version: 66.08
glider: 141
mission: 15
dive: 241
start: 3 28 111 10 15 46
data:
$ID,141
$MISSION,15
$DIVE,241
$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,35
$R_STBD_OVSHOOT,33
$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,10.37
$_SM_ANGLEo,-1.3
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.07,0.000,2,0.000,0.000,2885,860,3192,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.7,-0.0,1,47,0.62,4.88,-9.62,0.000,4,0.112,0.061,2667,3895,3629,0,0,0,0,0,0
$GC,172,-0.58,-146.0,31.2,-15.2,26,179,0.00,2.17,0.00,0.000,6,0.000,0.036,2667,2472,3630,0,0,0,0,0,0
$GC,517,-0.50,-146.0,85.0,-15.7,87,523,0.12,0.00,0.00,0.000,6,0.216,0.000,2695,2472,3629,0,0,0,0,0,0
$GC,850,-0.50,-146.0,125.6,-11.6,128,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2472,3628,0,0,0,0,0,0
$GC,1171,-0.50,-146.0,160.0,-10.2,158,1175,0.00,2.28,0.00,0.000,4,0.000,0.065,2695,3894,3625,0,0,0,0,0,0
$GC,1246,-0.55,-146.0,167.7,-9.9,164,1250,0.00,2.12,0.00,0.000,6,0.000,0.038,2695,2492,3625,0,0,0,0,0,0
$GC,1577,-0.58,-146.0,199.5,-9.3,195,1580,0.00,2.17,0.00,0.000,4,0.000,0.054,2695,1091,3624,0,0,0,0,0,0
$GC,1589,-0.60,-146.0,200.6,-9.1,196,1593,0.00,2.17,0.00,0.000,6,0.000,0.050,2695,2490,3624,0,0,0,0,0,0
$GC,1916,-0.65,-146.0,228.5,-7.8,226,1921,0.12,2.20,0.00,0.000,4,0.122,0.054,2652,1084,3623,0,0,0,0,0,0
$GC,1933,-0.65,-146.0,230.2,-8.3,227,1938,0.00,2.20,0.00,0.000,6,0.000,0.050,2652,2500,3623,0,0,0,0,0,0
$GC,2260,-0.58,-146.0,267.0,-11.8,257,2264,0.00,2.20,0.00,0.000,4,0.000,0.065,2652,3897,3624,0,0,0,0,0,0
$GC,2270,-0.52,-146.0,268.5,-12.0,257,2278,0.15,2.15,0.00,0.000,6,0.200,0.036,2688,2476,3624,0,0,0,0,0,0
$GC,2596,-0.55,-146.0,297.1,-8.4,288,2600,0.00,2.12,0.00,0.000,4,0.000,0.051,2688,1091,3624,0,0,0,0,0,0
$GC,2635,-0.59,-146.0,300.5,-7.9,291,2642,0.00,2.17,0.00,0.000,6,0.000,0.050,2688,2499,3624,0,0,0,0,0,0
$GC,2961,-0.63,-146.0,328.1,-9.6,322,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2499,3625,0,0,0,0,0,0
$GC,3282,-0.67,-146.0,356.1,-8.5,352,3287,0.12,2.22,0.00,0.000,4,0.118,0.064,2643,3897,3625,0,0,0,0,0,0
$GC,3299,-0.67,-146.0,358.1,-9.2,353,3303,0.00,2.12,0.00,0.000,6,0.000,0.036,2643,2479,3625,0,0,0,0,0,0
$GC,3630,-0.60,-146.0,398.6,-12.6,384,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2478,3626,0,0,0,0,0,0
$STATE,3703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3703,begin apogee
$GC,3708,-0.12,0.0,407.4,11.9,391,3832,0.60,0.00,116.85,1.121,6,0.190,0.000,2815,2245,3029,0,0,0,0,0,0
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin climb
$GC,3835,0.62,146.0,411.2,0.0,402,3964,0.75,2.35,119.60,1.076,4,0.135,0.054,3059,902,2433,0,0,0,0,0,0
$GC,3994,0.55,146.0,398.6,11.4,417,3998,0.00,2.28,0.00,0.000,6,0.000,0.041,3060,2277,2430,0,0,0,0,0,0
