version: 66.08
glider: 141
mission: 15
dive: 235
start: 3 27 111 21 3 7
data:
$ID,141
$MISSION,15
$DIVE,235
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,270311,204800,6718.187,-5736.338,0,2111.5,0,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,11.3
$GPS2,270311,204800,6718.187,-5736.338,0,2111.5,0,-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,167.0,44828,-17.5,-10.000
$D_GRID,562
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,108,0.00,0.32,-87.90,0.000,6,0.000,0.172,3100,2499,3626,0,0,0,0,0,0
$GC,112,-0.62,-146.0,4.8,-7.7,16,120,1.20,2.22,0.00,0.000,4,0.091,0.051,2669,1077,3626,0,0,0,0,0,0
$GC,139,-0.83,-146.0,6.9,-6.9,20,146,0.22,2.20,0.00,0.000,6,0.112,0.054,2594,2482,3627,0,0,0,0,0,0
$GC,485,-0.58,-146.0,83.1,-22.5,81,492,0.28,2.28,0.00,0.000,4,0.243,0.068,2663,3898,3626,0,0,0,0,0,0
$GC,510,-0.40,-146.0,88.4,-20.6,85,518,0.25,2.17,0.00,0.000,6,0.202,0.044,2729,2485,3626,0,0,0,0,0,0
$GC,844,-0.47,-146.0,120.4,-8.8,125,848,0.00,2.28,0.00,0.000,4,0.000,0.069,2729,3896,3625,0,0,0,0,0,0
$GC,873,-0.55,-146.0,122.8,-8.3,127,878,0.15,2.17,0.00,0.000,6,0.112,0.044,2677,2482,3625,0,0,0,0,0,0
$GC,1198,-0.53,-146.0,163.3,-12.4,157,1202,0.00,2.20,0.00,0.000,4,0.000,0.061,2677,1075,3623,0,0,0,0,0,0
$GC,1252,-0.53,-146.0,170.1,-10.9,161,1260,0.00,2.22,0.00,0.000,6,0.000,0.057,2676,2492,3622,0,0,0,0,0,0
$GC,1578,-0.53,-146.0,204.7,-10.3,192,1582,0.00,2.25,0.00,0.000,4,0.000,0.071,2677,3899,3621,0,0,0,0,0,0
$GC,1610,-0.53,-146.0,208.3,-10.6,194,1617,0.00,2.20,0.00,0.000,6,0.000,0.043,2677,2490,3621,0,0,0,0,0,0
$GC,1937,-0.53,-146.0,241.1,-10.5,225,1941,0.00,2.20,0.00,0.000,4,0.000,0.058,2677,1073,3621,0,0,0,0,0,0
$GC,1958,-0.53,-146.0,243.7,-10.3,226,1966,0.00,2.28,0.00,0.000,6,0.000,0.055,2677,2496,3621,0,0,0,0,0,0
$GC,2286,-0.53,-146.0,277.3,-10.0,257,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2496,3621,0,0,0,0,0,0
$GC,2602,-0.53,-146.0,308.3,-9.2,287,2607,0.00,2.25,0.00,0.000,4,0.000,0.069,2676,3905,3622,0,0,0,0,0,0
$GC,2643,-0.53,-146.0,312.0,-8.9,290,2647,0.00,2.17,0.00,0.000,6,0.000,0.041,2677,2487,3621,0,0,0,0,0,0
$GC,2969,-0.53,-146.0,342.4,-9.5,320,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2487,3622,0,0,0,0,0,0
$STATE,3093,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3093,begin apogee
$GC,3098,-0.12,0.0,354.9,10.2,332,3222,0.47,0.00,116.05,1.099,6,0.187,0.000,2814,2252,3029,0,0,0,0,0,0
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3223,begin climb
$GC,3224,0.62,146.0,357.7,0.0,343,3354,0.77,2.40,119.97,1.048,4,0.137,0.060,3065,885,2432,0,0,0,0,0,0
$GC,3383,0.54,146.0,342.7,13.4,358,3390,0.00,2.35,0.00,0.000,6,0.000,0.046,3065,2277,2430,0,0,0,0,0,0
$GC,3710,0.46,146.0,300.6,12.9,389,3715,0.17,2.33,0.00,0.000,4,0.181,0.061,3020,3684,2428,0,0,0,0,0,0
