version: 66.08
glider: 141
mission: 15
dive: 256
start: 3 29 111 16 43 26
data:
$ID,141
$MISSION,15
$DIVE,256
$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,-33306.492
$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
$GPS1,290311,124301,6711.084,-5706.424,181,99.0,181,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-25.6
$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,-146.48,0.000,2,0.000,0.000,107,2502,3204,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.0,-9.1,26,202,12.77,2.25,-10.50,0.000,4,0.327,0.081,2653,3899,3630,0,0,0,0,0,0
$GC,209,-0.02,-146.0,15.4,-23.1,32,216,0.75,2.20,0.00,0.000,6,0.213,0.043,2854,2492,3631,0,0,0,0,0,0
$GC,555,-0.42,-146.0,44.0,-9.8,93,563,0.35,2.28,0.00,0.000,4,0.117,0.064,2734,3899,3631,0,0,0,0,0,0
$GC,660,-0.55,-146.0,53.0,-7.9,111,668,0.15,2.20,0.00,0.000,6,0.116,0.042,2680,2483,3631,0,0,0,0,0,0
$GC,1007,-0.51,-146.0,100.1,-14.2,172,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2482,3630,0,0,0,0,0,0
$GC,1326,-0.49,-146.0,142.0,-12.1,202,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2482,3629,0,0,0,0,0,0
$GC,1643,-0.49,-146.0,177.1,-10.3,232,1647,0.00,2.17,0.00,0.000,4,0.000,0.060,2680,1089,3628,0,0,0,0,0,0
$GC,1675,-0.49,-146.0,180.8,-10.7,234,1682,0.00,2.20,0.00,0.000,6,0.000,0.056,2680,2487,3628,0,0,0,0,0,0
$GC,2002,-0.49,-146.0,215.2,-10.5,265,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3628,0,0,0,0,0,0
$GC,2320,-0.49,-146.0,248.1,-10.5,295,2324,0.00,2.28,0.00,0.000,4,0.000,0.070,2680,3907,3629,0,0,0,0,0,0
$GC,2398,-0.52,-146.0,255.8,-9.2,301,2405,0.00,2.17,0.00,0.000,6,0.000,0.041,2680,2480,3630,0,0,0,0,0,0
$GC,2724,-0.52,-146.0,286.3,-9.3,332,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2479,3631,0,0,0,0,0,0
$GC,3045,-0.52,-146.0,316.6,-9.4,362,3049,0.00,2.15,0.00,0.000,4,0.000,0.055,2680,1084,3633,0,0,0,0,0,0
$GC,3055,-0.52,-146.0,317.9,-9.6,362,3062,0.00,2.22,0.00,0.000,6,0.000,0.051,2680,2500,3632,0,0,0,0,0,0
$GC,3381,-0.52,-146.0,349.9,-10.3,393,3386,0.00,2.22,0.00,0.000,4,0.000,0.067,2680,3902,3633,0,0,0,0,0,0
$GC,3392,-0.52,-146.0,351.3,-10.4,394,3397,0.00,2.15,0.00,0.000,6,0.000,0.038,2680,2475,3633,0,0,0,0,0,0
$GC,3720,-0.54,-146.0,383.1,-9.3,424,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2475,3635,0,0,0,0,0,0
$GC,4038,-0.57,-146.0,412.5,-8.8,454,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2475,3635,0,0,0,0,0,0
$GC,4355,-0.59,-146.0,441.0,-8.8,484,4359,0.00,2.28,0.00,0.000,4,0.000,0.063,2680,3905,3636,0,0,0,0,0,0
$GC,4368,-0.61,-146.0,442.2,-9.3,484,4375,0.00,2.12,0.00,0.000,6,0.000,0.037,2680,2489,3637,0,0,0,0,0,0
$STATE,4462,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4462,begin apogee
$GC,4467,-0.12,0.0,450.6,9.0,493,4593,0.45,0.00,119.72,1.149,6,0.179,0.000,2813,2259,3030,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4595,0.62,146.0,454.5,0.0,504,4723,0.77,0.00,121.22,1.105,6,0.135,0.000,3052,2258,2434,0,0,0,0,0,0
$GC,5041,0.55,146.0,404.9,14.3,546,5045,0.00,2.35,0.00,0.000,4,0.000,0.057,3052,3690,2427,0,0,0,0,0,0
$GC,5101,0.43,146.0,395.0,15.5,551,5109,0.20,2.20,0.00,0.000,6,0.179,0.042,3013,2298,2427,0,0,0,0,0,0
