version: 66.08
glider: 141
mission: 15
dive: 254
start: 3 29 111 11 32 18
data:
$ID,141
$MISSION,15
$DIVE,254
$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,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-32569.354
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,290311,090627,6708.668,-5656.466,181,99.0,181,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-41.2
$GPS2,290311,090627,6708.668,-5656.466,181,99.0,181,-37.7
$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,187.5,12147,-17.5,-10.000
$D_GRID,443
$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,15,-0.62,-146.0,0.0,0.0,0,191,0.00,0.00,-172.07,0.000,2,0.000,0.000,115,2500,3453,0,0,0,0,0,0
$GC,194,-0.62,-146.0,5.7,-9.7,30,219,12.93,2.28,-3.80,0.000,4,0.330,0.068,2652,1086,3630,0,0,0,0,0,0
$GC,389,-0.53,-146.0,46.0,-14.8,64,396,0.15,2.22,0.00,0.000,6,0.210,0.054,2689,2494,3631,0,0,0,0,0,0
$GC,735,-0.50,-146.0,91.8,-12.6,125,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2494,3631,0,0,0,0,0,0
$GC,1064,-0.50,-146.0,132.9,-11.9,161,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2495,3631,0,0,0,0,0,0
$GC,1384,-0.50,-146.0,167.7,-10.7,191,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2495,3630,0,0,0,0,0,0
$GC,1703,-0.50,-146.0,200.1,-9.9,221,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2495,3629,0,0,0,0,0,0
$GC,2021,-0.50,-146.0,230.2,-9.0,251,2025,0.00,2.25,0.00,0.000,4,0.000,0.067,2689,3906,3630,0,0,0,0,0,0
$GC,2065,-0.56,-146.0,234.6,-9.1,254,2071,0.00,2.17,0.00,0.000,6,0.000,0.039,2690,2483,3629,0,0,0,0,0,0
$GC,2390,-0.59,-146.0,263.5,-8.6,285,2394,0.00,2.15,0.00,0.000,4,0.000,0.055,2690,1088,3631,0,0,0,0,0,0
$GC,2400,-0.61,-146.0,264.5,-8.7,285,2407,0.00,2.22,0.00,0.000,6,0.000,0.051,2690,2503,3630,0,0,0,0,0,0
$GC,2726,-0.64,-146.0,292.8,-9.2,316,2730,0.10,2.22,0.00,0.000,4,0.132,0.065,2654,3897,3632,0,0,0,0,0,0
$GC,2754,-0.64,-146.0,295.9,-11.0,318,2758,0.00,2.15,0.00,0.000,6,0.000,0.038,2654,2489,3631,0,0,0,0,0,0
$GC,3079,-0.59,-146.0,333.9,-11.8,348,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2489,3633,0,0,0,0,0,0
$GC,3398,-0.55,-146.0,370.3,-11.1,378,3399,0.12,0.00,0.00,0.000,6,0.204,0.000,2684,2489,3634,0,0,0,0,0,0
$GC,3718,-0.58,-146.0,398.7,-8.7,408,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3635,0,0,0,0,0,0
$STATE,3905,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3905,begin apogee
$GC,3911,-0.12,0.0,415.9,8.8,426,4036,0.45,0.00,119.35,1.131,6,0.176,0.000,2818,2258,3030,0,0,0,0,0,0
$STATE,4037,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4039,0.62,146.0,419.4,0.0,437,4172,0.75,2.42,121.12,1.088,4,0.133,0.057,3062,896,2432,0,0,0,0,0,0
$GC,4230,0.55,146.0,402.9,13.5,454,4234,0.00,2.30,0.00,0.000,6,0.000,0.043,3062,2276,2429,0,0,0,0,0,0
$GC,4555,0.48,146.0,361.6,12.0,484,4560,0.15,2.30,0.00,0.000,4,0.180,0.057,3025,3687,2428,0,0,0,0,0,0
$GC,4707,0.44,146.0,343.4,11.6,497,4711,0.00,2.17,0.00,0.000,6,0.000,0.041,3033,2300,2427,0,0,0,0,0,0
$GC,5032,0.42,146.0,308.5,10.8,527,5034,0.12,0.00,0.00,0.000,6,0.179,0.000,3002,2300,2427,0,0,0,0,0,0
