version: 66.08
glider: 141
mission: 15
dive: 233
start: 3 27 111 16 25 4
data:
$ID,141
$MISSION,15
$DIVE,233
$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,-30903.277
$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,29
$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
$GPS1,270311,135332,6719.743,-5731.534,13,1.3,13,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-4.5
$GPS2,270311,135332,6719.743,-5731.534,13,1.3,13,-38.1
$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,172.7,44157,-17.5,-10.000
$D_GRID,448
$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,-146.0,0.0,0.0,0,60,0.00,0.28,-38.30,0.000,6,0.000,0.171,2888,2492,3625,0,0,0,0,0,0
$GC,62,-0.62,-146.0,4.5,-4.7,7,70,0.65,2.28,0.00,0.000,4,0.138,0.067,2675,3899,3626,0,0,0,0,0,0
$GC,105,-0.67,-146.0,7.1,-6.1,14,112,0.00,2.20,0.00,0.000,6,0.000,0.044,2675,2489,3626,0,0,0,0,0,0
$GC,450,-0.59,-146.0,57.3,-15.2,75,456,0.00,2.22,0.00,0.000,4,0.000,0.057,2675,1077,3626,0,0,0,0,0,0
$GC,497,-0.55,-146.0,64.8,-14.8,83,504,0.00,2.22,0.00,0.000,6,0.000,0.056,2675,2485,3626,0,0,0,0,0,0
$GC,837,-0.48,-146.0,114.6,-14.2,135,842,0.12,2.30,0.00,0.000,4,0.226,0.073,2702,3899,3624,0,0,0,0,0,0
$GC,888,-0.52,-146.0,120.8,-10.7,139,892,0.00,2.20,0.00,0.000,6,0.000,0.045,2703,2480,3624,0,0,0,0,0,0
$GC,1218,-0.55,-146.0,156.5,-10.4,170,1222,0.00,2.30,0.00,0.000,4,0.000,0.070,2703,3897,3622,0,0,0,0,0,0
$GC,1234,-0.58,-146.0,158.4,-10.4,171,1241,0.00,2.17,0.00,0.000,6,0.000,0.044,2702,2484,3622,0,0,0,0,0,0
$GC,1560,-0.62,-146.0,188.2,-8.5,202,1565,0.12,2.22,0.00,0.000,4,0.124,0.062,2660,1075,3621,0,0,0,0,0,0
$GC,1572,-0.64,-146.0,189.3,-8.5,202,1579,0.00,2.25,0.00,0.000,6,0.000,0.059,2660,2496,3620,0,0,0,0,0,0
$GC,1897,-0.59,-146.0,225.9,-10.9,233,1901,0.00,2.28,0.00,0.000,4,0.000,0.073,2660,3898,3620,0,0,0,0,0,0
$GC,1919,-0.53,-146.0,228.6,-11.6,234,1927,0.12,2.17,0.00,0.000,6,0.205,0.046,2689,2489,3620,0,0,0,0,0,0
$GC,2245,-0.53,-146.0,257.2,-8.9,265,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2489,3620,0,0,0,0,0,0
$GC,2564,-0.56,-146.0,284.4,-8.4,295,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2489,3621,0,0,0,0,0,0
$GC,2884,-0.59,-146.0,309.7,-7.4,325,2888,0.00,2.17,0.00,0.000,4,0.000,0.058,2689,1081,3621,0,0,0,0,0,0
$GC,2905,-0.62,-146.0,311.7,-8.2,326,2912,0.00,2.20,0.00,0.000,6,0.000,0.054,2689,2490,3621,0,0,0,0,0,0
$GC,3231,-0.65,-146.0,336.0,-7.9,357,3236,0.12,2.28,0.00,0.000,4,0.116,0.070,2644,3903,3622,0,0,0,0,0,0
$GC,3253,-0.63,-146.0,338.1,-9.1,358,3260,0.00,2.17,0.00,0.000,6,0.000,0.044,2644,2481,3622,0,0,0,0,0,0
$GC,3578,-0.56,-146.0,374.6,-11.3,389,3583,0.15,2.33,0.00,0.000,4,0.208,0.068,2680,3905,3622,0,0,0,0,0,0
$GC,3588,-0.49,-146.0,376.0,-11.3,389,3595,0.00,2.15,0.00,0.000,6,0.000,0.041,2680,2487,3622,0,0,0,0,0,0
$GC,3914,-0.52,-146.0,403.2,-8.2,420,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2487,3623,0,0,0,0,0,0
$GC,4234,-0.54,-146.0,429.6,-8.8,450,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3624,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.12,0.0,449.0,8.6,471,4582,0.45,0.00,117.12,1.145,6,0.175,0.000,2816,2251,3029,0,0,0,0,0,0
$STATE,4582,end apogee,CONTROL_FINISHED_OK
$STATE,4582,begin climb
$GC,4585,0.62,146.0,451.7,0.0,482,4714,0.75,2.42,120.45,1.104,4,0.132,0.059,3062,862,2433,0,0,0,0,0,0
