version: 66.08
glider: 141
mission: 15
dive: 227
start: 3 27 111 2 25 1
data:
$ID,141
$MISSION,15
$DIVE,227
$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,400
$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,-30902.021
$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,30
$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
$GPS1,270311,001831,6721.466,-5736.767,9,1.1,9,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.70
$_SM_ANGLEo,-0.7
$GPS2,270311,001831,6721.466,-5736.767,9,1.1,9,-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,172.4,49090,-17.5,-10.000
$D_GRID,414
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.43,0.000,2,0.000,0.000,2881,871,3124,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.1,-0.0,1,53,0.60,4.85,-15.55,0.000,4,0.116,0.063,2672,3894,3628,0,0,0,0,0,0
$GC,116,-0.59,-146.0,18.2,-14.2,16,123,0.00,2.12,0.00,0.000,6,0.000,0.039,2672,2487,3630,0,0,0,0,0,0
$GC,461,-0.50,-146.0,70.3,-15.2,77,468,0.12,2.17,0.00,0.000,4,0.222,0.055,2700,1088,3629,0,0,0,0,0,0
$GC,476,-0.42,-146.0,72.5,-15.3,79,483,0.00,2.17,0.00,0.000,6,0.000,0.052,2700,2487,3629,0,0,0,0,0,0
$GC,818,-0.42,-146.0,116.0,-12.2,129,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2487,3628,0,0,0,0,0,0
$GC,1140,-0.42,-146.0,154.5,-11.6,159,1144,0.00,2.25,0.00,0.000,4,0.000,0.069,2700,3903,3626,0,0,0,0,0,0
$GC,1161,-0.45,-146.0,157.5,-11.5,160,1168,0.00,2.12,0.00,0.000,6,0.000,0.040,2700,2490,3625,0,0,0,0,0,0
$GC,1489,-0.48,-146.0,188.9,-8.8,191,1492,0.00,2.20,0.00,0.000,4,0.000,0.056,2700,1078,3625,0,0,0,0,0,0
$GC,1501,-0.51,-146.0,190.1,-8.9,192,1505,0.00,2.20,0.00,0.000,6,0.000,0.051,2701,2494,3624,0,0,0,0,0,0
$GC,1828,-0.54,-146.0,217.3,-9.0,222,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2494,3624,0,0,0,0,0,0
$GC,2146,-0.58,-146.0,245.9,-9.1,252,2150,0.00,2.22,0.00,0.000,4,0.000,0.068,2701,3897,3625,0,0,0,0,0,0
$GC,2164,-0.62,-146.0,247.8,-9.9,253,2168,0.12,2.12,0.00,0.000,6,0.125,0.039,2659,2489,3624,0,0,0,0,0,0
$GC,2494,-0.57,-146.0,288.2,-12.0,284,2498,0.00,2.15,0.00,0.000,4,0.000,0.054,2658,1088,3624,0,0,0,0,0,0
$GC,2521,-0.52,-146.0,291.7,-12.3,286,2529,0.15,2.17,0.00,0.000,6,0.209,0.052,2693,2490,3624,0,0,0,0,0,0
$GC,2847,-0.56,-146.0,319.8,-8.5,317,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2490,3624,0,0,0,0,0,0
$GC,3169,-0.61,-146.0,345.8,-7.8,347,3173,0.00,2.28,0.00,0.000,4,0.000,0.067,2693,3897,3623,0,0,0,0,0,0
$GC,3196,-0.66,-146.0,348.3,-7.9,349,3204,0.12,2.12,0.00,0.000,6,0.128,0.038,2651,2478,3623,0,0,0,0,0,0
$GC,3522,-0.60,-146.0,384.0,-11.1,380,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2478,3624,0,0,0,0,0,0
$STATE,3796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3796,begin apogee
$GC,3802,-0.12,0.0,415.0,11.6,406,3927,0.57,0.00,117.45,1.147,6,0.197,0.000,2814,2252,3029,0,0,0,0,0,0
$STATE,3927,end apogee,CONTROL_FINISHED_OK
$STATE,3928,begin climb
