version: 66.08
glider: 141
mission: 15
dive: 220
start: 3 26 111 8 32 48
data:
$ID,141
$MISSION,15
$DIVE,220
$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,31
$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,6.42
$_SM_ANGLEo,2.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.43,0.000,2,0.000,0.000,2887,3680,3114,0,0,0,0,0,0
$GC,28,-0.62,-146.0,7.4,-0.0,1,54,0.62,4.12,-16.40,0.000,4,0.106,0.053,2670,1080,3629,0,0,0,0,0,0
$GC,162,-0.56,-146.0,23.7,-12.4,24,168,0.00,2.22,0.00,0.000,6,0.000,0.053,2670,2492,3629,0,0,0,0,0,0
$GC,506,-0.46,-146.0,77.3,-16.4,85,513,0.17,2.28,0.00,0.000,4,0.223,0.069,2712,3898,3629,0,0,0,0,0,0
$GC,532,-0.42,-146.0,81.2,-14.6,89,538,0.00,2.20,0.00,0.000,6,0.000,0.041,2712,2474,3630,0,0,0,0,0,0
$GC,870,-0.45,-146.0,115.1,-9.3,136,874,0.00,2.30,0.00,0.000,4,0.000,0.067,2712,3906,3628,0,0,0,0,0,0
$GC,891,-0.49,-146.0,117.5,-9.7,137,898,0.00,2.15,0.00,0.000,6,0.000,0.040,2712,2489,3628,0,0,0,0,0,0
$GC,1218,-0.55,-146.0,146.9,-8.6,168,1222,0.00,2.20,0.00,0.000,4,0.000,0.060,2712,1077,3627,0,0,0,0,0,0
$GC,1251,-0.61,-146.0,150.2,-9.2,170,1258,0.15,2.22,0.00,0.000,6,0.122,0.055,2664,2495,3627,0,0,0,0,0,0
$GC,1576,-0.56,-146.0,188.5,-11.4,201,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2495,3626,0,0,0,0,0,0
$GC,1897,-0.51,-146.0,225.7,-12.2,231,1902,0.12,2.28,0.00,0.000,4,0.221,0.071,2691,3903,3626,0,0,0,0,0,0
$GC,1926,-0.51,-146.0,229.1,-10.7,233,1930,0.00,2.17,0.00,0.000,6,0.000,0.041,2691,2483,3626,0,0,0,0,0,0
$GC,2257,-0.54,-146.0,258.9,-8.8,264,2261,0.00,2.28,0.00,0.000,4,0.000,0.067,2691,3902,3626,0,0,0,0,0,0
$GC,2275,-0.58,-146.0,260.5,-8.6,265,2279,0.00,2.15,0.00,0.000,6,0.000,0.039,2691,2486,3626,0,0,0,0,0,0
$GC,2606,-0.62,-146.0,288.9,-8.4,296,2610,0.00,2.25,0.00,0.000,4,0.000,0.066,2691,3897,3625,0,0,0,0,0,0
$GC,2650,-0.69,-146.0,292.6,-8.0,299,2658,0.15,2.15,0.00,0.000,6,0.116,0.038,2639,2489,3626,0,0,0,0,0,0
$GC,2976,-0.59,-146.0,332.1,-13.2,330,2981,0.12,2.28,0.00,0.000,4,0.216,0.066,2667,3900,3626,0,0,0,0,0,0
$GC,2998,-0.53,-146.0,335.1,-12.8,331,3004,0.00,2.12,0.00,0.000,6,0.000,0.038,2667,2490,3626,0,0,0,0,0,0
$GC,3323,-0.51,-146.0,368.6,-11.4,362,3328,0.10,2.28,0.00,0.000,4,0.213,0.066,2691,3904,3627,0,0,0,0,0,0
$GC,3334,-0.51,-146.0,370.1,-11.8,362,3341,0.00,2.15,0.00,0.000,6,0.000,0.037,2691,2489,3627,0,0,0,0,0,0
$GC,3660,-0.56,-146.0,398.7,-8.7,393,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2489,3627,0,0,0,0,0,0
$GC,3980,-0.62,-146.0,425.5,-8.2,423,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2489,3627,0,0,0,0,0,0
$GC,4298,-0.68,-146.0,451.1,-7.5,453,4300,0.15,0.00,0.00,0.000,6,0.120,0.000,2639,2489,3627,0,0,0,0,0,0
$GC,4615,-0.60,-146.0,487.8,-11.7,483,4617,0.12,0.00,0.00,0.000,6,0.210,0.000,2667,2489,3628,0,0,0,0,0,0
$STATE,4793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4793,begin apogee
$GC,4800,-0.12,0.0,505.8,9.8,500,4924,0.50,0.00,119.15,1.197,6,0.183,0.000,2815,2246,3030,0,0,0,0,0,0
$STATE,4925,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4927,0.62,146.0,509.4,0.0,511,5060,0.75,2.38,122.60,1.156,4,0.125,0.056,3061,888,2433,0,0,0,0,0,0
$GC,5099,0.54,146.0,494.8,12.8,526,5106,0.00,2.33,0.00,0.000,6,0.000,0.044,3061,2274,2429,0,0,0,0,0,0
$GC,5426,0.44,146.0,453.8,12.5,557,5431,0.20,2.33,0.00,0.000,4,0.183,0.057,3010,3690,2426,0,0,0,0,0,0