$GC,3830,0.42,146.0,285.6,12.5,399,3834,0.00,2.20,0.00,0.000,6,0.000,0.044,3028,2288,2428,0,0,0,0,0,0
$GC,4161,0.42,146.0,248.5,11.0,430,4165,0.00,2.28,0.00,0.000,4,0.000,0.058,3028,3698,2427,0,0,0,0,0,0
$GC,4204,0.36,146.0,242.9,12.9,433,4212,0.20,2.22,0.00,0.000,6,0.178,0.043,2987,2274,2428,0,0,0,0,0,0
$GC,4532,0.47,179.9,216.1,8.4,464,4566,0.00,2.33,28.33,0.962,4,0.000,0.059,2989,868,2296,0,0,0,0,0,0
$GC,4618,0.67,228.2,208.8,7.8,471,4669,0.25,2.22,41.95,0.955,6,0.079,0.045,3090,2281,2099,0,0,0,0,0,0
$GC,4986,0.60,228.2,151.9,15.2,506,4991,0.12,2.22,0.00,0.000,4,0.181,0.060,3059,3684,2091,0,0,0,0,0,0
$GC,5104,0.58,228.2,135.3,13.4,516,5110,0.00,2.20,0.00,0.000,6,0.000,0.044,3067,2274,2090,0,0,0,0,0,0
$GC,5429,0.58,228.2,96.5,11.7,549,5436,0.00,2.28,0.00,0.000,4,0.000,0.058,3068,3693,2089,0,0,0,0,0,0
$GC,5484,0.56,228.2,89.8,13.2,558,5491,0.12,2.22,0.00,0.000,6,0.179,0.044,3045,2267,2089,0,0,0,0,0,0
$GC,5830,0.67,260.3,58.6,8.5,619,5867,0.10,2.30,27.25,0.888,4,0.119,0.060,3099,865,1967,0,0,0,0,0,0
$GC,5931,0.67,260.3,47.4,11.5,636,5937,0.00,2.22,0.00,0.000,6,0.000,0.047,3099,2279,1964,0,0,0,0,0,0
$FREEZE,8.77,-1.510,-1.834,3,4,0
$FREEZE,8.12,-1.510,-1.833,3,4,0
$FREEZE,7.58,-1.516,-1.833,3,4,0
$GC,6276,0.67,260.3,7.6,11.8,697,6283,0.00,2.22,0.00,0.000,4,0.000,0.062,3099,3684,1962,0,0,0,0,0,0
$FREEZE,5.52,-1.517,-1.831,3,4,0
$FREEZE,4.60,-1.515,-1.831,3,4,0
$FREEZE,3.88,-1.519,-1.830,3,4,0
$FREEZE,3.20,-1.529,-1.830,3,4,0
$FREEZE,2.36,-1.534,-1.829,3,4,0
$STATE,6310,end climb,SURFACE_DEPTH_REACHED
$STATE,6310,begin surface coast
$FREEZE,1.70,-1.525,-1.828,3,4,0
$FREEZE,1.61,-1.537,-1.828,3,4,0
$FREEZE,1.58,-1.543,-1.829,3,4,0
$FINISH,1.6,1.026830
$STATE,6327,end surface coast,CONTROL_FINISHED_OK
$STATE,6328,begin surface
$SM_CCo,6347,63.03,0.067,0,0,1398,400.08
$SM_GC,2.49,0.00,0.00,63.03,0.000,0.000,0.067,111,2478,1398,-8.60,-0.34,400.08
$RAFOS_CLK,338
$RAFOS_FIX,6718.186523,-5736.338379,270311,202000,2,112,0.19
$IRIDIUM_FIX,6652.93,-5726.60,270311,131305
$TT8_MAMPS,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,300.2,69.1
$24V_AH,23.2,33.596
$10V_AH,10.2,18.437
$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,12.850,67.675,333.550,63.025,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1647.165,3094.520,486.395,1129.877,113.565,0.000,1114.305,0.000,1127.159,0.000,7.226,0.000
$DEVICE_MAMPS,242.505,172.125,1099.305,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.373,529.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150548
$DATA_FILE_SIZE,26815,706
$CAP_FILE_SIZE,79480,0
$CFSIZE,260165632,236175360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,270311,204800,6718.187,-5736.338,181,99.0,181,-38.1