version: 66.08
glider: 141
mission: 15
dive: 246
start: 3 28 111 19 48 19
data:
$ID,141
$MISSION,15
$DIVE,246
$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,35
$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,5.18
$_SM_ANGLEo,-1.7
$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,-6.43,0.000,2,0.000,0.000,2881,2287,3078,0,0,0,0,0,0
$GC,26,-0.62,-146.0,5.8,-0.0,1,50,0.60,0.00,-19.42,0.000,6,0.094,0.000,2664,2289,3627,0,0,0,0,0,0
$GC,389,-0.53,-146.0,56.9,-14.4,65,396,0.00,2.58,0.00,0.000,4,0.000,0.065,2664,3890,3628,0,0,0,0,0,0
$GC,471,-0.49,-146.0,68.4,-14.1,79,479,0.15,2.15,0.00,0.000,6,0.210,0.038,2699,2477,3629,0,0,0,0,0,0
$GC,819,-0.49,-146.0,107.4,-10.9,135,823,0.00,2.15,0.00,0.000,4,0.000,0.055,2700,1089,3627,0,0,0,0,0,0
$GC,840,-0.49,-146.0,110.0,-11.8,136,847,0.00,2.17,0.00,0.000,6,0.000,0.051,2700,2483,3627,0,0,0,0,0,0
$GC,1166,-0.51,-146.0,143.8,-9.5,167,1170,0.00,2.28,0.00,0.000,4,0.000,0.069,2700,3905,3625,0,0,0,0,0,0
$GC,1182,-0.54,-146.0,145.5,-9.8,168,1189,0.00,2.17,0.00,0.000,6,0.000,0.038,2700,2486,3625,0,0,0,0,0,0
$GC,1507,-0.58,-146.0,177.0,-9.6,199,1511,0.00,2.17,0.00,0.000,4,0.000,0.055,2700,1080,3624,0,0,0,0,0,0
$GC,1531,-0.62,-146.0,179.4,-10.0,201,1536,0.12,2.20,0.00,0.000,6,0.132,0.050,2659,2496,3623,0,0,0,0,0,0
$GC,1856,-0.57,-146.0,219.3,-11.6,231,1860,0.00,2.22,0.00,0.000,4,0.000,0.066,2659,3897,3623,0,0,0,0,0,0
$GC,1868,-0.53,-146.0,220.5,-11.7,232,1872,0.12,2.12,0.00,0.000,6,0.205,0.037,2688,2489,3623,0,0,0,0,0,0
$GC,2193,-0.55,-146.0,252.0,-9.3,262,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2489,3623,0,0,0,0,0,0
$GC,2513,-0.59,-146.0,281.6,-8.7,292,2517,0.00,2.15,0.00,0.000,4,0.000,0.051,2688,1079,3623,0,0,0,0,0,0
$GC,2535,-0.62,-146.0,284.0,-9.9,293,2542,0.00,2.17,0.00,0.000,6,0.000,0.049,2688,2491,3624,0,0,0,0,0,0
$STATE,2796,end dive,NO_VERTICAL_VELOCITY
$STATE,2796,begin apogee
$GC,2801,-0.12,0.0,292.0,0.0,318,2924,0.38,0.00,115.75,1.066,6,0.125,0.000,2815,2259,3029,0,0,0,0,0,0
$STATE,2925,end apogee,CONTROL_FINISHED_OK
$STATE,2925,begin climb
$GC,2927,0.62,146.0,291.9,0.0,329,3059,0.77,2.53,119.28,1.015,4,0.138,0.055,3055,3680,2433,0,0,0,0,0,0
$GC,3098,0.50,146.0,277.9,13.9,345,3106,0.10,2.33,0.00,0.000,6,0.170,0.040,3025,2299,2430,0,0,0,0,0,0
$GC,3423,0.52,157.9,244.7,9.5,376,3435,0.00,0.00,10.27,0.872,6,0.000,0.000,3025,2299,2386,0,0,0,0,0,0
$GC,3752,0.55,184.5,215.1,8.8,407,3782,0.00,0.00,23.92,0.943,6,0.000,0.000,3025,2299,2275,0,0,0,0,0,0
$GC,4101,0.59,192.4,183.4,9.6,440,4114,0.00,2.30,7.57,0.801,4,0.000,0.054,3025,3689,2245,0,0,0,0,0,0
$GC,4160,0.59,192.4,176.9,11.9,445,4164,0.00,2.22,0.00,0.000,6,0.000,0.041,3031,2265,2244,0,0,0,0,0,0
$GC,4490,0.63,193.2,141.8,10.0,476,4495,0.10,2.20,0.00,0.000,4,0.119,0.054,3086,867,2244,0,0,0,0,0,0