$GC,5427,0.43,146.0,360.1,10.0,582,5431,0.00,2.28,0.00,0.000,4,0.000,0.056,3020,867,2427,0,0,0,0,0,0
$GC,5495,0.45,158.4,353.4,9.4,588,5511,0.00,2.20,10.80,0.942,6,0.000,0.044,3020,2283,2383,0,0,0,0,0,0
$GC,5836,0.45,158.4,318.4,10.4,620,5840,0.00,2.20,0.00,0.000,4,0.000,0.059,3020,3680,2382,0,0,0,0,0,0
$GC,5968,0.41,158.4,302.7,13.1,631,5972,0.12,2.17,0.00,0.000,6,0.194,0.042,3001,2269,2382,0,0,0,0,0,0
$GC,6293,0.48,174.9,272.5,9.2,661,6313,0.00,0.00,14.88,0.968,6,0.000,0.000,3001,2269,2317,0,0,0,0,0,0
$GC,6633,0.58,200.6,241.0,8.8,693,6662,0.15,0.00,23.00,0.974,6,0.093,0.000,3068,2269,2211,0,0,0,0,0,0
$GC,6980,0.53,200.6,193.2,13.5,726,6982,0.12,0.00,0.00,0.000,6,0.181,0.000,3037,2269,2208,0,0,0,0,0,0
$GC,7301,0.56,206.1,160.6,9.7,756,7309,0.00,0.00,5.53,0.722,6,0.000,0.000,3037,2269,2189,0,0,0,0,0,0
$GC,7630,0.60,206.1,127.2,10.7,787,7634,0.00,2.25,0.00,0.000,4,0.000,0.057,3036,3694,2189,0,0,0,0,0,0
$GC,7741,0.60,206.1,114.0,11.6,796,7748,0.00,2.22,0.00,0.000,6,0.000,0.041,3044,2273,2189,0,0,0,0,0,0
$GC,8077,0.66,231.3,80.9,8.8,844,8107,0.00,0.00,22.88,0.888,6,0.000,0.000,3044,2273,2085,0,0,0,0,0,0
$GC,8446,0.76,255.6,47.9,8.9,909,8477,0.17,2.33,21.67,0.869,4,0.086,0.057,3121,3711,1986,0,0,0,0,0,0
$GC,8530,0.67,255.6,35.5,16.5,923,8538,0.20,2.28,0.00,0.000,6,0.188,0.042,3080,2267,1984,0,0,0,0,0,0
$FREEZE,8.38,-1.624,-1.837,3,5,0
$FREEZE,7.78,-1.622,-1.837,3,5,0
$FREEZE,7.31,-1.621,-1.836,3,5,0
$FREEZE,6.90,-1.620,-1.836,3,5,0
$FREEZE,6.54,-1.622,-1.836,3,5,0
$FREEZE,6.02,-1.622,-1.835,3,5,0
$FREEZE,5.79,-1.623,-1.835,3,5,0
$FREEZE,5.34,-1.623,-1.834,3,5,0
$FREEZE,4.87,-1.624,-1.834,3,5,0
$FREEZE,4.33,-1.626,-1.834,3,5,0
$FREEZE,3.80,-1.628,-1.833,3,5,0
$FREEZE,3.22,-1.624,-1.833,3,5,0
$FREEZE,2.69,-1.630,-1.832,3,5,0
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8820,begin surface coast
$FREEZE,2.08,-1.627,-1.832,3,5,0
$FREEZE,1.47,-1.629,-1.831,3,5,0
$FREEZE,1.37,-1.628,-1.831,3,5,0
$FREEZE,1.37,-1.628,-1.831,3,5,0
$FREEZE,1.46,-1.629,-1.831,3,5,0
$FINISH,1.5,1.026862
$STATE,8848,end surface coast,CONTROL_FINISHED_OK
$STATE,8848,begin surface
$SM_CCo,8865,132.57,0.063,0,0,751,559.04
$SM_GC,2.48,0.00,0.00,132.57,0.000,0.000,0.063,104,2498,751,-8.62,0.23,559.04
$RAFOS_CLK,493
$RAFOS,6,1301417345,16.833334,16.818056,69,61,59,57,55,55,200,188,209,140,152,126
$RAFOS,2,1301415422,16.299999,16.283890,57,57,55,53,52,50,118,196,149,170,213,137
$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,43.26
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,450.6,12.3
$24V_AH,22.9,35.769
$10V_AH,10.2,19.554
$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,24.675,54.025,339.700,132.575,0.000,99.341,17.399,0.000,1.500,0.000,183.281,2266.573,4657.540,607.135,1824.682,373.235,0.000,1421.510,0.000,1508.551,360.000,14.272,0.000
$DEVICE_MAMPS,326.655,81.090,1149.030,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.285,736.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150400
$DATA_FILE_SIZE,36667,980
$CAP_FILE_SIZE,105731,0
$CFSIZE,260165632,235134976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$GPS,290311,124301,6711.084,-5706.424,181,99.0,181,-37.7