version: 66.08
glider: 141
mission: 15
dive: 255
start: 3 29 111 14 0 16
data:
$ID,141
$MISSION,15
$DIVE,255
$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,-32937.922
$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,45
$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
$GPS1,290311,124301,6711.084,-5706.424,0,3101.7,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-23.2
$GPS2,290311,124301,6711.084,-5706.424,181,99.0,181,-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,176.1,20029,-17.5,-10.000
$D_GRID,456
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,168,0.00,0.00,-146.48,0.000,2,0.000,0.000,112,2501,3192,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.5,-12.2,26,201,12.77,2.25,-10.50,0.000,4,0.328,0.071,2650,1090,3630,0,0,0,0,0,0
$GC,208,-0.04,-146.0,15.8,-24.1,32,216,0.73,2.20,0.00,0.000,6,0.213,0.054,2842,2480,3630,0,0,0,0,0,0
$GC,554,-0.45,-146.0,44.1,-9.6,93,562,0.35,2.22,0.00,0.000,4,0.116,0.057,2722,1077,3631,0,0,0,0,0,0
$GC,643,-0.49,-146.0,52.4,-9.7,108,649,0.00,2.25,0.00,0.000,6,0.000,0.054,2722,2489,3630,0,0,0,0,0,0
$GC,988,-0.53,-146.0,86.9,-9.9,169,995,0.00,2.30,0.00,0.000,4,0.000,0.070,2722,3906,3630,0,0,0,0,0,0
$GC,1013,-0.59,-146.0,89.4,-9.9,173,1020,0.15,2.17,0.00,0.000,6,0.112,0.041,2668,2488,3629,0,0,0,0,0,0
$GC,1350,-0.53,-146.0,136.8,-14.5,211,1354,0.00,2.22,0.00,0.000,4,0.000,0.059,2667,1080,3629,0,0,0,0,0,0
$GC,1362,-0.47,-146.0,138.5,-14.1,212,1367,0.17,2.22,0.00,0.000,6,0.210,0.054,2710,2491,3628,0,0,0,0,0,0
$GC,1687,-0.52,-146.0,171.2,-9.3,242,1691,0.00,2.22,0.00,0.000,4,0.000,0.060,2710,1080,3627,0,0,0,0,0,0
$GC,1721,-0.58,-146.0,174.7,-9.8,244,1728,0.12,2.22,0.00,0.000,6,0.128,0.053,2668,2501,3627,0,0,0,0,0,0
$GC,2047,-0.55,-146.0,214.2,-11.9,275,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2501,3627,0,0,0,0,0,0
$GC,2366,-0.53,-146.0,248.3,-10.0,305,2370,0.00,2.25,0.00,0.000,4,0.000,0.068,2668,3902,3628,0,0,0,0,0,0
$GC,2428,-0.53,-146.0,254.7,-9.7,310,2432,0.00,2.17,0.00,0.000,6,0.000,0.040,2668,2481,3628,0,0,0,0,0,0
$GC,2759,-0.51,-146.0,285.8,-9.6,341,2764,0.12,2.33,0.00,0.000,4,0.207,0.065,2697,3906,3629,0,0,0,0,0,0
$GC,2792,-0.57,-146.0,288.7,-7.9,343,2799,0.00,2.15,0.00,0.000,6,0.000,0.037,2697,2480,3629,0,0,0,0,0,0
$GC,3118,-0.63,-146.0,315.3,-8.5,374,3123,0.12,2.30,0.00,0.000,4,0.126,0.064,2655,3906,3631,0,0,0,0,0,0
$GC,3134,-0.65,-146.0,316.9,-8.4,375,3141,0.00,2.15,0.00,0.000,6,0.000,0.037,2654,2481,3631,0,0,0,0,0,0
$GC,3460,-0.60,-146.0,353.5,-10.9,406,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2481,3632,0,0,0,0,0,0
$GC,3779,-0.56,-146.0,387.3,-10.6,436,3783,0.00,2.28,0.00,0.000,4,0.000,0.063,2654,3910,3633,0,0,0,0,0,0
$GC,3800,-0.51,-146.0,389.9,-11.2,437,3807,0.15,2.15,0.00,0.000,6,0.190,0.037,2692,2478,3633,0,0,0,0,0,0
$GC,4126,-0.56,-146.0,415.5,-8.3,468,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2478,3634,0,0,0,0,0,0
$STATE,4368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4368,begin apogee
$GC,4374,-0.12,0.0,435.3,8.5,491,4498,0.40,0.00,119.38,1.141,6,0.171,0.000,2814,2253,3030,0,0,0,0,0,0
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4501,0.62,146.0,439.0,0.0,502,4634,0.77,2.38,121.07,1.099,4,0.133,0.057,3065,893,2433,0,0,0,0,0,0
$GC,4680,0.55,146.0,423.5,13.5,518,4684,0.00,2.33,0.00,0.000,6,0.000,0.041,3065,2288,2430,0,0,0,0,0,0
$GC,5011,0.48,146.0,380.5,12.7,549,5016,0.17,2.28,0.00,0.000,4,0.178,0.057,3020,3689,2428,0,0,0,0,0,0
