version: 66.08
glider: 141
mission: 15
dive: 252
start: 3 29 111 6 45 34
data:
$ID,141
$MISSION,15
$DIVE,252
$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,1
$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,-32013.861
$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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,290311,062654,6709.562,-5658.088,116,1.2,116,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-56.1
$GPS2,290311,064502,6709.397,-5657.967,14,1.7,14,-37.7
$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,186.4,13863,-17.5,-10.000
$D_GRID,425
$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,-146.0,0.0,0.0,0,220,0.00,0.00,-199.93,0.000,6,0.000,0.000,113,2516,3626,0,0,0,0,0,0
$GC,222,-0.62,-146.0,5.6,-11.7,35,242,13.15,2.22,0.00,0.000,4,0.333,0.062,2650,3877,3628,0,0,0,0,0,0
$GC,478,-0.49,-146.0,62.3,-16.5,80,486,0.20,2.15,0.00,0.000,6,0.210,0.043,2700,2494,3630,0,0,0,0,0,0
$GC,821,-0.49,-146.0,105.1,-11.6,137,825,0.00,2.22,0.00,0.000,4,0.000,0.060,2700,1085,3629,0,0,0,0,0,0
$GC,860,-0.49,-146.0,109.6,-11.5,140,864,0.00,2.22,0.00,0.000,6,0.000,0.054,2701,2476,3629,0,0,0,0,0,0
$GC,1187,-0.49,-146.0,146.6,-11.6,170,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2477,3628,0,0,0,0,0,0
$GC,1506,-0.51,-146.0,178.2,-9.6,200,1510,0.00,2.33,0.00,0.000,4,0.000,0.071,2701,3904,3628,0,0,0,0,0,0
$GC,1550,-0.57,-146.0,182.7,-9.2,203,1557,0.00,2.17,0.00,0.000,6,0.000,0.043,2701,2487,3627,0,0,0,0,0,0
$GC,1877,-0.62,-146.0,213.1,-9.0,234,1879,0.12,0.00,0.00,0.000,6,0.129,0.000,2659,2486,3627,0,0,0,0,0,0
$GC,2194,-0.56,-146.0,251.3,-11.7,264,2197,0.00,2.17,0.00,0.000,4,0.000,0.058,2659,1088,3628,0,0,0,0,0,0
$GC,2217,-0.51,-146.0,254.1,-12.1,266,2222,0.15,2.22,0.00,0.000,6,0.206,0.055,2694,2498,3628,0,0,0,0,0,0
$GC,2548,-0.55,-146.0,284.2,-8.6,297,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2499,3629,0,0,0,0,0,0
$GC,2868,-0.59,-146.0,312.0,-8.7,327,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2498,3630,0,0,0,0,0,0
$GC,3187,-0.64,-146.0,339.4,-8.7,357,3192,0.12,2.28,0.00,0.000,4,0.129,0.067,2650,3900,3631,0,0,0,0,0,0
$GC,3205,-0.64,-146.0,341.4,-9.4,358,3209,0.00,2.17,0.00,0.000,6,0.000,0.038,2650,2477,3630,0,0,0,0,0,0
$GC,3535,-0.58,-146.0,380.0,-11.6,389,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2477,3632,0,0,0,0,0,0
$STATE,3717,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3717,begin apogee
$GC,3722,-0.12,0.0,400.8,11.0,406,3847,0.57,0.00,119.00,1.128,6,0.193,0.000,2814,2255,3030,0,0,0,0,0,0
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3850,0.62,146.0,404.3,0.0,417,3984,0.77,2.42,121.25,1.082,4,0.139,0.058,3061,896,2433,0,0,0,0,0,0
$GC,4023,0.56,146.0,389.1,12.6,432,4030,0.00,2.35,0.00,0.000,6,0.000,0.043,3061,2290,2430,0,0,0,0,0,0
$GC,4350,0.49,146.0,349.2,11.4,463,4354,0.15,2.30,0.00,0.000,4,0.181,0.058,3024,3684,2428,0,0,0,0,0,0
$GC,4449,0.44,146.0,337.5,11.3,471,4457,0.00,2.20,0.00,0.000,6,0.000,0.041,3032,2287,2427,0,0,0,0,0,0
$GC,4775,0.41,146.0,302.9,11.2,502,4777,0.12,0.00,0.00,0.000,6,0.184,0.000,3001,2287,2427,0,0,0,0,0,0
$GC,5094,0.46,155.0,272.2,9.6,532,5104,0.00,0.00,7.93,0.863,6,0.000,0.000,3001,2287,2398,0,0,0,0,0,0
