version: 66.08
glider: 141
mission: 15
dive: 236
start: 3 27 111 23 6 7
data:
$ID,141
$MISSION,15
$DIVE,236
$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,-31272.855
$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,28
$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,-5736.338,181,99.0,181,-38.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-36.8
$GPS2,270311,204800,6718.187,-5736.338,181,99.0,181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,131,0.00,0.00,-111.47,0.000,2,0.000,0.000,111,2478,3171,0,0,0,0,0,0
$GC,135,-0.62,-146.0,5.2,-8.0,20,166,12.68,2.33,-11.35,0.000,4,0.327,0.083,2650,3898,3627,0,0,0,0,0,0
$GC,173,0.09,-146.0,15.2,-24.6,26,180,0.88,2.22,0.00,0.000,6,0.209,0.046,2886,2487,3629,0,0,0,0,0,0
$GC,519,-0.32,-146.0,42.2,-9.3,87,526,0.35,2.25,0.00,0.000,4,0.125,0.062,2766,1068,3628,0,0,0,0,0,0
$GC,781,-0.66,-146.0,59.9,-7.7,133,788,0.35,2.25,0.00,0.000,6,0.106,0.057,2648,2497,3628,0,0,0,0,0,0
$GC,1122,-0.54,-146.0,112.7,-15.7,187,1127,0.15,2.30,0.00,0.000,4,0.221,0.076,2682,3896,3627,0,0,0,0,0,0
$GC,1144,-0.45,-146.0,116.1,-14.4,188,1151,0.12,2.17,0.00,0.000,6,0.214,0.047,2713,2489,3627,0,0,0,0,0,0
$GC,1469,-0.50,-146.0,149.8,-9.4,219,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2489,3626,0,0,0,0,0,0
$GC,1791,-0.57,-146.0,177.9,-8.5,249,1796,0.12,2.22,0.00,0.000,4,0.130,0.064,2670,1081,3625,0,0,0,0,0,0
$GC,1801,-0.63,-146.0,179.2,-8.5,249,1809,0.00,2.25,0.00,0.000,6,0.000,0.059,2670,2489,3624,0,0,0,0,0,0
$GC,2128,-0.60,-146.0,217.6,-11.9,280,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2489,3624,0,0,0,0,0,0
$GC,2445,-0.60,-146.0,252.1,-10.3,310,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2489,3625,0,0,0,0,0,0
$GC,2764,-0.60,-146.0,284.6,-10.5,340,2768,0.00,2.28,0.00,0.000,4,0.000,0.071,2670,3899,3625,0,0,0,0,0,0
$GC,2819,-0.60,-146.0,290.7,-10.8,344,2827,0.00,2.20,0.00,0.000,6,0.000,0.043,2670,2491,3626,0,0,0,0,0,0
$GC,3145,-0.60,-146.0,324.9,-11.2,375,3149,0.00,2.20,0.00,0.000,4,0.000,0.059,2670,1073,3627,0,0,0,0,0,0
$GC,3154,-0.60,-146.0,326.0,-10.6,375,3161,0.00,2.28,0.00,0.000,6,0.000,0.055,2670,2497,3627,0,0,0,0,0,0
$GC,3480,-0.60,-146.0,359.6,-10.3,406,3484,0.00,2.25,0.00,0.000,4,0.000,0.070,2670,3905,3628,0,0,0,0,0,0
$STATE,3501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3501,begin apogee
$GC,3508,-0.12,0.0,362.0,10.4,408,3632,0.50,0.00,117.62,1.106,6,0.183,0.000,2815,2261,3030,0,0,0,0,0,0
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3633,begin climb
$GC,3635,0.62,146.0,366.2,0.0,419,3765,0.77,0.00,120.03,1.058,6,0.134,0.000,3056,2261,2433,0,0,0,0,0,0
$GC,4083,0.56,146.0,319.8,11.9,461,4087,0.00,2.35,0.00,0.000,4,0.000,0.061,3055,3686,2429,0,0,0,0,0,0
$GC,4172,0.45,146.0,307.4,14.6,468,4180,0.22,2.25,0.00,0.000,6,0.185,0.047,3009,2278,2428,0,0,0,0,0,0
$GC,4498,0.51,178.1,278.7,8.5,499,4528,0.00,0.00,27.12,0.984,6,0.000,0.000,3009,2278,2303,0,0,0,0,0,0
$GC,4846,0.58,199.2,247.0,9.0,532,4868,0.12,0.00,18.80,0.952,6,0.103,0.000,3068,2277,2217,0,0,0,0,0,0
