version: 66.08
glider: 141
mission: 15
dive: 231
start: 3 27 111 11 20 6
data:
$ID,141
$MISSION,15
$DIVE,231
$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,38
$R_STBD_OVSHOOT,29
$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,7.67
$_SM_ANGLEo,0.7
$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,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,-6.65,0.000,2,0.000,0.000,2884,2267,3105,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.3,-0.0,1,45,0.60,0.00,-15.12,0.000,6,0.101,0.000,2669,2265,3627,0,0,0,0,0,0
$GC,383,-0.53,-146.0,59.7,-13.7,64,390,0.00,2.65,0.00,0.000,4,0.000,0.067,2669,3899,3629,0,0,0,0,0,0
$GC,509,-0.47,-146.0,76.4,-13.4,86,517,0.15,2.17,0.00,0.000,6,0.205,0.040,2704,2487,3628,0,0,0,0,0,0
$GC,848,-0.47,-146.0,114.5,-12.3,136,852,0.00,2.20,0.00,0.000,4,0.000,0.057,2704,1083,3628,0,0,0,0,0,0
$GC,903,-0.51,-146.0,120.9,-10.7,140,910,0.00,2.22,0.00,0.000,6,0.000,0.050,2704,2498,3627,0,0,0,0,0,0
$GC,1230,-0.54,-146.0,154.1,-10.6,171,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2498,3626,0,0,0,0,0,0
$GC,1548,-0.58,-146.0,185.2,-9.3,201,1552,0.00,2.22,0.00,0.000,4,0.000,0.070,2704,3897,3625,0,0,0,0,0,0
$GC,1558,-0.62,-146.0,186.5,-8.9,201,1566,0.12,2.12,0.00,0.000,6,0.125,0.039,2662,2489,3625,0,0,0,0,0,0
$GC,1885,-0.57,-146.0,227.4,-12.2,232,1889,0.00,2.17,0.00,0.000,4,0.000,0.056,2661,1081,3624,0,0,0,0,0,0
$GC,1906,-0.52,-146.0,230.6,-13.2,233,1914,0.12,2.22,0.00,0.000,6,0.215,0.053,2690,2490,3624,0,0,0,0,0,0
$GC,2232,-0.54,-146.0,262.9,-10.0,264,2236,0.00,2.30,0.00,0.000,4,0.000,0.068,2690,3906,3624,0,0,0,0,0,0
$GC,2244,-0.56,-146.0,264.1,-10.0,265,2248,0.00,2.17,0.00,0.000,6,0.000,0.038,2690,2482,3624,0,0,0,0,0,0
$GC,2569,-0.59,-146.0,295.1,-9.7,295,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2482,3625,0,0,0,0,0,0
$GC,2888,-0.62,-146.0,322.8,-8.4,325,2892,0.00,2.28,0.00,0.000,4,0.000,0.066,2690,3906,3624,0,0,0,0,0,0
$GC,2916,-0.67,-146.0,325.2,-8.4,327,2921,0.12,2.15,0.00,0.000,6,0.122,0.037,2647,2480,3624,0,0,0,0,0,0
$GC,3242,-0.60,-146.0,363.0,-11.9,357,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2479,3624,0,0,0,0,0,0
$GC,3560,-0.54,-146.0,402.5,-13.4,387,3565,0.15,2.15,0.00,0.000,4,0.207,0.054,2683,1092,3625,0,0,0,0,0,0
$GC,3570,-0.49,-146.0,404.1,-13.2,387,3577,0.00,2.17,0.00,0.000,6,0.000,0.049,2683,2502,3624,0,0,0,0,0,0
$GC,3897,-0.52,-146.0,432.1,-9.4,418,3903,0.00,2.17,0.00,0.000,4,0.000,0.065,2683,3894,3625,0,0,0,0,0,0
$GC,3921,-0.56,-146.0,434.6,-10.0,420,3925,0.00,2.10,0.00,0.000,6,0.000,0.037,2683,2490,3625,0,0,0,0,0,0
$STATE,3948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3948,begin apogee
$GC,3954,-0.12,0.0,437.2,9.6,422,4076,0.45,0.00,117.30,1.161,6,0.181,0.000,2816,2257,3030,0,0,0,0,0,0
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,0.62,146.0,442.0,0.0,433,4208,0.80,0.00,121.82,1.108,6,0.133,0.000,3060,2256,2433,0,0,0,0,0,0
$GC,4526,0.52,146.0,389.6,12.4,476,4531,0.00,2.38,0.00,0.000,4,0.000,0.057,3060,3692,2427,0,0,0,0,0,0
$GC,4594,0.39,146.0,379.7,14.7,481,4601,0.30,2.22,0.00,0.000,6,0.193,0.041,2994,2300,2427,0,0,0,0,0,0
$GC,4919,0.47,179.0,350.5,8.5,512,4953,0.00,2.38,27.80,1.028,4,0.000,0.057,3002,871,2300,0,0,0,0,0,0
$GC,5005,0.60,218.0,343.1,8.2,519,5046,0.15,2.22,34.53,1.027,6,0.094,0.044,3069,2279,2141,0,0,0,0,0,0
$GC,5362,0.54,218.0,292.1,14.5,553,5366,0.00,2.25,0.00,0.000,4,0.000,0.057,3069,3683,2135,0,0,0,0,0,0