$GC,3929,0.62,146.0,419.1,0.0,417,4060,0.77,2.40,120.75,1.098,4,0.138,0.054,3063,892,2433,0,0,0,0,0,0
$GC,4106,0.55,146.0,404.1,12.5,433,4113,0.00,2.30,0.00,0.000,6,0.000,0.043,3063,2276,2430,0,0,0,0,0,0
$GC,4431,0.47,146.0,362.0,13.0,464,4436,0.17,2.30,0.00,0.000,4,0.185,0.058,3018,3693,2428,0,0,0,0,0,0
$GC,4551,0.43,146.0,347.1,12.1,474,4555,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,2287,2427,0,0,0,0,0,0
$GC,4876,0.43,146.0,311.6,10.4,504,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2286,2427,0,0,0,0,0,0
$GC,5198,0.44,160.9,280.4,9.3,534,5215,0.00,0.00,12.65,0.949,6,0.000,0.000,3026,2287,2374,0,0,0,0,0,0
$GC,5535,0.44,160.9,247.5,10.1,566,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2287,2373,0,0,0,0,0,0
$GC,5853,0.48,188.7,218.9,8.7,596,5882,0.00,0.00,24.73,0.975,6,0.000,0.000,3026,2286,2260,0,0,0,0,0,0
$GC,6201,0.55,220.0,187.4,8.6,629,6232,0.00,0.00,27.58,0.965,6,0.000,0.000,3026,2286,2133,0,0,0,0,0,0
$GC,6550,0.65,252.2,157.3,8.5,662,6581,0.12,0.00,28.27,0.952,6,0.103,0.000,3082,2286,2002,0,0,0,0,0,0
$GC,6898,0.61,252.2,109.8,14.1,695,6902,0.00,2.22,0.00,0.000,4,0.000,0.057,3082,3685,1995,0,0,0,0,0,0
$GC,6938,0.56,252.2,103.8,16.1,698,6943,0.17,2.20,0.00,0.000,6,0.174,0.043,3046,2268,1995,0,0,0,0,0,0
$GC,7282,0.66,266.2,69.2,9.4,755,7301,0.00,2.30,12.75,0.874,4,0.000,0.060,3046,863,1943,0,0,0,0,0,0
$GC,7342,0.81,281.7,63.6,9.3,765,7367,0.22,2.20,15.20,0.882,6,0.084,0.044,3137,2283,1880,0,0,0,0,0,0
$FREEZE,8.84,-1.615,-1.835,3,2,0
$FREEZE,7.98,-1.615,-1.834,3,2,0
$FREEZE,7.07,-1.615,-1.833,3,2,0
$STATE,7692,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7693,begin subsurface finish
$FINISH1,7.1,1.026837,32
$GC,7698,0.04,32.5,7.1,-16.7,827,7750,0.85,0.00,-44.38,0.000,6,0.177,0.000,2885,2285,2898,0,0,0,0,0,0
$FINISH2,4.1
$STATE,7751,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7751,begin surface
$RAFOS_CLK,410
$RAFOS,3,1301199905,4.433333,4.418056,60,58,58,55,51,51,158,146,193,211,130,170
$RAFOS,2,1301199427,4.300000,4.285278,68,61,57,55,53,51,166,156,197,208,138,241
$RAFOS,1,1301198951,4.166667,4.153056,66,60,58,55,52,52,218,200,179,161,123,138
$RAFOS,0,1301198466,4.033333,4.018333,70,59,57,55,55,51,205,186,132,147,220,169
$RAFOS_FIX,6720.975586,-5751.119629,260311,202000,2,110,0.16
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.029211
$HUMID,45.62
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.0
$24V_AH,23.1,32.728
$10V_AH,10.2,18.016
$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,4.025,51.600,359.375,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1978.042,4035.945,397.369,1285.202,110.962,0.000,1090.998,0.000,1283.209,1800.000,7.914,0.000
$DEVICE_MAMPS,221.850,68.850,1146.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.210,629.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,33385,836
$CAP_FILE_SIZE,83631,0
$CFSIZE,260165632,236568576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,270311,001831,6721.466,-5736.767,9,1.1,9,-38.2