$GC,5165,0.44,146.0,362.1,11.9,562,5170,0.00,2.20,0.00,0.000,6,0.000,0.041,3029,2284,2427,0,0,0,0,0,0
$GC,5491,0.41,146.0,326.4,11.2,592,5495,0.12,2.28,0.00,0.000,4,0.181,0.055,3006,860,2427,0,0,0,0,0,0
$GC,5535,0.50,164.4,321.9,9.1,595,5556,0.00,2.22,15.77,0.977,6,0.000,0.042,3006,2283,2359,0,0,0,0,0,0
$GC,5882,0.57,190.7,290.4,8.8,628,5916,0.12,2.33,23.02,0.996,4,0.100,0.057,3066,3688,2252,0,0,0,0,0,0
$GC,5996,0.48,190.7,275.3,14.3,638,6000,0.20,2.22,0.00,0.000,6,0.181,0.042,3024,2264,2250,0,0,0,0,0,0
$GC,6321,0.50,190.7,241.7,10.7,668,6325,0.00,2.25,0.00,0.000,4,0.000,0.054,3024,3681,2249,0,0,0,0,0,0
$GC,6360,0.50,190.7,236.9,12.5,671,6367,0.00,2.20,0.00,0.000,6,0.000,0.041,3032,2267,2248,0,0,0,0,0,0
$GC,6685,0.50,190.7,198.5,11.6,702,6689,0.00,2.22,0.00,0.000,4,0.000,0.055,3032,3681,2249,0,0,0,0,0,0
$GC,6729,0.50,190.7,192.9,12.6,705,6736,0.00,2.20,0.00,0.000,6,0.000,0.040,3042,2279,2248,0,0,0,0,0,0
$GC,7056,0.50,190.7,157.0,10.3,736,7060,0.00,2.22,0.00,0.000,4,0.000,0.055,3050,858,2249,0,0,0,0,0,0
$GC,7136,0.53,192.3,149.0,9.9,742,7142,0.00,2.17,0.00,0.000,6,0.000,0.043,3051,2277,2247,0,0,0,0,0,0
$GC,7462,0.53,192.3,116.6,10.3,773,7466,0.00,2.20,0.00,0.000,4,0.000,0.057,3051,3680,2247,0,0,0,0,0,0
$GC,7581,0.50,192.3,103.4,11.1,783,7585,0.12,2.15,0.00,0.000,6,0.187,0.041,3029,2270,2248,0,0,0,0,0,0
$GC,7921,0.63,245.5,77.3,7.5,840,7975,0.12,2.30,46.67,0.909,4,0.109,0.054,3096,872,2028,0,0,0,0,0,0
$GC,8032,0.63,245.5,64.6,12.9,859,8039,0.00,2.22,0.00,0.000,6,0.000,0.042,3095,2283,2023,0,0,0,0,0,0
$GC,8376,0.63,245.5,23.1,11.7,920,8382,0.00,2.22,0.00,0.000,4,0.000,0.059,3096,3693,2021,0,0,0,0,0,0
$FREEZE,8.83,-1.117,-1.838,3,4,0
$FREEZE,8.05,-1.056,-1.837,3,4,0
$FREEZE,7.35,-1.117,-1.838,3,4,0
$GC,8487,0.57,245.5,7.4,15.1,939,8495,0.22,2.20,0.00,0.000,6,0.182,0.042,3046,2266,2020,0,0,0,0,0,0
$FREEZE,5.13,-1.396,-1.838,3,4,0
$FREEZE,4.73,-1.393,-1.837,3,4,0
$FREEZE,4.29,-1.402,-1.836,3,4,0
$FREEZE,3.75,-1.363,-1.838,3,4,0
$FREEZE,3.25,-1.385,-1.836,3,4,0
$FREEZE,2.71,-1.377,-1.835,3,4,0
$STATE,8525,end climb,SURFACE_DEPTH_REACHED
$STATE,8525,begin surface coast
$FREEZE,2.29,-1.413,-1.839,3,4,0
$FREEZE,1.91,-1.502,-1.836,3,4,0
$FREEZE,2.00,-1.516,-1.836,3,4,0
$FREEZE,1.96,-1.493,-1.836,3,4,0
$FREEZE,1.85,-1.497,-1.836,3,4,0
$FINISH,1.9,1.026926
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8679,136.57,0.064,0,0,750,559.04
$SM_GC,2.50,0.00,0.00,136.57,0.000,0.000,0.064,107,2501,750,-8.62,0.31,559.04
$RAFOS_CLK,492
$RAFOS,1,1301414943,16.166666,16.150833,69,64,62,60,57,57,175,204,162,186,141,226
$RAFOS,0,1301414462,16.033333,16.017221,63,63,57,57,56,51,202,211,142,178,220,234
$RAFOS_FIX,6711.084473,-5706.423828,290311,121201,3,102,0.65
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.027713
$HUMID,43.89
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,351.1,98.5
$24V_AH,23.0,35.660
$10V_AH,10.2,19.482
$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,25.550,85.550,325.925,136.575,0.000,98.852,17.386,0.000,1.000,0.000,182.285,2254.532,4458.731,612.633,1834.245,388.134,0.000,1465.615,0.000,1521.665,1080.000,9.076,0.000
$DEVICE_MAMPS,328.185,71.145,1140.615,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.359,714.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150440
$DATA_FILE_SIZE,36686,951
$CAP_FILE_SIZE,114719,0
$CFSIZE,260165632,235180032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,290311,124301,6711.084,-5706.424,181,99.0,181,-37.7