$GC,4542,0.59,193.2,135.6,13.0,480,4546,0.12,2.17,0.00,0.000,6,0.186,0.042,3055,2282,2242,0,0,0,0,0,0
$GC,4867,0.59,194.6,100.3,9.9,510,4870,0.00,2.20,0.00,0.000,4,0.000,0.057,3056,3683,2243,0,0,0,0,0,0
$GC,4980,0.56,194.6,86.6,12.9,529,4987,0.00,2.17,0.00,0.000,6,0.000,0.041,3064,2275,2242,0,0,0,0,0,0
$GC,5325,0.56,194.6,47.7,11.7,590,5332,0.00,2.22,0.00,0.000,4,0.000,0.054,3072,865,2243,0,0,0,0,0,0
$GC,5389,0.56,194.6,40.3,12.0,601,5395,0.00,2.17,0.00,0.000,6,0.000,0.043,3072,2283,2243,0,0,0,0,0,0
$FREEZE,8.55,-1.471,-1.841,3,10,0
$FREEZE,7.99,-1.508,-1.840,3,10,0
$FREEZE,7.53,-1.524,-1.840,3,10,0
$FREEZE,7.10,-1.525,-1.840,3,10,0
$FREEZE,6.65,-1.540,-1.839,3,10,0
$FREEZE,6.17,-1.548,-1.839,3,10,0
$FREEZE,5.67,-1.554,-1.838,3,10,0
$FREEZE,4.99,-1.549,-1.838,3,10,0
$FREEZE,4.42,-1.531,-1.837,3,10,0
$GC,5731,0.54,194.6,4.4,10.8,662,5738,0.12,2.22,0.00,0.000,4,0.177,0.057,3038,3685,2242,0,0,0,0,0,0
$FREEZE,2.80,-1.561,-1.836,3,10,0
$STATE,5744,end climb,SURFACE_DEPTH_REACHED
$STATE,5744,begin surface coast
$FREEZE,2.22,-1.570,-1.835,3,10,0
$FREEZE,2.07,-1.570,-1.835,3,10,0
$FREEZE,2.03,-1.566,-1.835,3,10,0
$FREEZE,1.93,-1.574,-1.835,3,10,0
$FREEZE,1.80,-1.593,-1.836,3,10,0
$FINISH,1.8,1.026933
$STATE,5771,end surface coast,CONTROL_FINISHED_OK
$STATE,5771,begin surface
$SM_CCo,5790,91.97,0.063,0,0,1398,400.08
$SM_GC,2.43,0.00,0.00,91.97,0.000,0.000,0.063,116,2477,1398,-8.59,-0.37,400.08
$RAFOS_CLK,315
$RAFOS,6,1301345342,20.833334,20.817223,60,55,52,52,52,49,210,156,113,186,132,175
$RAFOS,5,1301344865,20.700001,20.684723,112,69,63,62,54,53,663,194,138,119,170,221
$RAFOS,4,1301344387,20.566668,20.551945,63,61,60,58,57,56,192,213,158,140,202,183
$RAFOS,3,1301343911,20.433332,20.419722,59,56,51,50,50,50,149,193,215,174,132,71
$RAFOS,2,1301343425,20.299999,20.284721,62,58,54,52,49,48,224,190,208,165,115,143
$RAFOS,1,1301342949,20.166666,20.152500,65,61,59,54,50,50,197,164,211,235,221,182
$RAFOS,0,1301342463,20.033333,20.017500,63,62,59,57,56,51,194,170,230,211,181,151
$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,44.92
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,23.2,34.684
$10V_AH,10.3,18.979
$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,10.850,53.500,276.800,91.975,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1605.070,2809.945,406.462,1027.204,96.413,0.000,963.726,0.000,1028.590,2520.000,2.620,0.000
$DEVICE_MAMPS,210.375,68.850,1065.645,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.316,504.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26756,669
$CAP_FILE_SIZE,72449,0
$CFSIZE,260165632,235663360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.9
$GPS,280311,212738,6714.658,-5702.062,28,1.4,29,-37.9