version: 66.08
glider: 141
mission: 15
dive: 243
start: 3 28 111 14 26 18
data:
$ID,141
$MISSION,15
$DIVE,243
$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,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,8.16
$_SM_ANGLEo,0.6
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.18,0.000,2,0.000,0.000,2884,3681,3115,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.2,-0.0,1,51,0.60,4.10,-13.27,0.000,4,0.103,0.049,2670,1083,3629,0,0,0,0,0,0
$GC,144,-0.56,-146.0,23.6,-14.3,21,151,0.00,2.17,0.00,0.000,6,0.000,0.048,2670,2486,3630,0,0,0,0,0,0
$GC,488,-0.48,-146.0,73.9,-14.3,82,496,0.15,2.20,0.00,0.000,4,0.220,0.054,2705,1084,3629,0,0,0,0,0,0
$GC,526,-0.48,-146.0,78.6,-11.5,88,533,0.00,2.22,0.00,0.000,6,0.000,0.050,2705,2498,3629,0,0,0,0,0,0
$GC,869,-0.48,-146.0,114.1,-9.8,137,872,0.00,2.22,0.00,0.000,4,0.000,0.056,2706,1073,3627,0,0,0,0,0,0
$GC,897,-0.50,-146.0,117.1,-10.4,139,902,0.00,2.22,0.00,0.000,6,0.000,0.051,2706,2498,3627,0,0,0,0,0,0
$GC,1223,-0.54,-146.0,147.6,-9.4,169,1227,0.00,2.25,0.00,0.000,4,0.000,0.067,2705,3907,3624,0,0,0,0,0,0
$GC,1240,-0.59,-146.0,149.2,-9.3,170,1246,0.00,2.15,0.00,0.000,6,0.000,0.037,2706,2484,3624,0,0,0,0,0,0
$GC,1567,-0.64,-146.0,178.6,-9.2,201,1571,0.15,2.17,0.00,0.000,4,0.112,0.055,2654,1086,3623,0,0,0,0,0,0
$GC,1584,-0.64,-146.0,180.6,-9.9,202,1588,0.00,2.22,0.00,0.000,6,0.000,0.052,2653,2497,3623,0,0,0,0,0,0
$GC,1911,-0.56,-146.0,225.8,-13.7,232,1915,0.00,2.25,0.00,0.000,4,0.000,0.067,2653,3901,3623,0,0,0,0,0,0
$GC,1956,-0.52,-146.0,232.4,-13.9,235,1963,0.15,2.15,0.00,0.000,6,0.195,0.037,2689,2489,3623,0,0,0,0,0,0
$GC,2281,-0.55,-146.0,264.7,-9.0,266,2285,0.00,2.17,0.00,0.000,4,0.000,0.051,2690,1082,3622,0,0,0,0,0,0
$GC,2315,-0.58,-146.0,267.9,-9.3,268,2322,0.00,2.22,0.00,0.000,6,0.000,0.049,2690,2504,3623,0,0,0,0,0,0
$GC,2642,-0.61,-146.0,296.5,-8.9,299,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2504,3624,0,0,0,0,0,0
$GC,2958,-0.65,-146.0,323.1,-8.1,329,2960,0.12,0.00,0.00,0.000,6,0.118,0.000,2645,2504,3624,0,0,0,0,0,0
$STATE,3041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3041,begin apogee
$GC,3047,-0.12,0.0,332.7,12.1,337,3170,0.60,0.00,115.82,1.088,6,0.195,0.000,2814,2253,3030,0,0,0,0,0,0
$STATE,3171,end apogee,CONTROL_FINISHED_OK
$STATE,3171,begin climb
$GC,3173,0.62,146.0,336.8,0.0,348,3301,0.77,2.40,118.95,1.038,4,0.135,0.056,3066,894,2434,0,0,0,0,0,0
$GC,3336,0.55,146.0,323.2,13.2,363,3340,0.00,2.30,0.00,0.000,6,0.000,0.042,3067,2277,2430,0,0,0,0,0,0
$GC,3662,0.46,146.0,281.7,12.4,393,3667,0.20,2.28,0.00,0.000,4,0.177,0.057,3013,3686,2428,0,0,0,0,0,0
$GC,3797,0.44,146.0,265.0,11.7,404,3804,0.00,2.17,0.00,0.000,6,0.000,0.041,3020,2296,2427,0,0,0,0,0,0
