version: 66.08
glider: 141
mission: 15
dive: 230
start: 3 27 111 9 7 45
data:
$ID,141
$MISSION,15
$DIVE,230
$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,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
$GPS1,270311,084656,6718.564,-5743.349,0,2134.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.85
$_SM_ANGLEo,3.8
$GPS2,270311,084656,6718.564,-5743.349,0,2134.0,0,-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,164.0,49279,-17.5,-10.000
$D_GRID,648
$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,-6.95,0.000,2,0.000,0.000,2883,3690,3082,0,0,0,0,0,0
$GC,27,-0.62,-146.0,6.3,-0.0,1,58,0.60,4.18,-18.12,0.000,4,0.103,0.054,2668,1077,3628,0,0,0,0,0,0
$GC,145,-0.56,-146.0,21.6,-13.7,21,152,0.00,2.20,0.00,0.000,6,0.000,0.050,2668,2492,3629,0,0,0,0,0,0
$GC,492,-0.47,-146.0,77.7,-17.0,82,500,0.17,2.25,0.00,0.000,4,0.219,0.066,2712,3897,3628,0,0,0,0,0,0
$GC,535,-0.51,-146.0,83.8,-11.7,89,542,0.00,2.15,0.00,0.000,6,0.000,0.039,2712,2482,3628,0,0,0,0,0,0
$GC,875,-0.54,-146.0,122.8,-10.7,132,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2482,3627,0,0,0,0,0,0
$GC,1195,-0.59,-146.0,154.8,-9.8,162,1199,0.12,2.20,0.00,0.000,4,0.130,0.057,2669,1078,3625,0,0,0,0,0,0
$GC,1221,-0.59,-146.0,158.4,-12.7,164,1228,0.00,2.22,0.00,0.000,6,0.000,0.052,2669,2483,3625,0,0,0,0,0,0
$GC,1548,-0.54,-146.0,200.7,-13.1,195,1553,0.00,2.25,0.00,0.000,4,0.000,0.067,2669,3894,3624,0,0,0,0,0,0
$GC,1578,-0.51,-146.0,204.5,-12.4,197,1582,0.12,2.15,0.00,0.000,6,0.203,0.040,2698,2481,3624,0,0,0,0,0,0
$GC,1908,-0.54,-146.0,236.4,-8.9,228,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2481,3624,0,0,0,0,0,0
$GC,2228,-0.58,-146.0,264.3,-8.6,258,2232,0.00,2.25,0.00,0.000,4,0.000,0.064,2698,3897,3624,0,0,0,0,0,0
$GC,2250,-0.63,-146.0,266.5,-8.3,259,2258,0.12,2.12,0.00,0.000,6,0.125,0.037,2656,2486,3624,0,0,0,0,0,0
$GC,2576,-0.57,-146.0,306.3,-13.1,290,2580,0.00,2.15,0.00,0.000,4,0.000,0.053,2656,1089,3623,0,0,0,0,0,0
$GC,2591,-0.50,-146.0,308.8,-13.9,291,2599,0.17,2.20,0.00,0.000,6,0.200,0.051,2698,2497,3623,0,0,0,0,0,0
$GC,2918,-0.56,-146.0,340.2,-9.2,322,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2497,3624,0,0,0,0,0,0
$GC,3237,-0.62,-146.0,367.5,-8.2,352,3242,0.12,2.25,0.00,0.000,4,0.127,0.067,2654,3903,3624,0,0,0,0,0,0
$GC,3281,-0.62,-146.0,372.4,-11.4,355,3288,0.00,2.12,0.00,0.000,6,0.000,0.037,2655,2489,3623,0,0,0,0,0,0
$GC,3606,-0.58,-146.0,410.3,-11.0,386,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2488,3624,0,0,0,0,0,0
$STATE,3742,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3742,begin apogee
$GC,3748,-0.12,0.0,425.0,9.4,399,3871,0.55,0.00,117.18,1.154,6,0.192,0.000,2812,2250,3031,0,0,0,0,0,0
$STATE,3872,end apogee,CONTROL_FINISHED_OK
$STATE,3872,begin climb
