version: 66.08
glider: 141
mission: 15
dive: 234
start: 3 27 111 18 47 55
data:
$ID,141
$MISSION,15
$DIVE,234
$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,-30903.277
$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,28
$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
$GPS1,270311,164656,6717.576,-5739.795,0,2123.0,0,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.50
$_SM_ANGLEo,2.3
$GPS2,270311,164656,6717.576,-5739.795,0,2123.0,0,-38.1
$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,163.9,46127,-17.5,-10.000
$D_GRID,619
$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,-7.03,0.000,2,0.000,0.000,2888,2277,3109,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.4,-0.0,1,52,0.62,1.90,-16.25,0.000,4,0.106,0.072,2667,1076,3628,0,0,0,0,0,0
$GC,76,-0.51,-146.0,11.6,-10.7,9,82,0.00,2.25,0.00,0.000,6,0.000,0.056,2667,2496,3629,0,0,0,0,0,0
$GC,420,-0.42,-146.0,63.3,-14.9,70,428,0.22,2.25,0.00,0.000,4,0.211,0.057,2725,1070,3629,0,0,0,0,0,0
$GC,435,-0.34,-146.0,65.4,-14.7,72,442,0.00,2.25,0.00,0.000,6,0.000,0.055,2724,2494,3629,0,0,0,0,0,0
$GC,780,-0.39,-146.0,99.2,-10.4,133,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2494,3628,0,0,0,0,0,0
$GC,1113,-0.47,-146.0,128.9,-9.0,165,1117,0.00,2.28,0.00,0.000,4,0.000,0.074,2724,3897,3626,0,0,0,0,0,0
$GC,1182,-0.57,-146.0,134.8,-8.3,171,1187,0.15,2.17,0.00,0.000,6,0.114,0.045,2672,2485,3626,0,0,0,0,0,0
$GC,1507,-0.54,-146.0,174.0,-11.6,201,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2485,3624,0,0,0,0,0,0
$GC,1829,-0.51,-146.0,211.0,-10.9,231,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2485,3622,0,0,0,0,0,0
$GC,2155,-0.51,-146.0,245.4,-10.3,262,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2485,3623,0,0,0,0,0,0
$GC,2475,-0.51,-146.0,277.2,-9.9,292,2479,0.00,2.17,0.00,0.000,4,0.000,0.057,2671,1080,3623,0,0,0,0,0,0
$GC,2503,-0.51,-146.0,280.3,-10.8,294,2507,0.00,2.25,0.00,0.000,6,0.000,0.055,2671,2498,3623,0,0,0,0,0,0
$GC,2828,-0.51,-146.0,311.8,-9.4,324,2832,0.00,2.25,0.00,0.000,4,0.000,0.070,2671,3905,3623,0,0,0,0,0,0
$GC,2840,-0.51,-146.0,312.9,-9.2,325,2844,0.00,2.17,0.00,0.000,6,0.000,0.041,2671,2489,3623,0,0,0,0,0,0
$GC,3165,-0.51,-146.0,342.1,-9.0,355,3169,0.00,2.28,0.00,0.000,4,0.000,0.067,2671,3900,3624,0,0,0,0,0,0
$GC,3181,-0.51,-146.0,343.6,-8.4,356,3188,0.00,2.15,0.00,0.000,6,0.000,0.041,2671,2484,3623,0,0,0,0,0,0
$GC,3507,-0.51,-146.0,372.2,-8.9,387,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2483,3624,0,0,0,0,0,0
$GC,3825,-0.51,-146.0,402.4,-9.6,417,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2483,3625,0,0,0,0,0,0
$STATE,3993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3993,begin apogee
$GC,3999,-0.12,0.0,418.5,9.4,433,4122,0.47,0.00,117.05,1.134,6,0.184,0.000,2810,2261,3029,0,0,0,0,0,0
$STATE,4123,end apogee,CONTROL_FINISHED_OK
$STATE,4123,begin climb
$GC,4125,0.62,146.0,421.1,0.0,444,4255,0.80,2.42,120.10,1.086,4,0.141,0.060,3066,896,2433,0,0,0,0,0,0
$GC,4288,0.55,146.0,405.8,13.3,459,4295,0.00,2.33,0.00,0.000,6,0.000,0.047,3067,2274,2430,0,0,0,0,0,0
$GC,4614,0.46,146.0,360.7,14.1,490,4619,0.20,2.33,0.00,0.000,4,0.177,0.060,3013,3697,2428,0,0,0,0,0,0
$GC,4745,0.43,146.0,344.2,12.7,501,4749,0.00,2.25,0.00,0.000,6,0.000,0.045,3021,2289,2427,0,0,0,0,0,0
