version: 66.08
glider: 141
mission: 15
dive: 253
start: 3 29 111 9 6 58
data:
$ID,141
$MISSION,15
$DIVE,253
$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,559.0387
$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,-32200.779
$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,45
$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
$GPS1,290311,064502,6709.397,-5657.967,181,99.0,181,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-44.1
$GPS2,290311,090627,6708.668,-5656.466,39,2.3,58,-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,187.5,12147,-17.5,-10.000
$D_GRID,443
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,158,0.00,0.00,-137.02,0.000,2,0.000,0.000,114,2504,3419,0,0,0,0,0,0
$GC,161,-0.62,-146.0,5.6,-10.1,24,186,12.70,2.25,-4.60,0.000,4,0.326,0.082,2652,3880,3630,0,0,0,0,0,0
$GC,193,0.31,-146.0,18.7,-35.5,29,201,1.15,2.17,0.00,0.000,6,0.223,0.040,2953,2483,3632,0,0,0,0,0,0
$GC,540,-0.19,-146.0,43.8,-6.7,90,548,0.47,2.28,0.00,0.000,4,0.156,0.065,2805,3886,3631,0,0,0,0,0,0
$GC,556,-0.69,-146.0,44.8,-6.9,92,563,0.47,2.15,0.00,0.000,6,0.091,0.041,2638,2485,3630,0,0,0,0,0,0
$GC,906,-0.54,-146.0,102.8,-18.4,153,911,0.20,2.28,0.00,0.000,4,0.224,0.067,2685,3886,3629,0,0,0,0,0,0
$GC,1057,-0.54,-146.0,122.2,-12.1,166,1062,0.00,2.15,0.00,0.000,6,0.000,0.042,2685,2485,3629,0,0,0,0,0,0
$GC,1382,-0.54,-146.0,164.8,-12.4,196,1386,0.00,2.25,0.00,0.000,4,0.000,0.068,2685,3879,3627,0,0,0,0,0,0
$GC,1414,-0.54,-146.0,168.5,-10.5,198,1421,0.00,2.17,0.00,0.000,6,0.000,0.043,2685,2493,3627,0,0,0,0,0,0
$GC,1741,-0.54,-146.0,201.7,-10.1,229,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2493,3626,0,0,0,0,0,0
$GC,2059,-0.54,-146.0,234.2,-10.3,259,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2493,3626,0,0,0,0,0,0
$GC,2379,-0.57,-146.0,267.0,-10.4,289,2383,0.00,2.20,0.00,0.000,4,0.000,0.057,2685,1072,3628,0,0,0,0,0,0
$GC,2419,-0.61,-146.0,271.5,-10.7,292,2423,0.00,2.20,0.00,0.000,6,0.000,0.052,2685,2483,3628,0,0,0,0,0,0
$GC,2746,-0.63,-146.0,302.1,-8.1,322,2750,0.00,2.17,0.00,0.000,4,0.000,0.054,2685,1083,3628,0,0,0,0,0,0
$GC,2756,-0.66,-146.0,303.2,-8.0,322,2763,0.00,2.20,0.00,0.000,6,0.000,0.050,2685,2498,3629,0,0,0,0,0,0
$GC,3084,-0.69,-146.0,331.2,-9.0,353,3085,0.12,0.00,0.00,0.000,6,0.126,0.000,2642,2498,3629,0,0,0,0,0,0
$GC,3400,-0.62,-146.0,370.3,-12.2,383,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2498,3630,0,0,0,0,0,0
$STATE,3706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3706,begin apogee
$GC,3712,-0.12,0.0,406.9,11.1,412,3836,0.60,0.00,118.68,1.130,6,0.190,0.000,2813,2252,3030,0,0,0,0,0,0
$STATE,3837,end apogee,CONTROL_FINISHED_OK
$STATE,3837,begin climb
$GC,3839,0.62,146.0,410.7,0.0,423,3970,0.75,2.38,121.18,1.085,4,0.132,0.057,3057,892,2433,0,0,0,0,0,0
$GC,4003,0.57,146.0,397.0,12.6,438,4010,0.00,2.33,0.00,0.000,6,0.000,0.043,3057,2279,2430,0,0,0,0,0,0
$GC,4330,0.51,146.0,356.4,12.4,469,4334,0.00,2.30,0.00,0.000,4,0.000,0.058,3057,3686,2428,0,0,0,0,0,0
$GC,4442,0.38,146.0,339.7,14.8,478,4450,0.30,2.22,0.00,0.000,6,0.181,0.041,2989,2282,2427,0,0,0,0,0,0