$GC,3874,0.62,146.0,428.8,0.0,410,4006,0.77,2.38,121.32,1.099,4,0.133,0.052,3064,896,2433,0,0,0,0,0,0
$GC,4119,0.56,146.0,404.5,13.0,432,4126,0.00,2.28,0.00,0.000,6,0.000,0.042,3064,2283,2428,0,0,0,0,0,0
$GC,4445,0.44,146.0,363.0,14.1,463,4450,0.20,2.28,0.00,0.000,4,0.183,0.057,3010,3683,2427,0,0,0,0,0,0
$GC,4519,0.42,146.0,353.2,11.4,469,4524,0.00,2.20,0.00,0.000,6,0.000,0.041,3018,2279,2427,0,0,0,0,0,0
$GC,4850,0.42,146.0,319.1,10.4,500,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2279,2427,0,0,0,0,0,0
$GC,5170,0.42,146.0,286.8,10.0,530,5174,0.00,2.25,0.00,0.000,4,0.000,0.056,3018,3691,2427,0,0,0,0,0,0
$GC,5236,0.37,146.0,279.0,12.1,535,5243,0.15,2.20,0.00,0.000,6,0.186,0.040,2991,2265,2428,0,0,0,0,0,0
$GC,5562,0.52,209.6,253.9,7.1,566,5618,0.12,0.00,53.20,1.010,6,0.103,0.000,3046,2265,2175,0,0,0,0,0,0
$GC,5933,0.52,209.6,214.6,10.7,601,5937,0.00,2.28,0.00,0.000,4,0.000,0.055,3046,3684,2169,0,0,0,0,0,0
$GC,5978,0.50,209.6,209.1,12.3,605,5983,0.00,2.17,0.00,0.000,6,0.000,0.040,3056,2277,2168,0,0,0,0,0,0
$GC,6303,0.50,209.6,169.6,12.2,635,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2277,2167,0,0,0,0,0,0
$GC,6623,0.50,209.6,133.2,11.0,665,6627,0.00,2.22,0.00,0.000,4,0.000,0.056,3056,3690,2167,0,0,0,0,0,0
$GC,6664,0.47,209.6,128.1,13.0,668,6669,0.17,2.17,0.00,0.000,6,0.171,0.041,3019,2268,2167,0,0,0,0,0,0
$GC,6989,0.62,264.9,103.4,7.4,698,7040,0.15,0.00,47.08,0.943,6,0.098,0.000,3084,2267,1949,0,0,0,0,0,0
$GC,7377,0.62,264.9,56.5,12.4,763,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2267,1942,0,0,0,0,0,0
$GC,7721,0.65,264.9,16.3,11.3,824,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2268,1940,0,0,0,0,0,0
$FREEZE,8.46,-1.683,-1.829,3,5,0
$STATE,7795,end climb,FINISH_DEPTH_REACHED
$STATE,7795,begin subsurface finish
$FINISH1,8.5,1.026755,36
$GC,7801,0.04,36.5,8.5,-11.2,837,7837,0.65,0.00,-32.53,0.000,6,0.159,0.000,2885,2267,2883,0,0,0,0,0,0
$FINISH2,6.5
$STATE,7838,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7838,begin surface
$RAFOS_CLK,417
$RAFOS_FIX,6718.563965,-5743.348633,270311,080856,2,134,0.08
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,400.6,39.3
$24V_AH,23.0,33.047
$10V_AH,10.2,18.168
$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,4.225,55.450,338.775,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1988.778,4079.717,369.487,1330.949,122.864,0.000,1090.858,0.000,1327.004,0.000,10.680,0.000
$DEVICE_MAMPS,218.790,67.320,1153.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.363,635.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33408,843
$CAP_FILE_SIZE,85958,0
$CFSIZE,260165632,236425216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,270311,084656,6718.564,-5743.349,0,2134.0,0,-38.2