$GC,5568,0.39,146.0,437.0,11.6,569,5572,0.00,2.20,0.00,0.000,6,0.000,0.042,3017,2291,2425,0,0,0,0,0,0
$GC,5894,0.37,157.2,404.6,9.5,599,5906,0.12,0.00,9.57,0.969,6,0.190,0.000,2988,2291,2387,0,0,0,0,0,0
$GC,6222,0.48,209.8,379.2,7.6,630,6272,0.00,0.00,45.65,1.092,6,0.000,0.000,2988,2291,2173,0,0,0,0,0,0
$GC,6591,0.58,235.0,347.9,8.8,665,6620,0.17,0.00,22.15,1.035,6,0.086,0.000,3059,2291,2072,0,0,0,0,0,0
$GC,6938,0.52,235.0,296.6,15.0,698,6942,0.00,2.22,0.00,0.000,4,0.000,0.057,3059,3693,2067,0,0,0,0,0,0
$GC,6977,0.46,235.0,290.3,16.5,701,6985,0.20,2.20,0.00,0.000,6,0.179,0.044,3017,2272,2066,0,0,0,0,0,0
$GC,7303,0.49,235.0,254.9,10.3,732,7307,0.00,2.20,0.00,0.000,4,0.000,0.057,3025,862,2066,0,0,0,0,0,0
$GC,7354,0.58,244.3,249.8,9.6,736,7369,0.00,2.20,8.75,0.896,6,0.000,0.043,3026,2287,2033,0,0,0,0,0,0
$GC,7695,0.61,253.8,215.1,9.6,768,7711,0.10,2.25,9.77,0.907,4,0.116,0.057,3072,3682,1994,0,0,0,0,0,0
$GC,7775,0.56,253.8,204.4,14.5,775,7780,0.15,2.20,0.00,0.000,6,0.183,0.044,3045,2265,1993,0,0,0,0,0,0
$GC,8100,0.56,253.8,166.3,12.4,805,8104,0.00,2.20,0.00,0.000,4,0.000,0.057,3052,865,1992,0,0,0,0,0,0
$GC,8201,0.60,253.8,153.6,13.4,813,8208,0.00,2.20,0.00,0.000,6,0.000,0.044,3052,2281,1990,0,0,0,0,0,0
$GC,8526,0.60,253.8,112.6,12.5,844,8530,0.00,2.20,0.00,0.000,4,0.000,0.058,3052,3681,1990,0,0,0,0,0,0
$GC,8577,0.60,253.8,105.9,13.5,848,8581,0.00,2.17,0.00,0.000,6,0.000,0.044,3061,2273,1990,0,0,0,0,0,0
$GC,8919,0.63,253.8,64.1,10.4,905,8926,0.00,2.17,0.00,0.000,4,0.000,0.057,3071,868,1990,0,0,0,0,0,0
$GC,9006,0.66,256.5,55.4,9.9,920,9013,0.00,2.15,0.00,0.000,6,0.000,0.043,3071,2275,1989,0,0,0,0,0,0
$GC,9350,0.66,256.5,20.7,13.0,981,9358,0.00,2.17,0.00,0.000,4,0.000,0.057,3071,3680,1989,0,0,0,0,0,0
$GC,9409,0.66,256.5,13.4,11.8,991,9416,0.00,2.17,0.00,0.000,6,0.000,0.043,3081,2270,1989,0,0,0,0,0,0
$FREEZE,9.00,-1.629,-1.832,3,95,1
$FREEZE,8.38,-1.631,-1.832,3,95,1
$FREEZE,7.96,-1.633,-1.831,3,95,1
$FREEZE,7.38,-1.634,-1.831,3,95,1
$STATE,9459,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9459,begin subsurface finish
$FINISH1,7.4,1.026799,34
$GC,9466,0.04,34.3,7.4,-11.7,1000,9508,0.65,2.25,-36.42,0.000,4,0.168,0.070,2884,867,2892,0,0,0,0,0,0
$FINISH2,4.8
$STATE,9509,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$RAFOS_CLK,505
$RAFOS,6,1301129349,8.833333,8.819167,86,62,59,58,55,55,642,164,192,176,211,116
$RAFOS,5,1301128866,8.700000,8.685000,133,67,61,56,55,52,677,200,120,151,109,186
$RAFOS,4,1301128401,8.566667,8.555833,65,64,58,56,55,53,197,165,215,107,148,128
$RAFOS,3,1301127906,8.433333,8.418333,58,53,52,52,51,48,207,153,179,168,223,128
$RAFOS_FIX,6720.620117,-5757.952637,260311,080856,2,110,0.15
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.0
$ALTIM_BOTTOM_PING,500.5,20.2
$24V_AH,22.9,31.984
$10V_AH,10.2,17.613
$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,4.575,84.325,337.650,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2407.786,5017.314,408.035,1601.274,139.205,0.000,1258.318,0.000,1584.892,1080.000,17.066,0.000
$DEVICE_MAMPS,222.615,71.145,1197.225,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.168,758.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40084,1007
$CAP_FILE_SIZE,110082,0
$CFSIZE,260165632,236929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.5
$GPS,260311,084656,6720.620,-5757.953,0,2109.5,0,-38.2