$GC,4122,0.46,162.8,232.4,9.2,435,4142,0.00,0.00,14.48,0.926,6,0.000,0.000,3020,2296,2365,0,0,0,0,0,0
$GC,4462,0.46,162.8,200.7,10.0,467,4466,0.00,2.20,0.00,0.000,4,0.000,0.056,3020,3688,2364,0,0,0,0,0,0
$GC,4558,0.46,162.8,189.6,12.2,475,4562,0.00,2.17,0.00,0.000,6,0.000,0.041,3030,2273,2363,0,0,0,0,0,0
$GC,4882,0.46,162.8,154.3,10.8,505,4886,0.00,2.25,0.00,0.000,4,0.000,0.055,3030,3690,2363,0,0,0,0,0,0
$GC,4934,0.43,162.8,148.3,12.6,509,4939,0.15,2.17,0.00,0.000,6,0.177,0.040,3002,2268,2363,0,0,0,0,0,0
$GC,5265,0.58,229.8,121.9,6.9,540,5326,0.15,0.00,56.88,0.931,6,0.095,0.000,3069,2268,2092,0,0,0,0,0,0
$GC,5654,0.58,229.8,77.3,10.8,593,5660,0.00,2.20,0.00,0.000,4,0.000,0.055,3078,865,2084,0,0,0,0,0,0
$GC,5701,0.61,229.8,72.5,10.7,601,5708,0.00,2.20,0.00,0.000,6,0.000,0.041,3078,2286,2083,0,0,0,0,0,0
$GC,6047,0.61,229.8,37.1,10.2,662,6054,0.00,2.22,0.00,0.000,4,0.000,0.057,3078,3693,2083,0,0,0,0,0,0
$GC,6117,0.58,229.8,28.5,13.3,674,6124,0.12,2.17,0.00,0.000,6,0.190,0.041,3056,2276,2082,0,0,0,0,0,0
$FREEZE,8.51,-1.549,-1.837,3,7,0
$FREEZE,8.15,-1.552,-1.837,3,7,0
$FREEZE,7.65,-1.555,-1.837,3,7,0
$FREEZE,7.20,-1.546,-1.836,3,7,0
$FREEZE,6.78,-1.555,-1.836,3,7,0
$FREEZE,6.43,-1.556,-1.836,3,7,0
$FREEZE,5.91,-1.560,-1.835,3,7,0
$FREEZE,5.56,-1.568,-1.835,3,7,0
$FREEZE,5.15,-1.562,-1.835,3,7,0
$FREEZE,4.58,-1.563,-1.834,3,7,0
$FREEZE,4.04,-1.556,-1.834,3,7,0
$FREEZE,3.52,-1.567,-1.833,3,7,0
$FREEZE,2.97,-1.565,-1.833,3,7,0
$STATE,6394,end climb,SURFACE_DEPTH_REACHED
$STATE,6394,begin surface coast
$FREEZE,2.53,-1.579,-1.833,3,7,0
$FREEZE,2.17,-1.585,-1.832,3,7,0
$FREEZE,2.12,-1.591,-1.833,3,7,0
$FREEZE,2.11,-1.581,-1.832,3,7,0
$FREEZE,2.09,-1.587,-1.833,3,7,0
$FINISH,2.1,1.026881
$STATE,6421,end surface coast,CONTROL_FINISHED_OK
$STATE,6421,begin surface
$RAFOS_CLK,349
$RAFOS,0,1301328065,16.033333,16.018055,85,64,56,55,50,46,217,169,148,199,181,127
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.028462
$HUMID,46.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,300.2,47.3
$24V_AH,23.3,34.407
$10V_AH,10.3,18.854
$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,3.175,59.850,306.125,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1768.663,3247.008,322.469,1153.807,111.424,0.000,957.017,0.000,1153.818,720.000,7.172,0.000
$DEVICE_MAMPS,219.555,67.320,1087.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.261,548.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26700,729
$CAP_FILE_SIZE,78941,0
$CFSIZE,260165632,235790336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.1
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0