version: 66.08
glider: 141
mission: 15
dive: 229
start: 3 27 111 6 50 37
data:
$ID,141
$MISSION,15
$DIVE,229
$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,33
$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
$GPS1,270311,044800,6718.908,-5744.721,0,2124.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.54
$_SM_ANGLEo,-3.5
$GPS2,270311,044800,6718.908,-5744.721,0,2124.5,0,-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,163.9,50455,-17.5,-10.000
$D_GRID,642
$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,-7.40,0.000,2,0.000,0.000,2883,867,3083,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.4,-0.0,1,58,0.65,4.93,-19.60,0.000,4,0.137,0.065,2670,3896,3627,0,0,0,0,0,0
$GC,233,-0.56,-146.0,33.3,-13.4,37,240,0.00,2.17,0.00,0.000,6,0.000,0.039,2670,2485,3629,0,0,0,0,0,0
$GC,578,-0.48,-146.0,84.9,-14.2,98,586,0.15,2.30,0.00,0.000,4,0.217,0.065,2705,3894,3628,0,0,0,0,0,0
$GC,604,-0.45,-146.0,88.5,-13.8,102,611,0.00,2.17,0.00,0.000,6,0.000,0.038,2705,2477,3628,0,0,0,0,0,0
$GC,937,-0.45,-146.0,124.7,-10.9,142,941,0.00,2.17,0.00,0.000,4,0.000,0.056,2705,1083,3626,0,0,0,0,0,0
$GC,959,-0.48,-146.0,127.3,-12.0,144,964,0.00,2.20,0.00,0.000,6,0.000,0.051,2705,2492,3626,0,0,0,0,0,0
$GC,1287,-0.52,-146.0,158.5,-8.9,174,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2492,3625,0,0,0,0,0,0
$GC,1604,-0.56,-146.0,188.3,-9.6,204,1608,0.00,2.25,0.00,0.000,4,0.000,0.068,2705,3907,3624,0,0,0,0,0,0
$GC,1660,-0.64,-146.0,193.9,-9.4,208,1668,0.15,2.15,0.00,0.000,6,0.112,0.039,2653,2482,3624,0,0,0,0,0,0
$GC,1985,-0.56,-146.0,236.9,-13.1,239,1990,0.12,2.17,0.00,0.000,4,0.212,0.054,2681,1091,3624,0,0,0,0,0,0
$GC,1997,-0.48,-146.0,238.5,-12.9,240,2001,0.00,2.20,0.00,0.000,6,0.000,0.052,2681,2502,3624,0,0,0,0,0,0
$GC,2322,-0.48,-146.0,273.0,-10.2,270,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2502,3624,0,0,0,0,0,0
$GC,2643,-0.48,-146.0,305.2,-9.8,300,2647,0.00,2.25,0.00,0.000,4,0.000,0.068,2681,3906,3624,0,0,0,0,0,0
$GC,2653,-0.48,-146.0,306.5,-9.3,300,2660,0.00,2.12,0.00,0.000,6,0.000,0.037,2681,2489,3624,0,0,0,0,0,0
$GC,2980,-0.48,-146.0,335.7,-9.2,331,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3624,0,0,0,0,0,0
$GC,3298,-0.48,-146.0,363.8,-9.4,361,3302,0.00,2.28,0.00,0.000,4,0.000,0.064,2681,3909,3624,0,0,0,0,0,0
$GC,3319,-0.48,-146.0,366.1,-9.3,362,3326,0.00,2.12,0.00,0.000,6,0.000,0.036,2681,2489,3624,0,0,0,0,0,0
$GC,3645,-0.48,-146.0,395.8,-8.8,393,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2489,3624,0,0,0,0,0,0
$GC,3965,-0.50,-146.0,423.3,-8.2,423,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2489,3625,0,0,0,0,0,0
$STATE,4109,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4110,begin apogee
$GC,4115,-0.12,0.0,435.9,7.1,437,4239,0.45,0.00,117.15,1.151,6,0.175,0.000,2817,2260,3030,0,0,0,0,0,0
$STATE,4239,end apogee,CONTROL_FINISHED_OK
$STATE,4239,begin climb
$GC,4241,0.62,146.0,440.1,0.0,448,4371,0.75,2.38,120.95,1.106,4,0.129,0.057,3063,890,2434,0,0,0,0,0,0
$GC,4554,0.55,146.0,409.8,12.3,476,4558,0.00,2.28,0.00,0.000,6,0.000,0.042,3063,2283,2428,0,0,0,0,0,0
$GC,4879,0.47,146.0,369.9,12.0,506,4884,0.17,2.25,0.00,0.000,4,0.178,0.057,3018,3684,2427,0,0,0,0,0,0
