version: 66.08
glider: 141
mission: 15
dive: 226
start: 3 27 111 0 19 2
data:
$ID,141
$MISSION,15
$DIVE,226
$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,400
$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,-30902.021
$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,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
$GPS1,270311,000501,6721.657,-5736.887,39,1.7,39,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-58.7
$GPS2,270311,001831,6721.466,-5736.767,9,1.1,9,-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,172.4,49090,-17.5,-10.000
$D_GRID,414
$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,-146.0,0.0,0.0,0,192,0.00,0.00,-173.23,0.000,2,0.000,0.000,108,2509,3384,0,0,0,0,0,0
$GC,194,-0.62,-146.0,5.3,-10.9,30,220,12.73,2.28,-5.60,0.000,4,0.324,0.064,2651,1082,3628,0,0,0,0,0,0
$GC,401,-0.51,-146.0,49.9,-18.3,66,408,0.17,2.22,0.00,0.000,6,0.207,0.054,2694,2475,3629,0,0,0,0,0,0
$GC,746,-0.48,-146.0,97.5,-13.4,127,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2476,3629,0,0,0,0,0,0
$GC,1079,-0.45,-146.0,139.8,-12.4,160,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2476,3628,0,0,0,0,0,0
$GC,1396,-0.45,-146.0,176.6,-11.4,190,1400,0.00,2.28,0.00,0.000,4,0.000,0.069,2694,3899,3627,0,0,0,0,0,0
$GC,1417,-0.45,-146.0,179.1,-11.0,191,1425,0.00,2.20,0.00,0.000,6,0.000,0.041,2695,2490,3626,0,0,0,0,0,0
$GC,1743,-0.45,-146.0,211.7,-9.5,222,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2490,3627,0,0,0,0,0,0
$GC,2064,-0.45,-146.0,243.6,-10.1,252,2068,0.00,2.17,0.00,0.000,4,0.000,0.056,2695,1085,3628,0,0,0,0,0,0
$GC,2131,-0.49,-146.0,250.5,-9.4,257,2138,0.00,2.22,0.00,0.000,6,0.000,0.050,2695,2501,3628,0,0,0,0,0,0
$GC,2459,-0.52,-146.0,280.3,-9.0,288,2463,0.00,2.22,0.00,0.000,4,0.000,0.068,2695,3901,3628,0,0,0,0,0,0
$GC,2492,-0.57,-146.0,283.7,-9.1,290,2499,0.00,2.17,0.00,0.000,6,0.000,0.039,2695,2480,3628,0,0,0,0,0,0
$GC,2818,-0.61,-146.0,311.2,-8.1,321,2822,0.00,2.15,0.00,0.000,4,0.000,0.055,2695,1083,3629,0,0,0,0,0,0
$GC,2845,-0.65,-146.0,313.7,-8.7,323,2853,0.12,2.20,0.00,0.000,6,0.126,0.051,2653,2500,3628,0,0,0,0,0,0
$GC,3173,-0.58,-146.0,348.8,-10.8,354,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2500,3629,0,0,0,0,0,0
$GC,3490,-0.52,-146.0,383.6,-11.5,384,3495,0.15,2.25,0.00,0.000,4,0.201,0.067,2689,3907,3629,0,0,0,0,0,0
$GC,3500,-0.47,-146.0,384.8,-11.2,384,3507,0.00,2.15,0.00,0.000,6,0.000,0.036,2689,2484,3630,0,0,0,0,0,0
$GC,3826,-0.50,-146.0,411.1,-7.8,415,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2484,3631,0,0,0,0,0,0
$STATE,3865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3866,begin apogee
$GC,3871,-0.12,0.0,414.4,7.9,419,3995,0.43,0.00,118.35,1.143,6,0.174,0.000,2818,2258,3030,0,0,0,0,0,0
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3998,0.62,146.0,417.5,0.0,430,4129,0.75,2.40,120.38,1.093,4,0.138,0.056,3060,900,2434,0,0,0,0,0,0
$GC,4159,0.55,146.0,403.9,13.0,445,4163,0.00,2.33,0.00,0.000,6,0.000,0.044,3059,2284,2431,0,0,0,0,0,0