$GC,5351,0.49,173.2,280.9,8.7,557,5384,0.00,2.30,22.83,0.991,4,0.000,0.054,3001,3687,2322,0,0,0,0,0,0
$GC,5458,0.52,173.2,270.1,10.7,566,5465,0.00,2.22,0.00,0.000,6,0.000,0.040,3009,2258,2321,0,0,0,0,0,0
$GC,5785,0.59,188.5,238.9,9.3,597,5804,0.12,0.00,14.10,0.930,6,0.104,0.000,3065,2259,2260,0,0,0,0,0,0
$GC,6122,0.54,188.5,193.3,13.5,629,6126,0.00,2.28,0.00,0.000,4,0.000,0.054,3065,3691,2258,0,0,0,0,0,0
$GC,6206,0.46,188.5,180.7,15.0,636,6214,0.22,2.20,0.00,0.000,6,0.176,0.039,3014,2274,2258,0,0,0,0,0,0
$GC,6532,0.54,209.6,151.1,9.0,667,6555,0.00,2.30,18.83,0.915,4,0.000,0.055,3015,862,2175,0,0,0,0,0,0
$GC,6630,0.69,240.9,142.6,8.6,675,6664,0.20,2.22,27.80,0.920,6,0.087,0.039,3098,2293,2047,0,0,0,0,0,0
$GC,6986,0.65,240.9,91.0,13.7,713,6993,0.00,2.17,0.00,0.000,4,0.000,0.054,3099,3684,2041,0,0,0,0,0,0
$GC,7062,0.59,240.9,79.4,16.0,726,7069,0.20,2.20,0.00,0.000,6,0.177,0.040,3056,2269,2041,0,0,0,0,0,0
$GC,7409,0.65,245.9,45.4,9.8,787,7422,0.00,2.22,4.78,0.643,4,0.000,0.056,3063,877,2027,0,0,0,0,0,0
$GC,7463,0.74,253.1,40.1,9.7,796,7477,0.12,2.15,7.35,0.769,6,0.109,0.041,3114,2281,1998,0,0,0,0,0,0
$FREEZE,8.70,-1.682,-1.839,2,3,0
$FREEZE,7.80,-1.681,-1.838,2,3,0
$FREEZE,7.23,-1.682,-1.838,2,3,0
$FREEZE,6.57,-1.683,-1.837,2,3,0
$FREEZE,5.71,-1.683,-1.837,2,3,0
$FREEZE,4.99,-1.680,-1.836,2,3,0
$FREEZE,4.26,-1.684,-1.835,2,3,0
$FREEZE,3.55,-1.683,-1.835,2,3,0
$FREEZE,2.80,-1.685,-1.834,2,3,0
$STATE,7719,end climb,SURFACE_DEPTH_REACHED
$STATE,7719,begin surface coast
$FREEZE,1.79,-1.691,-1.834,2,3,0
$FREEZE,1.68,-1.691,-1.833,2,3,0
$FREEZE,1.69,-1.691,-1.834,2,3,0
$FREEZE,1.77,-1.693,-1.834,2,3,0
$FINISH,1.8,1.026902
$STATE,7740,end surface coast,CONTROL_FINISHED_OK
$STATE,7740,begin surface
$SM_CCo,7758,134.27,0.065,0,0,750,559.04
$SM_GC,2.22,0.00,0.00,134.27,0.000,0.000,0.065,113,2501,750,-8.60,0.31,559.04
$RAFOS_CLK,443
$RAFOS,6,1301402942,12.833333,12.817223,102,61,60,55,52,52,810,196,217,184,164,175
$RAFOS,5,1301402462,12.700000,12.683888,135,67,60,57,55,52,662,199,218,151,164,140
$RAFOS,4,1301401988,12.566667,12.552222,68,60,57,57,55,54,855,214,141,200,165,177
$RAFOS,3,1301401510,12.433333,12.419444,70,59,57,55,54,53,217,181,201,161,170,124
$RAFOS,2,1301401029,12.300000,12.285833,71,67,59,58,52,51,201,212,144,164,178,134
$RAFOS,1,1301400545,12.166667,12.151389,73,54,52,52,50,50,213,179,193,130,156,203
$RAFOS,0,1301400069,12.033333,12.019167,68,61,54,52,51,50,216,174,142,152,189,198
$RAFOS_FIX,6711.084473,-5706.423828,290311,121201,3,102,0.65
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,400.5,29.8
$24V_AH,22.9,35.554
$10V_AH,10.2,19.411
$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,24.150,49.750,336.150,134.275,0.000,99.645,17.138,0.000,1.250,0.000,183.288,1979.879,4043.920,603.019,1644.888,353.644,0.000,1344.697,0.000,1334.535,2520.000,10.655,0.000
$DEVICE_MAMPS,330.480,68.085,1131.435,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.173,636.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,33411,845
$CAP_FILE_SIZE,96873,0
$CFSIZE,260165632,235249664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$GPS,290311,124301,6711.084,-5706.424,0,3101.7,0,-37.7