version: 66.08
glider: 141
mission: 15
dive: 239
start: 3 28 111 5 25 21
data:
$ID,141
$MISSION,15
$DIVE,239
$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,-31274.113
$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,31
$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
$GPS1,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.10
$_SM_ANGLEo,-1.6
$GPS2,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$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,166.5,39527,-17.5,-10.000
$D_GRID,586
$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,-6.95,0.000,2,0.000,0.000,2885,2266,3178,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.0,-0.0,1,46,0.62,2.67,-10.65,0.000,4,0.111,0.078,2670,3891,3629,0,0,0,0,0,0
$GC,92,-0.50,-146.0,16.4,-11.7,12,99,0.12,2.15,0.00,0.000,6,0.217,0.038,2698,2486,3630,0,0,0,0,0,0
$GC,438,-0.47,-146.0,60.1,-12.1,73,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2486,3630,0,0,0,0,0,0
$GC,781,-0.47,-146.0,102.8,-11.9,132,785,0.00,2.20,0.00,0.000,4,0.000,0.059,2697,1080,3628,0,0,0,0,0,0
$GC,825,-0.47,-146.0,108.3,-11.5,135,832,0.00,2.22,0.00,0.000,6,0.000,0.053,2698,2495,3628,0,0,0,0,0,0
$GC,1153,-0.47,-146.0,143.5,-9.9,166,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2495,3626,0,0,0,0,0,0
$GC,1471,-0.51,-146.0,173.2,-8.9,196,1475,0.00,2.25,0.00,0.000,4,0.000,0.069,2698,3903,3624,0,0,0,0,0,0
$GC,1489,-0.53,-146.0,175.0,-8.8,197,1493,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2483,3623,0,0,0,0,0,0
$GC,1819,-0.57,-146.0,201.7,-7.9,228,1823,0.00,2.20,0.00,0.000,4,0.000,0.057,2697,1080,3624,0,0,0,0,0,0
$GC,1832,-0.61,-146.0,202.7,-8.1,229,1836,0.00,2.22,0.00,0.000,6,0.000,0.053,2698,2501,3623,0,0,0,0,0,0
$GC,2159,-0.66,-146.0,230.0,-8.7,259,2164,0.15,2.22,0.00,0.000,4,0.116,0.056,2646,1085,3623,0,0,0,0,0,0
$GC,2192,-0.60,-146.0,234.0,-11.9,261,2199,0.00,2.20,0.00,0.000,6,0.000,0.053,2645,2496,3623,0,0,0,0,0,0
$GC,2517,-0.51,-146.0,276.2,-12.7,292,2522,0.20,2.25,0.00,0.000,4,0.208,0.065,2695,3907,3623,0,0,0,0,0,0
$GC,2538,-0.51,-146.0,278.8,-11.2,293,2546,0.00,2.20,0.00,0.000,6,0.000,0.038,2695,2480,3623,0,0,0,0,0,0
$GC,2866,-0.56,-146.0,307.3,-8.1,324,2870,0.00,2.25,0.00,0.000,4,0.000,0.063,2695,3899,3625,0,0,0,0,0,0
$GC,2877,-0.61,-146.0,308.6,-8.3,324,2884,0.00,2.12,0.00,0.000,6,0.000,0.037,2695,2486,3624,0,0,0,0,0,0
$GC,3205,-0.67,-146.0,335.1,-7.8,355,3209,0.15,2.15,0.00,0.000,4,0.117,0.053,2643,1092,3624,0,0,0,0,0,0
$GC,3233,-0.63,-146.0,338.3,-11.1,357,3237,0.00,2.17,0.00,0.000,6,0.000,0.051,2642,2492,3625,0,0,0,0,0,0
$GC,3564,-0.56,-146.0,378.2,-12.6,388,3569,0.15,2.25,0.00,0.000,4,0.213,0.066,2678,3905,3626,0,0,0,0,0,0
$GC,3576,-0.50,-146.0,379.6,-12.2,388,3582,0.00,2.12,0.00,0.000,6,0.000,0.036,2678,2487,3626,0,0,0,0,0,0
$GC,3902,-0.52,-146.0,409.1,-8.8,419,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2487,3626,0,0,0,0,0,0
$GC,4221,-0.54,-146.0,436.8,-8.4,449,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2487,3627,0,0,0,0,0,0
$STATE,4516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4516,begin apogee