$GC,4485,0.47,146.0,362.3,12.5,475,4490,0.15,2.33,0.00,0.000,4,0.184,0.059,3023,3696,2429,0,0,0,0,0,0
$GC,4597,0.42,146.0,348.8,11.0,484,4605,0.12,2.20,0.00,0.000,6,0.197,0.040,3003,2294,2427,0,0,0,0,0,0
$GC,4923,0.52,197.1,321.5,7.6,515,4971,0.00,2.33,43.10,1.030,4,0.000,0.054,3009,872,2225,0,0,0,0,0,0
$GC,5019,0.63,232.1,314.0,8.4,523,5056,0.17,2.25,30.92,1.003,6,0.091,0.044,3085,2285,2083,0,0,0,0,0,0
$GC,5382,0.55,232.1,258.9,15.3,557,5387,0.15,2.22,0.00,0.000,4,0.179,0.056,3046,3686,2075,0,0,0,0,0,0
$GC,5437,0.55,232.1,250.6,14.1,561,5444,0.00,2.20,0.00,0.000,6,0.000,0.041,3055,2276,2074,0,0,0,0,0,0
$GC,5764,0.55,232.1,206.3,13.4,592,5768,0.00,2.20,0.00,0.000,4,0.000,0.054,3064,864,2074,0,0,0,0,0,0
$GC,5831,0.58,232.1,197.5,13.0,597,5838,0.00,2.20,0.00,0.000,6,0.000,0.043,3064,2286,2073,0,0,0,0,0,0
$GC,6157,0.58,232.1,153.7,13.8,628,6161,0.00,2.17,0.00,0.000,4,0.000,0.057,3064,3683,2073,0,0,0,0,0,0
$GC,6252,0.55,232.1,138.9,16.0,636,6260,0.12,2.17,0.00,0.000,6,0.183,0.041,3043,2265,2072,0,0,0,0,0,0
$GC,6579,0.61,236.9,102.7,9.8,667,6583,0.00,2.17,0.00,0.000,4,0.000,0.057,3043,865,2072,0,0,0,0,0,0
$GC,6620,0.69,236.9,98.6,10.1,671,6628,0.12,2.20,0.00,0.000,6,0.110,0.044,3097,2282,2071,0,0,0,0,0,0
$GC,6967,0.69,236.9,53.3,13.0,732,6974,0.00,2.20,0.00,0.000,4,0.000,0.059,3097,3681,2072,0,0,0,0,0,0
$GC,7032,0.62,236.9,44.3,14.4,743,7039,0.17,2.17,0.00,0.000,6,0.185,0.042,3063,2274,2072,0,0,0,0,0,0
$GC,7380,0.64,236.9,9.3,10.4,804,7387,0.00,2.20,0.00,0.000,4,0.000,0.057,3071,873,2071,0,0,0,0,0,0
$FREEZE,7.62,-1.602,-1.835,3,1,0
$FREEZE,7.22,-1.600,-1.834,3,1,0
$STATE,7398,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7398,begin subsurface finish
$FINISH1,7.2,1.026847,32
$GC,7406,0.04,32.0,7.2,-9.9,807,7449,0.62,2.28,-32.88,0.000,4,0.168,0.068,2881,871,2901,0,0,0,0,0,0
$FINISH2,4.9
$STATE,7450,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7450,begin surface
$RAFOS_CLK,346
$RAFOS,6,1301186947,0.833333,0.818611,66,66,62,55,52,50,174,209,200,115,686,157
$RAFOS,5,1301186462,0.700000,0.683889,82,61,58,55,54,50,677,143,191,171,220,201
$RAFOS,4,1301185984,0.566667,0.551111,66,56,56,56,54,50,204,188,178,231,151,131
$RAFOS,3,1301185501,0.433333,0.416944,60,60,58,55,55,52,166,215,177,157,224,198
$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,45.70
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.5
$ALTIM_BOTTOM_PING,400.1,35.4
$24V_AH,23.0,32.621
$10V_AH,10.2,17.968
$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,16.000,69.275,312.750,0.000,0.000,30.461,20.464,503.722,1.250,0.000,12.628,1906.822,3703.549,489.359,1842.095,325.368,0.000,1226.871,0.000,1304.013,1440.000,10.672,0.000
$DEVICE_MAMPS,323.595,68.850,1142.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.930,614.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30083,814
$CAP_FILE_SIZE,97877,0
$CFSIZE,260165632,236609536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,270311,001831,6721.466,-5736.767,9,1.1,9,-38.2