version: 66.08
glider: 141
mission: 15
dive: 242
start: 3 28 111 12 24 14
data:
$ID,141
$MISSION,15
$DIVE,242
$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,40
$R_STBD_OVSHOOT,34
$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,8.42
$_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,-7.20,0.000,2,0.000,0.000,2885,865,3152,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,53,0.62,4.85,-12.57,0.000,4,0.116,0.060,2668,3885,3629,0,0,0,0,0,0
$GC,194,-0.57,-146.0,29.7,-13.7,30,201,0.00,2.10,0.00,0.000,6,0.000,0.037,2668,2490,3630,0,0,0,0,0,0
$GC,538,-0.49,-146.0,83.4,-15.6,91,546,0.15,2.17,0.00,0.000,4,0.205,0.052,2704,1086,3629,0,0,0,0,0,0
$GC,553,-0.41,-146.0,85.8,-15.7,93,560,0.00,2.20,0.00,0.000,6,0.000,0.050,2704,2490,3629,0,0,0,0,0,0
$GC,886,-0.44,-146.0,124.0,-10.3,134,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2490,3627,0,0,0,0,0,0
$GC,1208,-0.47,-146.0,156.2,-9.5,164,1212,0.00,2.28,0.00,0.000,4,0.000,0.067,2704,3899,3625,0,0,0,0,0,0
$GC,1237,-0.54,-146.0,159.3,-9.5,166,1241,0.00,2.15,0.00,0.000,6,0.000,0.038,2704,2487,3625,0,0,0,0,0,0
$GC,1568,-0.59,-146.0,187.7,-7.9,197,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2487,3624,0,0,0,0,0,0
$GC,1889,-0.65,-146.0,212.5,-7.6,227,1894,0.15,2.17,0.00,0.000,4,0.115,0.053,2652,1080,3624,0,0,0,0,0,0
$GC,1900,-0.69,-146.0,213.8,-7.7,227,1907,0.00,2.17,0.00,0.000,6,0.000,0.049,2652,2498,3623,0,0,0,0,0,0
$GC,2226,-0.62,-146.0,251.3,-12.1,258,2230,0.00,2.20,0.00,0.000,4,0.000,0.064,2652,3900,3623,0,0,0,0,0,0
$GC,2255,-0.55,-146.0,255.2,-13.0,260,2260,0.12,2.12,0.00,0.000,6,0.202,0.037,2680,2482,3623,0,0,0,0,0,0
$GC,2586,-0.55,-146.0,285.4,-8.9,291,2589,0.00,2.12,0.00,0.000,4,0.000,0.050,2681,1082,3624,0,0,0,0,0,0
$GC,2598,-0.55,-146.0,286.5,-9.2,292,2602,0.00,2.17,0.00,0.000,6,0.000,0.048,2681,2496,3624,0,0,0,0,0,0
$GC,2923,-0.55,-146.0,317.4,-8.9,322,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2495,3624,0,0,0,0,0,0
$GC,3243,-0.57,-146.0,346.5,-9.0,352,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2495,3625,0,0,0,0,0,0
$STATE,3558,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3558,begin apogee
$GC,3563,-0.12,0.0,376.3,9.2,382,3687,0.45,0.00,116.45,1.103,6,0.177,0.000,2816,2258,3030,0,0,0,0,0,0
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3688,begin climb
$GC,3690,0.62,146.0,380.0,0.0,393,3819,0.75,2.40,119.22,1.058,4,0.131,0.056,3063,897,2433,0,0,0,0,0,0
$GC,3872,0.54,146.0,364.6,12.4,410,3876,0.00,2.28,0.00,0.000,6,0.000,0.041,3064,2277,2429,0,0,0,0,0,0
$GC,4197,0.47,146.0,323.1,12.5,440,4202,0.17,2.28,0.00,0.000,4,0.177,0.057,3018,3684,2428,0,0,0,0,0,0
$GC,4332,0.43,146.0,307.5,11.4,451,4339,0.00,2.17,0.00,0.000,6,0.000,0.039,3026,2297,2427,0,0,0,0,0,0
