version: 66.08
glider: 141
mission: 15
dive: 219
start: 3 26 111 5 48 33
data:
$ID,141
$MISSION,15
$DIVE,219
$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,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,-30532.186
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.53
$_SM_ANGLEo,-0.2
$GPS2,260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2
$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,159.0,60458,-17.5,-10.000
$D_GRID,849
$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,-6.65,0.000,2,0.000,0.000,2884,2280,3082,0,0,0,0,0,0
$GC,26,-0.62,-146.0,6.6,-0.0,1,57,0.62,1.95,-20.55,0.000,4,0.106,0.072,2666,1084,3628,0,0,0,0,0,0
$GC,127,-0.55,-146.0,15.3,-14.1,18,134,0.00,2.22,0.00,0.000,6,0.000,0.053,2665,2492,3629,0,0,0,0,0,0
$GC,472,-0.45,-146.0,70.1,-15.6,79,479,0.20,0.00,0.00,0.000,6,0.219,0.000,2714,2492,3630,0,0,0,0,0,0
$GC,815,-0.48,-146.0,104.9,-10.0,136,819,0.00,2.25,0.00,0.000,4,0.000,0.070,2714,3898,3629,0,0,0,0,0,0
$GC,844,-0.53,-146.0,107.8,-9.6,138,848,0.00,2.17,0.00,0.000,6,0.000,0.041,2714,2478,3629,0,0,0,0,0,0
$GC,1170,-0.59,-146.0,138.8,-9.3,168,1174,0.12,2.33,0.00,0.000,4,0.129,0.068,2673,3906,3627,0,0,0,0,0,0
$GC,1182,-0.64,-146.0,140.0,-9.4,169,1186,0.00,2.20,0.00,0.000,6,0.000,0.041,2673,2479,3627,0,0,0,0,0,0
$GC,1507,-0.61,-146.0,181.5,-12.0,199,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2478,3626,0,0,0,0,0,0
$GC,1829,-0.59,-146.0,219.4,-11.6,229,1833,0.00,2.28,0.00,0.000,4,0.000,0.066,2673,3897,3625,0,0,0,0,0,0
$GC,1846,-0.56,-146.0,221.8,-12.1,230,1850,0.00,2.17,0.00,0.000,6,0.000,0.040,2673,2482,3625,0,0,0,0,0,0
$GC,2176,-0.54,-146.0,259.7,-11.4,261,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2482,3625,0,0,0,0,0,0
$GC,2495,-0.54,-146.0,295.5,-11.3,291,2500,0.00,2.28,0.00,0.000,4,0.000,0.065,2673,3906,3626,0,0,0,0,0,0
$GC,2524,-0.54,-146.0,298.9,-11.5,293,2528,0.00,2.15,0.00,0.000,6,0.000,0.039,2673,2484,3626,0,0,0,0,0,0
$GC,2855,-0.54,-146.0,333.8,-10.2,324,2859,0.00,2.25,0.00,0.000,4,0.000,0.065,2672,3897,3627,0,0,0,0,0,0
$GC,2876,-0.54,-146.0,336.1,-9.9,325,2883,0.00,2.12,0.00,0.000,6,0.000,0.038,2672,2487,3627,0,0,0,0,0,0
$GC,3203,-0.54,-146.0,367.4,-9.2,356,3207,0.00,2.25,0.00,0.000,4,0.000,0.064,2672,3899,3628,0,0,0,0,0,0
$GC,3220,-0.54,-146.0,369.1,-9.6,357,3224,0.00,2.12,0.00,0.000,6,0.000,0.038,2673,2489,3628,0,0,0,0,0,0
$GC,3552,-0.54,-146.0,400.8,-9.9,388,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2489,3627,0,0,0,0,0,0
$GC,3871,-0.54,-146.0,432.9,-10.3,418,3874,0.00,2.15,0.00,0.000,4,0.000,0.054,2672,1091,3628,0,0,0,0,0,0
$GC,3884,-0.54,-146.0,434.3,-10.6,419,3888,0.00,2.20,0.00,0.000,6,0.000,0.053,2672,2500,3627,0,0,0,0,0,0
$GC,4209,-0.54,-146.0,466.9,-10.0,449,4213,0.00,2.22,0.00,0.000,4,0.000,0.070,2672,3897,3627,0,0,0,0,0,0
$GC,4241,-0.54,-146.0,470.3,-10.2,451,4248,0.00,2.15,0.00,0.000,6,0.000,0.040,2673,2488,3628,0,0,0,0,0,0
$GC,4566,-0.54,-146.0,502.5,-10.1,482,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2488,3627,0,0,0,0,0,0
$STATE,4830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4830,begin apogee
$GC,4836,-0.12,0.0,529.6,10.1,507,4961,0.50,0.00,119.70,1.241,6,0.188,0.000,2816,2250,3030,0,0,0,0,0,0
$STATE,4962,end apogee,CONTROL_FINISHED_OK
$STATE,4962,begin climb
