version: 66.08
glider: 141
mission: 15
dive: 240
start: 3 28 111 7 56 7
data:
$ID,141
$MISSION,15
$DIVE,240
$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,-31274.113
$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,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
$GPS1,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.14
$_SM_ANGLEo,0.4
$GPS2,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$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,166.5,39527,-17.5,-10.000
$D_GRID,586
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,2888,3681,3115,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.1,-0.0,1,51,0.62,4.12,-14.30,0.000,4,0.105,0.050,2669,1072,3629,0,0,0,0,0,0
$GC,170,-0.56,-146.0,26.5,-15.0,26,177,0.00,2.22,0.00,0.000,6,0.000,0.050,2669,2487,3630,0,0,0,0,0,0
$GC,515,-0.47,-146.0,80.0,-15.5,87,523,0.15,2.30,0.00,0.000,4,0.218,0.067,2704,3904,3628,0,0,0,0,0,0
$GC,603,-0.52,-146.0,91.0,-11.2,102,610,0.00,2.15,0.00,0.000,6,0.000,0.039,2704,2486,3628,0,0,0,0,0,0
$GC,938,-0.52,-146.0,128.3,-11.0,140,942,0.00,2.17,0.00,0.000,4,0.000,0.057,2705,1091,3627,0,0,0,0,0,0
$GC,948,-0.52,-146.0,129.7,-11.1,140,956,0.00,2.22,0.00,0.000,6,0.000,0.052,2704,2488,3627,0,0,0,0,0,0
$GC,1275,-0.57,-146.0,161.8,-8.9,171,1279,0.00,2.25,0.00,0.000,4,0.000,0.068,2704,3900,3624,0,0,0,0,0,0
$GC,1330,-0.65,-146.0,167.0,-9.2,175,1337,0.15,2.15,0.00,0.000,6,0.113,0.040,2652,2487,3624,0,0,0,0,0,0
$GC,1657,-0.58,-146.0,208.5,-12.5,206,1661,0.00,2.17,0.00,0.000,4,0.000,0.056,2652,1082,3623,0,0,0,0,0,0
$GC,1700,-0.54,-146.0,214.4,-12.4,209,1708,0.15,2.20,0.00,0.000,6,0.208,0.052,2688,2494,3623,0,0,0,0,0,0
$GC,2026,-0.54,-146.0,244.9,-9.5,240,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2494,3623,0,0,0,0,0,0
$GC,2346,-0.56,-146.0,273.6,-8.8,270,2350,0.00,2.22,0.00,0.000,4,0.000,0.067,2687,3899,3623,0,0,0,0,0,0
$GC,2369,-0.59,-146.0,275.8,-8.7,271,2376,0.00,2.12,0.00,0.000,6,0.000,0.037,2688,2487,3623,0,0,0,0,0,0
$GC,2694,-0.63,-146.0,303.0,-7.9,302,2699,0.00,2.15,0.00,0.000,4,0.000,0.053,2688,1073,3624,0,0,0,0,0,0
$GC,2711,-0.66,-146.0,304.6,-8.2,303,2718,0.12,2.20,0.00,0.000,6,0.121,0.050,2645,2494,3623,0,0,0,0,0,0
$GC,3037,-0.59,-146.0,341.5,-11.9,334,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2494,3623,0,0,0,0,0,0
$GC,3355,-0.53,-146.0,379.0,-11.8,364,3359,0.17,2.22,0.00,0.000,4,0.205,0.065,2689,3897,3624,0,0,0,0,0,0
$GC,3383,-0.53,-146.0,381.9,-9.6,366,3387,0.00,2.12,0.00,0.000,6,0.000,0.037,2689,2476,3624,0,0,0,0,0,0
$GC,3709,-0.57,-146.0,408.0,-7.9,396,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2476,3625,0,0,0,0,0,0
$STATE,3961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3961,begin apogee
$GC,3967,-0.12,0.0,428.8,8.3,420,4089,0.43,0.00,116.70,1.134,6,0.177,0.000,2817,2261,3030,0,0,0,0,0,0
$STATE,4090,end apogee,CONTROL_FINISHED_OK
$STATE,4090,begin climb
$GC,4092,0.62,146.0,432.1,0.0,431,4223,0.75,0.00,120.22,1.088,6,0.134,0.000,3050,2260,2433,0,0,0,0,0,0
$GC,4540,0.57,146.0,385.6,11.5,473,4544,0.00,2.33,0.00,0.000,4,0.000,0.056,3050,3690,2428,0,0,0,0,0,0
