version: 66.08
glider: 141
mission: 15
dive: 257
start: 3 29 111 19 29 39
data:
$ID,141
$MISSION,15
$DIVE,257
$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,-33675.066
$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,32
$R_STBD_OVSHOOT,38
$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,2.64
$_SM_ANGLEo,-50.6
$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,-146.0,0.0,0.0,0,211,0.00,0.00,-187.45,0.000,6,0.000,0.000,104,2499,3625,0,0,0,0,0,0
$GC,214,-0.62,-146.0,2.9,0.3,34,233,12.25,2.28,0.00,0.000,4,0.314,0.058,2651,1079,3626,0,0,0,0,0,0
$GC,386,-0.53,-146.0,32.8,-17.0,64,393,0.15,2.22,0.00,0.000,6,0.210,0.055,2688,2478,3627,0,0,0,0,0,0
$GC,731,-0.50,-146.0,81.2,-13.6,125,738,0.00,2.30,0.00,0.000,4,0.000,0.071,2688,3903,3627,0,0,0,0,0,0
$GC,756,-0.47,-146.0,84.8,-13.7,129,763,0.00,2.20,0.00,0.000,6,0.000,0.043,2688,2487,3627,0,0,0,0,0,0
$GC,1089,-0.47,-146.0,124.9,-11.3,170,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2487,3625,0,0,0,0,0,0
$GC,1410,-0.47,-146.0,160.6,-11.1,200,1415,0.00,2.28,0.00,0.000,4,0.000,0.068,2688,3901,3625,0,0,0,0,0,0
$GC,1444,-0.50,-146.0,164.7,-11.3,202,1451,0.00,2.17,0.00,0.000,6,0.000,0.041,2688,2479,3625,0,0,0,0,0,0
$GC,1769,-0.50,-146.0,200.5,-10.3,233,1773,0.00,2.17,0.00,0.000,4,0.000,0.057,2688,1076,3626,0,0,0,0,0,0
$GC,1797,-0.50,-146.0,203.5,-10.7,235,1801,0.00,2.22,0.00,0.000,6,0.000,0.053,2688,2496,3625,0,0,0,0,0,0
$GC,2123,-0.52,-146.0,235.5,-9.8,265,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2496,3626,0,0,0,0,0,0
$GC,2443,-0.52,-146.0,265.6,-9.0,295,2447,0.00,2.20,0.00,0.000,4,0.000,0.055,2688,1084,3627,0,0,0,0,0,0
$GC,2453,-0.52,-146.0,266.8,-9.0,295,2460,0.00,2.20,0.00,0.000,6,0.000,0.051,2688,2496,3627,0,0,0,0,0,0
$GC,2780,-0.54,-146.0,295.7,-8.7,326,2784,0.00,2.20,0.00,0.000,4,0.000,0.054,2688,1077,3628,0,0,0,0,0,0
$GC,2791,-0.57,-146.0,296.7,-8.7,326,2798,0.00,2.20,0.00,0.000,6,0.000,0.050,2688,2494,3628,0,0,0,0,0,0
$GC,3117,-0.60,-146.0,322.9,-8.2,357,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2494,3629,0,0,0,0,0,0
$GC,3435,-0.63,-146.0,348.6,-8.3,387,3439,0.00,2.22,0.00,0.000,4,0.000,0.066,2688,3899,3631,0,0,0,0,0,0
$GC,3447,-0.66,-146.0,349.7,-8.3,387,3455,0.12,2.12,0.00,0.000,6,0.118,0.037,2644,2483,3631,0,0,0,0,0,0
$GC,3772,-0.59,-146.0,387.4,-11.7,418,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2483,3631,0,0,0,0,0,0
$GC,4091,-0.52,-146.0,424.4,-11.7,448,4095,0.17,2.15,0.00,0.000,4,0.203,0.052,2688,1089,3632,0,0,0,0,0,0
$GC,4101,-0.46,-146.0,425.7,-11.3,448,4108,0.00,2.17,0.00,0.000,6,0.000,0.050,2688,2498,3632,0,0,0,0,0,0
$STATE,4382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4382,begin apogee
$GC,4387,-0.12,0.0,448.8,8.2,475,4511,0.40,0.00,118.60,1.149,6,0.173,0.000,2811,2255,3030,0,0,0,0,0,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4514,0.62,146.0,451.5,0.0,486,4646,0.77,2.38,120.78,1.102,4,0.127,0.057,3066,884,2433,0,0,0,0,0,0
$GC,4673,0.55,146.0,438.8,13.5,500,4680,0.00,2.33,0.00,0.000,6,0.000,0.042,3066,2277,2430,0,0,0,0,0,0
$GC,4998,0.46,146.0,394.7,13.6,531,5003,0.17,2.30,0.00,0.000,4,0.177,0.058,3020,3692,2427,0,0,0,0,0,0
$GC,5154,0.43,146.0,374.7,12.6,544,5162,0.00,2.20,0.00,0.000,6,0.000,0.041,3028,2285,2426,0,0,0,0,0,0