$GC,5069,0.43,146.0,306.3,11.4,531,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2289,2428,0,0,0,0,0,0
$GC,5388,0.43,146.0,270.3,11.2,561,5392,0.00,2.25,0.00,0.000,4,0.000,0.060,3021,3688,2428,0,0,0,0,0,0
$GC,5450,0.38,146.0,262.7,12.7,566,5455,0.17,2.20,0.00,0.000,6,0.184,0.044,2987,2268,2428,0,0,0,0,0,0
$GC,5776,0.53,207.1,236.7,7.2,596,5833,0.15,2.30,51.03,0.991,4,0.093,0.057,3063,865,2183,0,0,0,0,0,0
$GC,5890,0.53,207.1,223.3,12.2,606,5895,0.00,2.25,0.00,0.000,6,0.000,0.047,3063,2278,2179,0,0,0,0,0,0
$GC,6216,0.48,207.1,180.5,13.0,636,6220,0.15,2.25,0.00,0.000,4,0.173,0.061,3024,3694,2177,0,0,0,0,0,0
$GC,6315,0.48,207.1,168.5,12.1,644,6322,0.00,2.22,0.00,0.000,6,0.000,0.044,3031,2276,2176,0,0,0,0,0,0
$GC,6641,0.51,207.1,134.5,10.5,675,6645,0.00,2.20,0.00,0.000,4,0.000,0.057,3041,865,2176,0,0,0,0,0,0
$GC,6682,0.56,207.1,130.3,11.2,678,6686,0.00,2.20,0.00,0.000,6,0.000,0.047,3041,2284,2175,0,0,0,0,0,0
$GC,7008,0.65,236.6,98.9,8.6,709,7038,0.00,2.33,24.67,0.907,4,0.000,0.060,3041,3696,2064,0,0,0,0,0,0
$GC,7102,0.68,236.6,89.9,10.4,725,7109,0.10,2.25,0.00,0.000,6,0.116,0.044,3090,2268,2063,0,0,0,0,0,0
$GC,7447,0.68,236.6,50.5,10.7,786,7454,0.00,2.20,0.00,0.000,4,0.000,0.058,3101,865,2061,0,0,0,0,0,0
$GC,7522,0.68,236.6,42.0,10.8,799,7529,0.00,2.20,0.00,0.000,6,0.000,0.046,3101,2282,2060,0,0,0,0,0,0
$FREEZE,8.41,-1.500,-1.833,3,3,0
$FREEZE,7.70,-1.500,-1.833,3,3,0
$FREEZE,6.98,-1.503,-1.832,3,3,0
$FREEZE,6.43,-1.508,-1.832,3,3,0
$FREEZE,5.69,-1.505,-1.831,3,3,0
$FREEZE,4.94,-1.509,-1.831,3,3,0
$FREEZE,4.30,-1.513,-1.830,3,3,0
$FREEZE,3.52,-1.515,-1.829,3,3,0
$FREEZE,2.83,-1.514,-1.829,3,3,0
$STATE,7846,end climb,SURFACE_DEPTH_REACHED
$STATE,7846,begin surface coast
$FREEZE,2.38,-1.501,-1.828,3,3,0
$FREEZE,2.25,-1.519,-1.828,3,3,0
$FREEZE,2.21,-1.537,-1.829,3,3,0
$FREEZE,2.17,-1.540,-1.829,3,3,0
$FINISH,2.2,1.026820
$STATE,7868,end surface coast,CONTROL_FINISHED_OK
$STATE,7869,begin surface
$RAFOS_CLK,424
$RAFOS,6,1301258945,20.833334,20.818056,89,77,60,58,58,57,719,211,200,225,121,178
$RAFOS,5,1301258467,20.700001,20.685278,134,57,57,56,55,52,650,199,122,151,218,168
$RAFOS,4,1301257984,20.566668,20.551111,63,58,55,54,53,50,215,181,846,193,159,125
$RAFOS,3,1301257504,20.433332,20.417778,64,58,56,54,54,54,193,218,156,171,124,115
$RAFOS,2,1301257029,20.299999,20.285833,55,51,50,50,49,47,208,193,155,233,219,137
$RAFOS,1,1301256551,20.166666,20.153055,59,57,56,53,52,52,198,178,221,153,209,236
$RAFOS,0,1301256063,20.033333,20.017500,66,55,55,53,52,52,203,179,122,216,149,226
$RAFOS_FIX,6718.186523,-5736.338379,270311,202000,2,112,0.19
$IRIDIUM_FIX,6652.93,-5726.60,270311,131305
$TT8_MAMPS,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,400.3,32.5
$24V_AH,23.1,33.498
$10V_AH,10.2,18.395
$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,3.050,62.850,312.850,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2070.726,4175.286,322.178,1362.846,125.494,0.000,1060.912,0.000,1358.389,2520.000,11.875,0.000
$DEVICE_MAMPS,211.140,74.205,1134.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.106,653.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,33422,861
$CAP_FILE_SIZE,90546,0
$CFSIZE,260165632,236204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.2
$GPS,270311,204800,6718.187,-5736.338,0,2111.5,0,-38.1