$GC,4659,0.44,152.3,274.5,9.7,482,4671,0.00,2.22,5.40,0.734,4,0.000,0.052,3036,871,2409,0,0,0,0,0,0
$GC,4718,0.44,152.3,268.3,10.4,487,4722,0.00,2.20,0.00,0.000,6,0.000,0.042,3036,2284,2408,0,0,0,0,0,0
$GC,5048,0.44,152.3,234.5,10.0,518,5052,0.00,2.20,0.00,0.000,4,0.000,0.056,3035,3690,2409,0,0,0,0,0,0
$GC,5137,0.38,152.3,224.2,11.6,525,5144,0.20,2.20,0.00,0.000,6,0.176,0.040,2993,2267,2408,0,0,0,0,0,0
$GC,5463,0.53,211.9,201.5,7.2,556,5522,0.12,2.33,50.78,0.971,4,0.102,0.054,3059,865,2165,0,0,0,0,0,0
$GC,5562,0.53,211.9,190.6,11.5,565,5566,0.00,2.22,0.00,0.000,6,0.000,0.041,3060,2281,2162,0,0,0,0,0,0
$GC,5892,0.50,211.9,149.9,12.4,596,5897,0.12,2.25,0.00,0.000,4,0.177,0.057,3027,3690,2159,0,0,0,0,0,0
$GC,5969,0.50,211.9,140.7,11.5,602,5976,0.00,2.22,0.00,0.000,6,0.000,0.039,3035,2267,2158,0,0,0,0,0,0
$GC,6295,0.55,211.9,106.4,10.5,633,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2267,2158,0,0,0,0,0,0
$GC,6629,0.63,223.4,72.0,9.5,687,6647,0.00,2.28,10.02,0.822,4,0.000,0.054,3035,3679,2119,0,0,0,0,0,0
$GC,6677,0.68,223.4,67.0,10.5,695,6684,0.12,2.15,0.00,0.000,6,0.106,0.039,3094,2275,2118,0,0,0,0,0,0
$GC,7023,0.65,223.4,25.8,10.9,756,7029,0.00,2.22,0.00,0.000,4,0.000,0.054,3105,865,2118,0,0,0,0,0,0
$GC,7086,0.62,223.4,18.4,11.7,767,7094,0.15,2.17,0.00,0.000,6,0.182,0.042,3066,2287,2116,0,0,0,0,0,0
$FREEZE,8.97,-1.632,-1.830,3,6,0
$STATE,7178,end climb,FINISH_DEPTH_REACHED
$STATE,7178,begin subsurface finish
$FINISH1,9.0,1.026762,36
$GC,7186,0.04,36.1,9.0,-9.7,783,7217,0.57,2.17,-23.25,0.000,4,0.154,0.068,2884,3681,2884,0,0,0,0,0,0
$FINISH2,7.4
$STATE,7217,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7217,begin surface
$RAFOS_CLK,378
$RAFOS,6,1301316545,12.833333,12.818055,62,57,55,55,51,49,208,147,181,172,233,223
$RAFOS,5,1301316065,12.700000,12.684722,80,63,54,52,52,48,210,651,174,221,118,144
$RAFOS,4,1301315584,12.566667,12.551111,62,60,57,56,55,54,183,196,234,147,205,131
$RAFOS,3,1301315103,12.433333,12.417500,65,56,54,51,49,47,191,114,202,220,171,151
$RAFOS,2,1301314623,12.300000,12.284166,64,63,59,57,56,54,190,212,140,158,127,171
$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,44.64
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,350.3,40.4
$24V_AH,23.4,34.319
$10V_AH,10.2,18.811
$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,3.725,67.025,301.875,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1869.213,3688.515,335.951,1258.082,120.902,0.000,1021.307,0.000,1254.283,1440.000,8.923,0.000
$DEVICE_MAMPS,205.020,68.085,1103.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.888,596.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30098,788
$CAP_FILE_SIZE,84215,0
$CFSIZE,260165632,235827200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0