$GC,5424,0.57,197.3,244.2,8.0,563,5464,0.15,0.00,36.97,0.991,6,0.093,0.000,3066,2287,2225,0,0,0,0,0,0
$GC,5781,0.52,197.3,197.0,13.1,597,5786,0.12,2.25,0.00,0.000,4,0.177,0.056,3043,871,2220,0,0,0,0,0,0
$GC,5821,0.56,197.3,192.3,10.9,600,5825,0.00,2.22,0.00,0.000,6,0.000,0.044,3043,2283,2218,0,0,0,0,0,0
$GC,6146,0.56,197.3,154.2,12.3,630,6150,0.00,2.20,0.00,0.000,4,0.000,0.057,3043,3684,2218,0,0,0,0,0,0
$GC,6247,0.56,197.3,140.5,14.0,638,6254,0.00,2.17,0.00,0.000,6,0.000,0.040,3053,2265,2218,0,0,0,0,0,0
$GC,6572,0.60,213.7,105.3,9.2,669,6595,0.00,2.25,14.43,0.881,4,0.000,0.056,3059,872,2157,0,0,0,0,0,0
$GC,6637,0.67,234.3,99.5,9.1,675,6661,0.00,2.20,19.15,0.890,6,0.000,0.044,3059,2276,2074,0,0,0,0,0,0
$GC,6998,0.75,254.7,66.0,9.1,739,7024,0.12,2.33,18.27,0.874,4,0.099,0.058,3114,3687,1991,0,0,0,0,0,0
$GC,7101,0.67,254.7,51.5,15.7,756,7108,0.15,2.20,0.00,0.000,6,0.195,0.042,3086,2277,1989,0,0,0,0,0,0
$GC,7445,0.64,254.7,10.1,13.1,817,7452,0.00,2.22,0.00,0.000,4,0.000,0.057,3095,867,1987,0,0,0,0,0,0
$FREEZE,8.45,-1.542,-1.838,2,1,0
$FREEZE,7.92,-1.542,-1.838,2,1,0
$FREEZE,7.18,-1.545,-1.837,2,1,0
$FREEZE,6.60,-1.555,-1.837,2,1,0
$FREEZE,5.93,-1.554,-1.836,2,1,0
$FREEZE,5.33,-1.556,-1.836,2,1,0
$FREEZE,4.86,-1.556,-1.835,2,1,0
$FREEZE,4.41,-1.564,-1.835,2,1,0
$FREEZE,3.88,-1.556,-1.835,2,1,0
$GC,7501,0.62,260.4,3.9,9.7,827,7509,0.12,2.20,2.03,0.095,6,0.185,0.042,3064,2283,1968,0,0,0,0,0,0
$FREEZE,1.87,-1.570,-1.833,2,1,0
$STATE,7515,end climb,SURFACE_DEPTH_REACHED
$STATE,7515,begin surface coast
$FREEZE,1.76,-1.583,-1.833,2,1,0
$FREEZE,1.64,-1.578,-1.833,2,1,0
$FREEZE,1.63,-1.584,-1.833,2,1,0
$FREEZE,1.61,-1.589,-1.834,2,1,0
$FREEZE,1.60,-1.578,-1.833,2,1,0
$FINISH,1.6,1.026889
$STATE,7545,end surface coast,CONTROL_FINISHED_OK
$STATE,7545,begin surface
$SM_CCo,7561,62.97,0.064,0,0,1398,400.08
$SM_GC,2.23,0.00,0.00,62.97,0.000,0.000,0.064,114,2504,1398,-8.59,0.40,400.08
$RAFOS_CLK,349
$RAFOS,5,1301388063,8.700000,8.684167,98,59,58,57,57,56,662,223,170,120,193,208
$RAFOS,4,1301387587,8.566667,8.551945,60,57,56,53,49,45,221,129,200,146,166,111
$RAFOS,3,1301387108,8.433333,8.418889,57,57,57,55,52,52,130,201,219,185,113,148
$RAFOS,2,1301386626,8.300000,8.285000,60,58,54,51,50,49,174,204,223,114,157,146
$RAFOS,1,1301386151,8.166667,8.153055,74,64,56,56,53,52,190,218,138,171,153,112
$RAFOS,0,1301385662,8.033334,8.017222,63,63,56,54,53,51,194,211,220,116,157,166
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6641.98,-5656.94,290311,060653
$TT8_MAMPS,0.029211
$HUMID,44.25
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,400.8,14.9
$24V_AH,22.9,35.349
$10V_AH,10.2,19.283
$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,24.450,54.300,339.025,62.975,0.000,60.449,36.778,661.026,1.250,0.000,17.273,1956.433,3829.614,551.466,2043.187,348.802,0.000,1279.859,0.000,1302.110,2520.000,10.620,0.000
$DEVICE_MAMPS,332.775,71.145,1127.610,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.307,626.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,30065,834
$CAP_FILE_SIZE,104525,0
$CFSIZE,260165632,235347968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.4
$GPS,290311,064502,6709.397,-5657.967,181,99.0,181,-37.7