,44.99
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,23.3,32.490
$10V_AH,10.3,17.908
$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,11.875,52.025,305.300,146.500,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2173.494,4451.052,492.604,1415.961,128.902,0.000,1234.639,0.000,1407.382,0.000,10.460,0.000
$DEVICE_MAMPS,212.670,64.260,1123.020,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.626,683.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33451,910
$CAP_FILE_SIZE,92309,0
$CFSIZE,260165632,236654592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,270311,000501,6721.657,-5736.887,39,1.7,39,-38.2