$GC,4987,0.43,146.0,358.2,10.8,515,4991,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,2295,2427,0,0,0,0,0,0
$GC,5312,0.41,155.0,325.4,9.6,545,5323,0.00,0.00,7.93,0.881,6,0.000,0.000,3026,2295,2397,0,0,0,0,0,0
$GC,5642,0.41,155.0,291.2,10.6,576,5646,0.00,2.20,0.00,0.000,4,0.000,0.055,3026,3692,2396,0,0,0,0,0,0
$GC,5696,0.36,155.0,284.0,12.7,580,5704,0.20,2.20,0.00,0.000,6,0.179,0.040,2984,2273,2396,0,0,0,0,0,0
$GC,6024,0.52,212.5,258.3,7.3,611,6081,0.15,2.33,49.25,1.010,4,0.090,0.054,3058,872,2162,0,0,0,0,0,0
$GC,6115,0.52,212.5,248.1,12.0,619,6119,0.00,2.22,0.00,0.000,6,0.000,0.043,3058,2281,2159,0,0,0,0,0,0
$GC,6440,0.52,212.5,207.8,12.6,649,6444,0.00,2.25,0.00,0.000,4,0.000,0.057,3058,3694,2156,0,0,0,0,0,0
$GC,6546,0.48,212.5,193.2,13.7,658,6551,0.17,2.20,0.00,0.000,6,0.173,0.042,3022,2270,2156,0,0,0,0,0,0
$GC,6871,0.59,250.1,164.6,8.3,688,6909,0.00,2.25,32.30,0.957,4,0.000,0.054,3028,864,2009,0,0,0,0,0,0
$GC,6944,0.74,283.8,158.8,8.4,694,6981,0.20,2.25,30.05,0.937,6,0.087,0.042,3110,2287,1874,0,0,0,0,0,0
$GC,7307,0.69,283.8,101.6,15.6,728,7311,0.00,2.22,0.00,0.000,4,0.000,0.056,3110,3688,1866,0,0,0,0,0,0
$GC,7375,0.63,283.8,90.9,16.5,738,7382,0.20,2.22,0.00,0.000,6,0.180,0.042,3067,2268,1864,0,0,0,0,0,0
$GC,7723,0.69,283.8,53.0,11.0,799,7729,0.00,2.20,0.00,0.000,4,0.000,0.057,3072,860,1864,0,0,0,0,0,0
$GC,7782,0.79,286.0,46.9,9.9,809,7789,0.12,2.17,0.00,0.000,6,0.109,0.043,3124,2274,1863,0,0,0,0,0,0
$FREEZE,8.96,-1.618,-1.831,3,4,0
$FREEZE,8.08,-1.619,-1.830,3,4,0
$FREEZE,7.23,-1.619,-1.829,3,4,0
$FREEZE,6.43,-1.620,-1.829,3,4,0
$STATE,8050,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8050,begin subsurface finish
$FINISH1,6.4,1.026777,35
$GC,8056,0.04,35.4,6.4,-17.1,857,8110,0.80,2.30,-47.20,0.000,4,0.169,0.072,2883,3690,2887,0,0,0,0,0,0
$FINISH2,4.3
$STATE,8111,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8111,begin surface
$RAFOS_CLK,428
$RAFOS,6,1301215750,8.833333,8.819445,134,65,62,59,58,53,670,216,198,157,188,123
$RAFOS,5,1301215261,8.700000,8.683611,134,60,58,57,53,51,678,215,196,170,152,181
$RAFOS,4,1301214788,8.566667,8.552222,61,58,55,55,54,50,162,191,112,150,200,216
$RAFOS,3,1301214305,8.433333,8.418056,60,58,56,53,52,50,207,114,179,150,217,1499
$RAFOS,2,1301213830,8.300000,8.286111,65,63,60,59,56,50,206,196,147,182,135,171
$RAFOS,1,1301213343,8.166667,8.150833,65,59,59,58,55,54,204,191,165,121,108,156
$RAFOS,0,1301212863,8.033334,8.017500,66,58,52,49,49,48,212,195,1454,142,108,164
$RAFOS_FIX,6718.563965,-5743.348633,270311,080856,2,134,0.08
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.6
$ALTIM_BOTTOM_PING,400.7,50.0
$24V_AH,23.0,32.944
$10V_AH,10.2,18.119
$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,4.300,71.900,357.625,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2069.074,4181.100,398.204,1401.306,125.585,0.000,1158.118,0.000,1391.887,2520.000,10.712,0.000
$DEVICE_MAMPS,217.260,71.910,1151.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.362,653.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,33415,866
$CAP_FILE_SIZE,95087,0
$CFSIZE,260165632,236462080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$GPS,270311,084656,6718.564,-5743.349,0,2134.0,0,-38.2