$GC,4755,0.55,146.0,436.5,13.2,498,4759,0.00,2.40,0.00,0.000,6,0.000,0.045,3062,2278,2430,0,0,0,0,0,0
$GC,5085,0.47,146.0,392.2,13.0,529,5090,0.17,2.30,0.00,0.000,4,0.177,0.061,3017,3684,2428,0,0,0,0,0,0
$GC,5209,0.43,146.0,377.0,11.8,539,5216,0.00,2.22,0.00,0.000,6,0.000,0.045,3025,2293,2427,0,0,0,0,0,0
$GC,5534,0.43,146.0,342.7,10.3,570,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2293,2427,0,0,0,0,0,0
$GC,5856,0.43,146.0,308.4,10.8,600,5860,0.00,2.25,0.00,0.000,4,0.000,0.060,3025,3688,2427,0,0,0,0,0,0
$GC,5922,0.37,146.0,299.8,13.3,605,5930,0.17,2.20,0.00,0.000,6,0.182,0.044,2991,2272,2427,0,0,0,0,0,0
$GC,6250,0.48,186.4,272.2,8.1,636,6293,0.00,2.35,33.47,1.004,4,0.000,0.060,2998,860,2269,0,0,0,0,0,0
$GC,6329,0.64,229.5,265.8,8.0,643,6375,0.20,2.25,37.85,0.994,6,0.085,0.047,3083,2279,2094,0,0,0,0,0,0
$GC,6692,0.58,229.5,208.5,17.1,677,6696,0.12,2.25,0.00,0.000,4,0.184,0.060,3052,3692,2086,0,0,0,0,0,0
$GC,6805,0.58,229.5,191.2,15.0,687,6809,0.00,2.25,0.00,0.000,6,0.000,0.046,3060,2270,2084,0,0,0,0,0,0
$GC,7131,0.58,229.5,145.8,12.9,717,7135,0.00,2.20,0.00,0.000,4,0.000,0.057,3071,864,2083,0,0,0,0,0,0
$GC,7193,0.58,229.5,137.9,12.1,722,7198,0.00,2.20,0.00,0.000,6,0.000,0.046,3071,2282,2082,0,0,0,0,0,0
$GC,7520,0.58,229.5,101.7,10.5,752,7524,0.00,2.22,0.00,0.000,4,0.000,0.062,3071,3691,2082,0,0,0,0,0,0
$GC,7645,0.55,229.5,86.4,12.6,772,7653,0.15,2.22,0.00,0.000,6,0.176,0.047,3041,2270,2082,0,0,0,0,0,0
$GC,7993,0.68,275.4,57.3,7.9,833,8040,0.12,2.28,38.92,0.903,4,0.106,0.060,3107,868,1906,0,0,0,0,0,0
$GC,8097,0.68,275.4,45.3,12.5,851,8103,0.00,2.25,0.00,0.000,6,0.000,0.047,3107,2276,1903,0,0,0,0,0,0
$FREEZE,8.93,-1.538,-1.832,3,2,0
$FREEZE,8.36,-1.540,-1.831,3,2,0
$FREEZE,7.75,-1.541,-1.831,3,2,0
$FREEZE,7.09,-1.540,-1.830,3,2,0
$STATE,8399,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8399,begin subsurface finish
$FINISH1,7.1,1.026791,35
$GC,8405,0.04,34.7,7.1,-12.5,905,8453,0.73,0.00,-39.62,0.000,6,0.166,0.000,2888,2277,2889,0,0,0,0,0,0
$FINISH2,5.0
$STATE,8454,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8454,begin surface
$RAFOS_CLK,444
$RAFOS,6,1301244544,16.833334,16.817778,106,69,55,52,50,47,714,206,167,193,140,230
$RAFOS,5,1301244065,16.700001,16.684723,140,69,59,58,54,53,650,140,192,210,222,159
$RAFOS,4,1301243582,16.566668,16.550556,60,53,52,52,50,48,214,846,165,184,126,143
$RAFOS,3,1301243132,16.433332,16.425556,65,61,56,55,54,54,209,157,221,198,185,232
$RAFOS,2,1301242626,16.299999,16.285000,58,57,50,49,47,47,213,194,203,155,164,1155
$RAFOS_FIX,6717.575684,-5739.794922,270311,161656,2,123,0.69
$IRIDIUM_FIX,6652.93,-5726.60,270311,131305
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.7
$24V_AH,23.0,33.403
$10V_AH,10.2,18.344
$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,4.175,77.000,347.825,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2146.621,4371.818,410.454,1453.094,136.229,0.000,1204.632,0.000,1448.844,1440.000,7.917,0.000
$DEVICE_MAMPS,225.675,170.595,1145.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.586,691.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150500
$DATA_FILE_SIZE,36709,913
$CAP_FILE_SIZE,97622,0
$CFSIZE,260165632,236249088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,270311,164656,6717.576,-5739.795,0,2123.0,0,-38.1