$GC,5480,0.44,155.0,340.7,9.6,575,5493,0.00,2.30,7.60,0.868,4,0.000,0.055,3039,868,2398,0,0,0,0,0,0
$GC,5528,0.44,155.0,335.9,10.0,579,5533,0.12,2.20,0.00,0.000,6,0.180,0.044,3009,2279,2397,0,0,0,0,0,0
$GC,5854,0.52,200.3,308.6,7.9,609,5898,0.00,2.35,39.25,1.026,4,0.000,0.059,3009,3681,2212,0,0,0,0,0,0
$GC,5978,0.56,200.3,296.7,10.8,620,5982,0.00,2.25,0.00,0.000,6,0.000,0.042,3016,2266,2209,0,0,0,0,0,0
$GC,6305,0.60,200.3,263.0,10.3,650,6310,0.12,2.22,0.00,0.000,4,0.103,0.056,3084,860,2207,0,0,0,0,0,0
$GC,6378,0.56,200.3,253.1,14.0,656,6383,0.15,2.22,0.00,0.000,6,0.181,0.045,3045,2283,2205,0,0,0,0,0,0
$GC,6708,0.56,200.3,215.0,10.8,687,6712,0.00,2.22,0.00,0.000,4,0.000,0.059,3046,3684,2205,0,0,0,0,0,0
$GC,6793,0.53,200.3,204.4,12.9,694,6798,0.00,2.17,0.00,0.000,6,0.000,0.043,3054,2270,2205,0,0,0,0,0,0
$GC,7118,0.53,200.3,164.4,12.8,724,7122,0.00,2.17,0.00,0.000,4,0.000,0.055,3065,868,2205,0,0,0,0,0,0
$GC,7173,0.53,200.3,157.2,12.9,728,7180,0.00,2.20,0.00,0.000,6,0.000,0.044,3065,2283,2205,0,0,0,0,0,0
$GC,7498,0.51,200.3,117.8,11.9,759,7503,0.12,2.20,0.00,0.000,4,0.176,0.058,3032,3694,2204,0,0,0,0,0,0
$GC,7617,0.51,200.3,104.4,11.0,769,7622,0.00,2.17,0.00,0.000,6,0.000,0.041,3040,2267,2205,0,0,0,0,0,0
$GC,7959,0.56,200.3,71.5,10.1,825,7965,0.00,2.17,0.00,0.000,4,0.000,0.057,3042,865,2205,0,0,0,0,0,0
$GC,8008,0.66,223.0,67.1,9.0,833,8034,0.10,2.17,19.52,0.877,6,0.125,0.043,3086,2285,2120,0,0,0,0,0,0
$GC,8371,0.66,223.6,25.3,10.0,897,8378,0.00,2.22,0.00,0.000,4,0.000,0.058,3087,3691,2117,0,0,0,0,0,0
$GC,8470,0.60,223.6,11.7,16.0,914,8477,0.15,2.17,0.00,0.000,6,0.187,0.043,3059,2279,2117,0,0,0,0,0,0
$FREEZE,8.92,-1.735,-1.839,3,6,0
$STATE,8495,end climb,FINISH_DEPTH_REACHED
$STATE,8495,begin subsurface finish
$FINISH1,8.9,1.026901,29
$GC,8501,0.04,29.3,8.9,-10.8,918,8532,0.57,2.20,-23.67,0.000,4,0.161,0.065,2880,866,2912,0,0,0,0,0,0
$FINISH2,7.6
$STATE,8533,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8533,begin surface
$RAFOS_CLK,469
$RAFOS,6,1301431741,20.833334,20.816944,100,63,61,59,57,49,850,212,185,147,173,233
$RAFOS,5,1301431265,20.700001,20.684723,68,65,57,53,53,48,669,197,149,164,174,215
$RAFOS,4,1301430791,20.566668,20.553055,67,60,57,57,53,49,166,210,179,133,192,145
$RAFOS,3,1301430305,20.433332,20.418056,62,60,57,57,55,52,208,118,188,165,140,235
$RAFOS,2,1301429827,20.299999,20.285278,60,58,58,52,49,47,204,181,219,139,124,231
$RAFOS,1,1301429343,20.166666,20.150833,59,57,55,52,50,49,209,113,161,186,172,142
$RAFOS,0,1301428865,20.033333,20.018055,60,56,55,53,51,47,213,185,131,154,166,223
$RAFOS_FIX,6709.637695,-5656.385742,290311,202056,2,84,0.27
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,400.9,62.2
$24V_AH,23.0,35.868
$10V_AH,10.2,19.623
$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,15.400,82.525,305.750,0.000,0.000,98.839,16.952,0.000,1.250,0.000,183.288,2138.381,4463.475,488.056,1791.867,387.115,0.000,1313.722,0.000,1478.743,2520.000,10.743,0.000
$DEVICE_MAMPS,314.415,71.145,1149.030,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.426,692.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150464
$DATA_FILE_SIZE,33462,923
$CAP_FILE_SIZE,107207,0
$CFSIZE,260165632,235073536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,290311,204656,6709.638,-5656.386,0,2084.0,0,-37.7