$GC,4521,-0.12,0.0,462.5,9.1,477,4645,0.45,0.00,117.57,1.156,6,0.177,0.000,2814,2257,3030,0,0,0,0,0,0
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4648,0.62,146.0,465.9,0.0,488,4777,0.77,0.00,121.07,1.111,6,0.135,0.000,3055,2256,2433,0,0,0,0,0,0
$GC,5095,0.55,146.0,416.4,12.5,531,5099,0.00,2.35,0.00,0.000,4,0.000,0.057,3055,3684,2428,0,0,0,0,0,0
$GC,5212,0.44,146.0,399.1,15.1,541,5219,0.22,2.17,0.00,0.000,6,0.187,0.041,3009,2301,2426,0,0,0,0,0,0
$GC,5537,0.45,158.0,367.2,9.4,572,5549,0.00,0.00,10.48,0.946,6,0.000,0.000,3009,2301,2384,0,0,0,0,0,0
$GC,5867,0.50,170.3,334.0,9.4,603,5884,0.00,2.22,11.57,0.959,4,0.000,0.054,3009,3688,2336,0,0,0,0,0,0
$GC,5919,0.50,170.3,328.1,12.3,607,5923,0.00,2.20,0.00,0.000,6,0.000,0.041,3017,2273,2335,0,0,0,0,0,0
$GC,6246,0.52,172.6,294.6,9.9,637,6250,0.00,2.20,0.00,0.000,4,0.000,0.057,3027,865,2334,0,0,0,0,0,0
$GC,6286,0.56,172.6,290.5,10.0,640,6291,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2283,2333,0,0,0,0,0,0
$GC,6612,0.56,172.6,258.1,10.1,670,6616,0.00,2.20,0.00,0.000,4,0.000,0.058,3027,3688,2333,0,0,0,0,0,0
$GC,6754,0.53,172.6,241.3,12.9,682,6759,0.00,2.20,0.00,0.000,6,0.000,0.041,3037,2263,2333,0,0,0,0,0,0
$GC,7085,0.53,172.6,205.0,10.4,713,7088,0.00,2.17,0.00,0.000,4,0.000,0.054,3046,869,2333,0,0,0,0,0,0
$GC,7146,0.53,172.6,198.4,11.0,718,7153,0.00,2.17,0.00,0.000,6,0.000,0.043,3047,2285,2333,0,0,0,0,0,0
$GC,7472,0.53,172.6,164.1,10.3,749,7476,0.00,2.17,0.00,0.000,4,0.000,0.057,3047,3681,2333,0,0,0,0,0,0
$GC,7578,0.48,172.6,151.8,12.3,758,7586,0.15,2.17,0.00,0.000,6,0.181,0.041,3017,2267,2332,0,0,0,0,0,0
$GC,7904,0.60,238.1,127.2,7.0,789,7968,0.12,2.40,57.28,0.933,4,0.108,0.056,3075,3692,2058,0,0,0,0,0,0
$GC,8019,0.57,238.1,113.3,13.4,799,8026,0.15,2.22,0.00,0.000,6,0.177,0.040,3047,2273,2055,0,0,0,0,0,0
$GC,8355,0.66,264.8,81.8,8.8,848,8385,0.00,2.25,22.83,0.877,4,0.000,0.058,3047,868,1950,0,0,0,0,0,0
$GC,8463,0.82,296.7,72.4,8.5,866,8499,0.22,2.22,29.05,0.872,6,0.082,0.041,3136,2285,1820,0,0,0,0,0,0
$GC,8838,0.77,296.7,15.9,14.8,932,8845,0.00,2.22,0.00,0.000,4,0.000,0.057,3135,3682,1812,0,0,0,0,0,0
$FREEZE,8.98,-1.686,-1.829,3,3,0
$STATE,8879,end climb,FINISH_DEPTH_REACHED
$STATE,8879,begin subsurface finish
$FINISH1,9.0,1.026760,36
$GC,8888,0.04,36.3,9.0,-15.8,939,8936,0.88,2.33,-37.20,0.000,4,0.177,0.072,2888,3681,2884,0,0,0,0,0,0
$FINISH2,6.0
$STATE,8937,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$RAFOS_CLK,461
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,400.5,76.9
$24V_AH,23.0,34.047
$10V_AH,10.2,18.663
$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,4.375,82.700,369.850,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2256.649,4661.234,431.616,1502.554,143.464,0.000,1235.921,0.000,1497.851,0.000,10.788,0.000
$DEVICE_MAMPS,217.260,78.030,1155.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.935,716.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150548
$DATA_FILE_SIZE,36774,947
$CAP_FILE_SIZE,102602,0
$CFSIZE,260165632,235954176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.5
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0