$GC,5185,0.52,199.2,200.5,13.8,564,5187,0.15,0.00,0.00,0.000,6,0.177,0.000,3029,2277,2214,0,0,0,0,0,0
$GC,5503,0.54,199.2,166.0,10.6,594,5507,0.00,2.28,0.00,0.000,4,0.000,0.059,3029,3692,2214,0,0,0,0,0,0
$GC,5577,0.54,199.2,157.3,12.1,600,5581,0.00,2.20,0.00,0.000,6,0.000,0.044,3036,2272,2214,0,0,0,0,0,0
$GC,5902,0.60,209.6,123.9,9.5,630,5917,0.00,2.28,9.85,0.836,4,0.000,0.060,3042,866,2174,0,0,0,0,0,0
$GC,5974,0.64,211.8,117.2,9.9,636,5981,0.00,2.22,0.00,0.000,6,0.000,0.046,3042,2291,2173,0,0,0,0,0,0
$GC,6307,0.73,238.5,85.7,8.8,680,6343,0.15,2.30,26.08,0.897,4,0.093,0.060,3108,3685,2056,0,0,0,0,0,0
$GC,6479,0.65,238.5,60.3,15.0,710,6487,0.17,2.22,0.00,0.000,6,0.186,0.044,3073,2263,2054,0,0,0,0,0,0
$GC,6826,0.67,238.5,23.1,10.2,771,6833,0.00,2.20,0.00,0.000,4,0.000,0.059,3082,864,2052,0,0,0,0,0,0
$GC,6879,0.71,238.5,17.5,10.8,780,6885,0.00,2.20,0.00,0.000,6,0.000,0.048,3082,2276,2051,0,0,0,0,0,0
$FREEZE,8.66,-1.532,-1.834,3,5,0
$FREEZE,8.03,-1.531,-1.834,3,5,0
$FREEZE,7.50,-1.537,-1.834,3,5,0
$FREEZE,6.95,-1.538,-1.833,3,5,0
$FREEZE,6.39,-1.538,-1.833,3,5,0
$FREEZE,5.89,-1.541,-1.832,3,5,0
$FREEZE,5.27,-1.540,-1.832,3,5,0
$FREEZE,4.65,-1.543,-1.831,3,5,0
$FREEZE,4.21,-1.543,-1.831,3,5,0
$FREEZE,3.51,-1.551,-1.830,3,5,0
$FREEZE,2.91,-1.551,-1.830,3,5,0
$STATE,7010,end climb,SURFACE_DEPTH_REACHED
$STATE,7010,begin surface coast
$FREEZE,2.35,-1.560,-1.830,3,5,0
$FREEZE,1.77,-1.574,-1.829,3,5,0
$FREEZE,1.42,-1.563,-1.829,3,5,0
$FREEZE,1.47,-1.751,-1.815,3,5,0
$FINISH,1.5,1.026644
$STATE,7033,end surface coast,FINISH_DEPTH_REACHED
$STATE,7033,begin surface
$SM_CCo,7050,140.25,0.066,0,0,749,559.04
$SM_GC,2.29,0.00,0.00,140.25,0.000,0.000,0.066,109,2511,749,-8.61,0.59,559.04
$RAFOS_CLK,412
$RAFOS,6,1301273342,0.833333,0.817222,81,59,56,54,52,51,741,189,204,223,136,111
$RAFOS,5,1301272865,0.700000,0.684722,141,64,56,55,54,53,652,218,130,115,173,1163
$RAFOS,4,1301272381,0.566667,0.550278,96,69,67,63,63,62,867,190,205,174,118,164
$RAFOS,3,1301271905,0.433333,0.418056,57,57,56,51,50,49,169,209,220,197,127,145
$RAFOS,2,1301271428,0.300000,0.285556,72,67,61,56,52,50,203,171,159,117,215,142
$RAFOS,1,1301270949,0.166667,0.152500,59,55,54,49,49,49,207,171,127,184,197,113
$RAFOS,0,1301270464,0.033333,0.017778,67,66,57,57,53,52,195,157,144,211,131,116
$RAFOS_FIX,6718.426270,-5731.462891,280311,000040,3,106,0.25
$IRIDIUM_FIX,6647.44,-5734.29,270311,131313
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,350.7,26.1
$24V_AH,23.1,33.697
$10V_AH,10.2,18.500
$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,25.200,54.600,319.500,140.250,0.000,98.348,17.322,0.000,1.000,0.000,183.290,1892.041,3564.738,573.441,1555.352,349.486,0.000,1256.568,0.000,1245.206,2520.000,8.877,0.000
$DEVICE_MAMPS,326.655,82.620,1106.190,65.790,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.261,606.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150408
$DATA_FILE_SIZE,30083,808
$CAP_FILE_SIZE,92049,0
$CFSIZE,260165632,236109824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,280311,010736,6718.525,-5720.883,39,1.5,39,-38.0