$GC,4768,0.51,204.5,312.2,7.3,509,4824,0.12,2.38,48.92,1.024,4,0.103,0.055,3054,868,2195,0,0,0,0,0,0
$GC,4871,0.51,204.5,301.1,11.5,518,4875,0.00,2.28,0.00,0.000,6,0.000,0.044,3053,2282,2191,0,0,0,0,0,0
$GC,5196,0.49,204.5,257.8,13.4,548,5201,0.12,2.25,0.00,0.000,4,0.174,0.058,3022,3691,2189,0,0,0,0,0,0
$GC,5258,0.51,204.5,249.7,12.4,553,5262,0.00,2.20,0.00,0.000,6,0.000,0.041,3029,2276,2188,0,0,0,0,0,0
$GC,5583,0.53,204.5,213.7,10.9,583,5587,0.00,2.22,0.00,0.000,4,0.000,0.054,3040,865,2188,0,0,0,0,0,0
$GC,5640,0.58,204.5,207.6,11.2,587,5647,0.00,2.20,0.00,0.000,6,0.000,0.043,3040,2287,2187,0,0,0,0,0,0
$GC,5965,0.58,204.5,172.0,10.3,618,5969,0.00,2.17,0.00,0.000,4,0.000,0.057,3040,3683,2187,0,0,0,0,0,0
$GC,6042,0.58,204.5,162.6,12.1,624,6049,0.00,2.20,0.00,0.000,6,0.000,0.040,3050,2274,2187,0,0,0,0,0,0
$GC,6367,0.58,204.5,126.2,11.1,655,6371,0.00,2.17,0.00,0.000,4,0.000,0.054,3059,867,2187,0,0,0,0,0,0
$GC,6428,0.60,204.5,119.2,11.0,660,6435,0.00,2.15,0.00,0.000,6,0.000,0.041,3058,2275,2186,0,0,0,0,0,0
$GC,6761,0.61,208.2,85.0,9.8,704,6768,0.00,2.22,0.00,0.000,4,0.000,0.057,3059,3693,2187,0,0,0,0,0,0
$GC,6871,0.58,208.2,72.4,11.9,723,6877,0.00,2.20,0.00,0.000,6,0.000,0.041,3069,2267,2188,0,0,0,0,0,0
$GC,7216,0.59,212.4,38.2,9.8,784,7229,0.00,2.20,5.80,0.791,4,0.000,0.056,3078,867,2163,0,0,0,0,0,0
$GC,7287,0.59,215.9,31.4,9.8,796,7294,0.00,2.20,1.85,0.169,6,0.000,0.044,3079,2282,2149,0,0,0,0,0,0
$FREEZE,8.88,-1.633,-1.840,2,2,0
$FREEZE,8.40,-1.633,-1.839,2,2,0
$FREEZE,7.85,-1.634,-1.839,2,2,0
$FREEZE,7.32,-1.633,-1.838,2,2,0
$FREEZE,6.72,-1.634,-1.838,2,2,0
$FREEZE,6.19,-1.635,-1.837,2,2,0
$FREEZE,5.59,-1.634,-1.837,2,2,0
$FREEZE,4.90,-1.635,-1.836,2,2,0
$FREEZE,4.39,-1.635,-1.836,2,2,0
$FREEZE,3.87,-1.635,-1.836,2,2,0
$FREEZE,3.24,-1.635,-1.835,2,2,0
$FREEZE,2.66,-1.636,-1.835,2,2,0
$STATE,7560,end climb,SURFACE_DEPTH_REACHED
$STATE,7560,begin surface coast
$FREEZE,2.06,-1.645,-1.835,2,2,0
$FREEZE,1.98,-1.646,-1.834,2,2,0
$FREEZE,1.97,-1.650,-1.834,2,2,0
$FREEZE,1.89,-1.643,-1.834,2,2,0
$FREEZE,1.74,-1.651,-1.834,2,2,0
$FINISH,1.7,1.026907
$STATE,7587,end surface coast,CONTROL_FINISHED_OK
$STATE,7587,begin surface
$SM_CCo,7604,149.73,0.065,0,0,750,559.04
$SM_GC,2.31,0.00,0.00,149.73,0.000,0.000,0.065,115,2499,750,-8.59,0.25,559.04
$RAFOS_CLK,363
$RAFOS,6,1301388544,8.833333,8.817778,68,61,55,52,51,49,799,208,181,134,226,162
$RAFOS_FIX,6711.902832,-5707.409668,290311,080856,2,83,0.00
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,43.58
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,400.8,20.5
$24V_AH,23.0,35.448
$10V_AH,10.2,19.345
$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,25.775,67.425,296.425,149.725,0.000,98.849,17.407,0.000,1.250,0.000,61.919,2031.478,3855.893,575.882,1553.870,362.822,0.000,1324.091,0.000,1363.211,0.000,10.629,0.000
$DEVICE_MAMPS,325.890,81.855,1129.905,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.692,636.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150436
$DATA_FILE_SIZE,33406,850
$CAP_FILE_SIZE,98725,0
$CFSIZE,260165632,235294720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,290311,090627,6708.668,-5656.466,181,99.0,181,-37.7