$GC,4634,0.46,146.0,372.3,14.3,481,4642,0.17,2.22,0.00,0.000,6,0.186,0.041,3017,2287,2427,0,0,0,0,0,0
$GC,4960,0.46,148.2,339.9,9.9,512,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2287,2427,0,0,0,0,0,0
$GC,5281,0.46,148.2,306.2,10.6,542,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2287,2427,0,0,0,0,0,0
$GC,5608,0.47,155.8,273.6,9.6,573,5618,0.00,0.00,8.38,0.876,6,0.000,0.000,3017,2287,2394,0,0,0,0,0,0
$GC,5936,0.48,163.9,241.3,9.6,604,5950,0.00,2.22,8.68,0.876,4,0.000,0.054,3017,3692,2360,0,0,0,0,0,0
$GC,5997,0.46,163.9,234.6,11.3,609,6001,0.00,2.20,0.00,0.000,6,0.000,0.040,3025,2268,2360,0,0,0,0,0,0
$GC,6327,0.47,170.2,201.3,9.7,640,6340,0.00,2.25,6.70,0.801,4,0.000,0.055,3034,871,2336,0,0,0,0,0,0
$GC,6387,0.50,172.1,195.5,9.9,645,6391,0.00,2.20,0.00,0.000,6,0.000,0.044,3034,2283,2334,0,0,0,0,0,0
$GC,6717,0.51,179.5,162.3,9.7,676,6732,0.00,2.25,9.35,0.850,4,0.000,0.057,3033,3680,2297,0,0,0,0,0,0
$GC,6855,0.48,179.5,146.3,11.6,688,6862,0.00,2.15,0.00,0.000,6,0.000,0.039,3043,2272,2297,0,0,0,0,0,0
$GC,7182,0.48,179.5,112.1,11.1,719,7186,0.00,2.22,0.00,0.000,4,0.000,0.055,3044,3689,2297,0,0,0,0,0,0
$GC,7267,0.45,179.5,101.8,12.0,726,7272,0.15,2.17,0.00,0.000,6,0.177,0.040,3014,2261,2296,0,0,0,0,0,0
$GC,7611,0.59,229.9,73.7,7.7,785,7661,0.12,2.30,43.35,0.897,4,0.105,0.055,3080,864,2091,0,0,0,0,0,0
$GC,7703,0.62,229.9,64.0,11.2,800,7710,0.00,2.22,0.00,0.000,6,0.000,0.043,3080,2284,2087,0,0,0,0,0,0
$GC,8048,0.62,231.3,27.5,9.9,861,8054,0.00,2.22,0.00,0.000,4,0.000,0.057,3080,3687,2085,0,0,0,0,0,0
$GC,8147,0.58,231.3,16.2,12.9,878,8154,0.15,2.17,0.00,0.000,6,0.181,0.041,3051,2273,2084,0,0,0,0,0,0
$FREEZE,8.74,-1.692,-1.829,3,4,0
$STATE,8233,end climb,FINISH_DEPTH_REACHED
$STATE,8233,begin subsurface finish
$FINISH1,8.7,1.026753,37
$GC,8239,0.04,36.6,8.7,-7.8,893,8270,0.52,2.22,-23.62,0.000,4,0.150,0.064,2885,859,2882,0,0,0,0,0,0
$FINISH2,7.8
$STATE,8271,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8271,begin surface
$RAFOS_CLK,424
$RAFOS,6,1301302149,8.833333,8.819167,61,59,58,58,57,55,230,200,175,707,215,152
$RAFOS,5,1301301665,8.700000,8.684722,124,67,62,56,54,53,649,221,117,167,186,176
$RAFOS,4,1301301182,8.566667,8.550555,65,64,60,58,57,55,209,194,139,170,151,221
$RAFOS,3,1301300704,8.433333,8.417778,64,61,54,53,49,48,216,205,165,118,146,129
$RAFOS,2,1301300228,8.300000,8.285556,63,56,55,55,54,53,215,139,174,228,188,239
$RAFOS,1,1301299744,8.166667,8.151111,61,57,54,53,53,53,188,213,177,165,143,223
$RAFOS,0,1301299267,8.033334,8.018611,63,59,56,56,54,52,153,183,194,219,114,169
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.3
$ALTIM_BOTTOM_PING,400.3,43.0
$24V_AH,23.2,34.140
$10V_AH,10.2,18.716
$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,3.675,70.675,313.375,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2132.733,4283.771,362.909,1418.145,131.007,0.000,1118.360,0.000,1408.993,2520.000,15.396,0.000
$DEVICE_MAMPS,218.025,68.085,1134.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.667,677.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33357,898
$CAP_FILE_SIZE,93812,0
$CFSIZE,260165632,235913216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0