$GC,4964,0.62,146.0,534.1,0.0,518,5097,0.77,2.47,123.85,1.194,4,0.136,0.060,3064,891,2433,0,0,0,0,0,0
$GC,5177,0.52,146.0,516.3,12.5,537,5182,0.00,2.35,0.00,0.000,6,0.000,0.046,3063,2281,2428,0,0,0,0,0,0
$GC,5504,0.43,146.0,475.6,12.5,567,5509,0.22,2.30,0.00,0.000,4,0.187,0.061,3004,3684,2425,0,0,0,0,0,0
$GC,5567,0.39,146.0,468.4,11.0,572,5571,0.00,2.25,0.00,0.000,6,0.000,0.045,3012,2284,2424,0,0,0,0,0,0
$GC,5893,0.39,148.2,435.3,9.9,602,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2285,2423,0,0,0,0,0,0
$GC,6212,0.41,159.7,404.0,9.5,632,6230,0.00,0.00,11.45,1.040,6,0.000,0.000,3012,2284,2377,0,0,0,0,0,0
$GC,6550,0.41,159.7,370.9,10.1,664,6554,0.00,2.25,0.00,0.000,4,0.000,0.060,3012,3693,2376,0,0,0,0,0,0
$GC,6601,0.37,159.7,365.0,12.4,668,6606,0.15,2.20,0.00,0.000,6,0.191,0.044,2986,2276,2376,0,0,0,0,0,0
$GC,6926,0.46,184.4,335.7,8.9,698,6954,0.00,2.25,22.20,1.084,4,0.000,0.058,2989,871,2277,0,0,0,0,0,0
$GC,6989,0.60,205.6,330.2,9.0,703,7016,0.20,2.22,19.88,1.058,6,0.086,0.047,3072,2281,2190,0,0,0,0,0,0
$GC,7342,0.52,205.6,281.1,14.0,736,7347,0.15,2.25,0.00,0.000,4,0.184,0.061,3033,3681,2185,0,0,0,0,0,0
$GC,7450,0.49,205.6,267.4,12.9,745,7454,0.00,2.20,0.00,0.000,6,0.000,0.046,3042,2279,2184,0,0,0,0,0,0
$GC,7780,0.46,205.6,228.3,11.9,776,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2279,2183,0,0,0,0,0,0
$GC,8101,0.42,205.6,190.0,12.0,806,8108,0.15,0.00,0.00,0.000,6,0.179,0.000,3003,2279,2182,0,0,0,0,0,0
$GC,8427,0.56,268.8,165.1,7.1,837,8492,0.12,2.38,54.08,1.003,4,0.106,0.059,3068,867,1932,0,0,0,0,0,0
$GC,8542,0.60,268.8,153.0,11.2,847,8549,0.00,2.22,0.00,0.000,6,0.000,0.044,3067,2278,1929,0,0,0,0,0,0
$GC,8867,0.60,268.8,111.6,12.9,878,8871,0.00,2.25,0.00,0.000,4,0.000,0.059,3068,3680,1925,0,0,0,0,0,0
$GC,8922,0.56,268.8,103.8,14.1,882,8930,0.12,2.20,0.00,0.000,6,0.186,0.044,3046,2269,1922,0,0,0,0,0,0
$GC,9264,0.63,278.0,69.2,9.6,940,9277,0.00,2.30,7.82,0.815,4,0.000,0.060,3047,864,1896,0,0,0,0,0,0
$GC,9334,0.78,309.8,63.1,8.5,952,9371,0.20,2.22,29.45,0.922,6,0.088,0.044,3125,2283,1765,0,0,0,0,0,0
$FREEZE,8.43,-1.717,-1.830,3,94,0
$STATE,9684,end climb,FINISH_DEPTH_REACHED
$STATE,9685,begin subsurface finish
$FINISH1,8.4,1.026780,35
$GC,9690,0.04,35.3,8.4,-17.9,1014,9743,0.80,2.22,-43.88,0.000,4,0.173,0.073,2887,3680,2888,0,0,0,0,0,0
$FINISH2,6.0
$STATE,9744,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9744,begin surface
$RAFOS_CLK,520
$RAFOS,2,1301127422,8.300000,8.283889,60,55,55,52,51,51,188,147,122,213,202,162
$RAFOS,1,1301126944,8.166667,8.151111,64,64,62,58,54,47,193,208,225,172,137,112
$RAFOS,0,1301126472,8.033334,8.020000,66,60,55,55,52,52,207,127,191,174,152,219
$RAFOS_FIX,6719.733398,-5759.884766,260311,040456,2,140,0.10
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.9
$ALTIM_BOTTOM_PING,500.3,43.2
$24V_AH,22.8,31.876
$10V_AH,10.2,17.554
$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,4.350,78.350,388.425,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2424.432,5181.294,428.775,1630.310,136.823,0.000,1303.327,0.000,1615.709,1440.000,14.221,0.000
$DEVICE_MAMPS,218.790,72.675,1240.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.574,772.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,40127,1023
$CAP_FILE_SIZE,108446,0
$CFSIZE,260165632,236990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2