$GC,5462,0.47,218.0,276.3,14.9,561,5470,0.22,2.20,0.00,0.000,6,0.172,0.042,3019,2266,2134,0,0,0,0,0,0
$GC,5788,0.53,224.7,244.1,9.7,592,5801,0.00,2.20,6.30,0.799,4,0.000,0.055,3028,868,2112,0,0,0,0,0,0
$GC,5847,0.62,225.1,238.2,10.0,597,5852,0.10,2.20,0.00,0.000,6,0.123,0.044,3074,2278,2111,0,0,0,0,0,0
$GC,6178,0.58,225.1,191.5,14.7,628,6182,0.00,2.20,0.00,0.000,4,0.000,0.057,3074,3687,2111,0,0,0,0,0,0
$GC,6256,0.52,225.1,179.2,15.6,634,6263,0.17,2.17,0.00,0.000,6,0.177,0.044,3037,2274,2111,0,0,0,0,0,0
$GC,6581,0.57,225.1,143.7,10.6,665,6585,0.00,2.20,0.00,0.000,4,0.000,0.057,3042,862,2110,0,0,0,0,0,0
$GC,6621,0.64,225.1,139.8,10.1,668,6625,0.00,2.17,0.00,0.000,6,0.000,0.043,3042,2279,2110,0,0,0,0,0,0
$GC,6948,0.72,241.7,109.7,9.2,698,6972,0.15,2.22,15.68,0.910,4,0.096,0.057,3108,3691,2045,0,0,0,0,0,0
$GC,7065,0.62,241.7,93.1,15.0,712,7072,0.20,2.20,0.00,0.000,6,0.188,0.043,3066,2267,2044,0,0,0,0,0,0
$GC,7412,0.65,241.7,55.0,10.2,773,7419,0.00,2.17,0.00,0.000,4,0.000,0.058,3073,871,2042,0,0,0,0,0,0
$GC,7493,0.71,244.9,46.9,9.9,787,7506,0.00,2.17,4.20,0.622,6,0.000,0.046,3074,2277,2030,0,0,0,0,0,0
$GC,7846,0.72,255.2,12.2,9.5,849,7859,0.00,2.25,5.45,0.770,4,0.000,0.061,3074,3693,1988,0,0,0,0,0,0
$FREEZE,8.62,-1.605,-1.830,3,6,0
$FREEZE,8.01,-1.601,-1.830,3,6,0
$FREEZE,7.42,-1.603,-1.829,3,6,0
$FREEZE,7.02,-1.603,-1.829,3,6,0
$FREEZE,6.52,-1.599,-1.828,3,6,0
$FREEZE,5.81,-1.599,-1.828,3,6,0
$FREEZE,5.30,-1.601,-1.827,3,6,0
$FREEZE,4.71,-1.599,-1.827,3,6,0
$GC,7921,0.72,255.2,4.7,11.8,862,7927,0.00,2.20,0.00,0.000,6,0.000,0.046,3084,2283,1987,0,0,0,0,0,0
$FREEZE,2.93,-1.606,-1.826,3,6,0
$STATE,7933,end climb,SURFACE_DEPTH_REACHED
$STATE,7933,begin surface coast
$FREEZE,2.59,-1.607,-1.825,3,6,0
$FREEZE,2.43,-1.610,-1.825,3,6,0
$FREEZE,2.31,-1.616,-1.826,3,6,0
$FREEZE,2.31,-1.612,-1.825,3,6,0
$FREEZE,2.33,-1.615,-1.826,3,6,0
$FINISH,2.3,1.026777
$STATE,7961,end surface coast,CONTROL_FINISHED_OK
$STATE,7961,begin surface
$SM_CCo,7991,65.20,0.069,0,0,1399,400.08
$SM_GC,2.33,0.00,0.00,65.20,0.000,0.000,0.069,110,2493,1399,-8.60,0.08,400.08
$RAFOS_CLK,428
$RAFOS,6,1301230145,12.833333,12.818055,122,64,55,55,54,54,701,215,140,191,178,405
$RAFOS,5,1301229669,12.700000,12.685833,144,64,61,57,54,53,632,214,163,191,201,228
$RAFOS,4,1301229181,12.566667,12.550278,66,65,64,61,53,51,220,177,848,142,200,154
$RAFOS,3,1301228707,12.433333,12.418612,60,59,56,55,55,50,220,202,132,146,190,169
$RAFOS,2,1301228226,12.300000,12.285000,64,59,59,58,55,52,214,195,172,205,228,111
$RAFOS,1,1301227748,12.166667,12.152223,59,59,57,57,55,51,110,209,188,155,224,167
$RAFOS,0,1301227266,12.033333,12.018333,59,57,57,53,49,49,218,202,153,119,143,185
$RAFOS_FIX,6718.050293,-5742.224609,270311,121200,2,133,0.09
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,350.4,101.2
$24V_AH,23.0,33.150
$10V_AH,10.2,18.220
$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,13.625,76.150,333.075,65.200,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2114.271,4055.055,447.802,1372.447,136.323,0.000,1183.286,0.000,1369.186,2520.000,9.079,0.000
$DEVICE_MAMPS,214.965,69.615,1160.505,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.959,659.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33404,869
$CAP_FILE_SIZE,99297,0
$CFSIZE,260165632,236359680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,270311,133555,6720.016,-5731.687,38,1.0,38,-38.1