$GC,4320,0.48,146.0,360.0,11.4,447,4325,0.15,2.28,0.00,0.000,4,0.184,0.057,3022,3685,2428,0,0,0,0,0,0
$GC,4472,0.43,146.0,342.8,11.8,460,4476,0.00,2.17,0.00,0.000,6,0.000,0.039,3030,2300,2427,0,0,0,0,0,0
$GC,4799,0.38,146.0,307.9,11.3,490,4804,0.15,2.25,0.00,0.000,4,0.194,0.053,3001,867,2427,0,0,0,0,0,0
$GC,4839,0.46,165.6,303.6,9.1,493,4862,0.00,2.17,16.42,0.972,6,0.000,0.043,3002,2281,2355,0,0,0,0,0,0
$GC,5180,0.58,213.8,274.2,7.8,525,5228,0.15,2.28,41.65,0.998,4,0.091,0.057,3070,3684,2158,0,0,0,0,0,0
$GC,5291,0.52,213.8,259.2,15.4,535,5296,0.17,2.22,0.00,0.000,6,0.176,0.041,3035,2276,2154,0,0,0,0,0,0
$GC,5616,0.52,213.8,223.3,10.5,565,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2276,2151,0,0,0,0,0,0
$GC,5938,0.52,213.8,188.8,11.1,595,5942,0.00,2.17,0.00,0.000,4,0.000,0.054,3042,871,2150,0,0,0,0,0,0
$GC,5978,0.57,213.8,184.0,10.7,598,5982,0.00,2.17,0.00,0.000,6,0.000,0.042,3042,2284,2149,0,0,0,0,0,0
$GC,6303,0.57,213.8,145.7,11.6,628,6307,0.00,2.20,0.00,0.000,4,0.000,0.056,3042,3684,2149,0,0,0,0,0,0
$GC,6398,0.57,213.8,133.1,13.9,636,6402,0.00,2.15,0.00,0.000,6,0.000,0.039,3052,2269,2148,0,0,0,0,0,0
$GC,6724,0.57,213.8,96.4,10.6,669,6731,0.00,2.17,0.00,0.000,4,0.000,0.054,3060,873,2148,0,0,0,0,0,0
$GC,6783,0.59,213.8,90.2,10.6,679,6790,0.00,2.15,0.00,0.000,6,0.000,0.042,3060,2280,2147,0,0,0,0,0,0
$GC,7129,0.61,213.8,54.4,10.2,740,7136,0.00,2.17,0.00,0.000,4,0.000,0.056,3060,3686,2148,0,0,0,0,0,0
$GC,7237,0.61,213.8,41.9,11.6,759,7244,0.00,2.15,0.00,0.000,6,0.000,0.040,3071,2270,2148,0,0,0,0,0,0
$FREEZE,8.86,-1.666,-1.829,3,5,0
$STATE,7565,end climb,FINISH_DEPTH_REACHED
$STATE,7566,begin subsurface finish
$FINISH1,8.9,1.026755,37
$GC,7572,0.04,36.5,8.9,-9.5,817,7602,0.60,2.17,-22.30,0.000,4,0.159,0.066,2885,865,2883,0,0,0,0,0,0
$FINISH2,7.3
$STATE,7603,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7603,begin surface
$RAFOS_CLK,391
$RAFOS,1,1301314146,12.166667,12.151667,62,51,51,49,48,48,206,132,215,108,120,1029
$RAFOS,0,1301313664,12.033333,12.017777,65,61,59,50,48,48,218,197,181,148,108,135
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.029211
$HUMID,44.36
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,401.2,20.8
$24V_AH,23.2,34.230
$10V_AH,10.3,18.765
$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,3.725,71.025,294.525,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1980.992,3918.263,320.744,1320.824,116.696,0.000,1028.549,0.000,1313.696,1080.000,10.641,0.000
$DEVICE_MAMPS,216.495,65.790,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.351,619.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150572
$DATA_FILE_SIZE,30038,822
$CAP_FILE_SIZE,87527,0
$CFSIZE,260165632,235872256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0