version: 66.08
glider: 141
mission: 15
dive: 228
start: 3 27 111 4 35 57
data:
$ID,141
$MISSION,15
$DIVE,228
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,270311,001831,6721.466,-5736.767,9,1.1,9,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.46
$_SM_ANGLEo,-1.7
$GPS2,270311,001831,6721.466,-5736.767,9,1.1,9,-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,172.4,49090,-17.5,-10.000
$D_GRID,414
$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,-6.82,0.000,2,0.000,0.000,2884,2284,3076,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.7,-0.0,1,57,0.60,1.95,-20.02,0.000,4,0.095,0.072,2667,1074,3629,0,0,0,0,0,0
$GC,65,-0.51,-146.0,8.6,-9.5,7,72,0.12,2.22,0.00,0.000,6,0.223,0.053,2695,2489,3630,0,0,0,0,0,0
$GC,409,-0.48,-146.0,55.1,-13.6,68,416,0.00,2.22,0.00,0.000,4,0.000,0.054,2695,1080,3630,0,0,0,0,0,0
$GC,423,-0.44,-146.0,56.8,-13.1,70,430,0.00,2.22,0.00,0.000,6,0.000,0.051,2695,2491,3629,0,0,0,0,0,0
$GC,772,-0.42,-146.0,102.8,-12.7,130,777,0.12,2.25,0.00,0.000,4,0.224,0.067,2725,3899,3628,0,0,0,0,0,0
$GC,812,-0.51,-146.0,107.0,-9.3,133,816,0.00,2.15,0.00,0.000,6,0.000,0.040,2725,2484,3628,0,0,0,0,0,0
$GC,1137,-0.59,-146.0,137.5,-9.0,163,1139,0.15,0.00,0.00,0.000,6,0.116,0.000,2674,2484,3627,0,0,0,0,0,0
$GC,1455,-0.56,-146.0,177.3,-12.2,193,1459,0.00,2.17,0.00,0.000,4,0.000,0.057,2674,1089,3625,0,0,0,0,0,0
$GC,1472,-0.52,-146.0,179.7,-12.7,194,1479,0.00,2.20,0.00,0.000,6,0.000,0.053,2673,2497,3625,0,0,0,0,0,0
$GC,1797,-0.48,-146.0,219.8,-12.3,225,1802,0.12,2.25,0.00,0.000,4,0.218,0.069,2702,3900,3625,0,0,0,0,0,0
$GC,1826,-0.51,-146.0,222.8,-10.7,227,1830,0.00,2.15,0.00,0.000,6,0.000,0.039,2702,2480,3625,0,0,0,0,0,0
$GC,2159,-0.55,-146.0,253.2,-8.5,258,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2480,3626,0,0,0,0,0,0
$GC,2477,-0.61,-146.0,280.4,-8.7,288,2482,0.12,2.20,0.00,0.000,4,0.125,0.055,2660,1079,3625,0,0,0,0,0,0
$GC,2505,-0.61,-146.0,283.7,-11.5,290,2509,0.00,2.20,0.00,0.000,6,0.000,0.053,2660,2491,3625,0,0,0,0,0,0
$GC,2830,-0.56,-146.0,322.9,-12.0,320,2834,0.00,2.22,0.00,0.000,4,0.000,0.067,2660,3897,3625,0,0,0,0,0,0
$GC,2852,-0.51,-146.0,325.7,-12.0,321,2860,0.15,2.12,0.00,0.000,6,0.200,0.038,2695,2485,3625,0,0,0,0,0,0
$GC,3178,-0.56,-146.0,354.7,-8.1,352,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2484,3625,0,0,0,0,0,0
$GC,3499,-0.62,-146.0,380.6,-7.7,382,3503,0.00,2.25,0.00,0.000,4,0.000,0.064,2696,3901,3625,0,0,0,0,0,0
$GC,3518,-0.67,-146.0,382.5,-8.4,383,3523,0.15,2.12,0.00,0.000,6,0.113,0.037,2643,2486,3625,0,0,0,0,0,0
$STATE,3788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3788,begin apogee
$GC,3793,-0.12,0.0,414.7,12.2,408,3916,0.60,0.00,117.25,1.147,6,0.194,0.000,2813,2260,3030,0,0,0,0,0,0
$STATE,3917,end apogee,CONTROL_FINISHED_OK
$STATE,3917,begin climb
$GC,3919,0.62,146.0,418.6,0.0,419,4045,0.77,0.00,121.45,1.096,6,0.132,0.000,3055,2260,2434,0,0,0,0,0,0
$GC,4361,0.53,146.0,372.2,12.3,461,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2260,2427,0,0,0,0,0,0
$GC,4682,0.48,146.0,335.6,11.0,491,4687,0.15,2.33,0.00,0.000,4,0.195,0.057,3018,3697,2427,0,0,0,0,0,0
$GC,4838,0.44,146.0,318.1,11.2,504,4845,0.00,2.17,0.00,0.000,6,0.000,0.041,3027,2289,2427,0,0,0,0,0,0
$GC,5163,0.47,169.1,288.7,8.9,535,5185,0.00,0.00,19.60,0.991,6,0.000,0.000,3027,2289,2340,0,0,0,0,0,0
$GC,5504,0.47,173.5,256.5,9.8,567,5513,0.00,0.00,5.05,0.733,6,0.000,0.000,3027,2289,2322,0,0,0,0,0,0
$GC,5832,0.47,173.5,222.5,10.2,598,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2289,2322,0,0,0,0,0,0
$GC,6151,0.47,173.5,189.0,10.4,628,6155,0.00,2.20,0.00,0.000,4,0.000,0.056,3027,3690,2322,0,0,0,0,0,0
$GC,6205,0.47,173.5,182.4,12.3,632,6213,0.00,2.20,0.00,0.000,6,0.000,0.041,3037,2277,2321,0,0,0,0,0,0
$GC,6532,0.47,173.5,148.1,10.2,663,6536,0.00,2.17,0.00,0.000,4,0.000,0.056,3044,870,2321,0,0,0,0,0,0
$GC,6588,0.47,173.5,141.9,10.4,667,6595,0.00,2.20,0.00,0.000,6,0.000,0.044,3044,2286,2320,0,0,0,0,0,0
$GC,6914,0.50,192.4,109.6,9.1,698,6938,0.00,2.20,16.85,0.920,4,0.000,0.056,3044,3683,2246,0,0,0,0,0,0
$GC,7013,0.47,192.4,99.3,10.8,707,7020,0.15,2.17,0.00,0.000,6,0.176,0.041,3015,2270,2245,0,0,0,0,0,0
$GC,7360,0.69,288.7,78.0,5.6,768,7448,0.20,0.00,83.12,0.927,6,0.086,0.000,3097,2270,1851,0,0,0,0,0,0
$GC,7785,0.69,288.7,25.4,13.8,843,7792,0.00,2.25,0.00,0.000,4,0.000,0.057,3097,3682,1841,0,0,0,0,0,0
$GC,7816,0.69,288.7,21.2,13.9,848,7823,0.00,2.20,0.00,0.000,6,0.000,0.043,3108,2271,1840,0,0,0,0,0,0
$FREEZE,8.68,-1.632,-1.833,3,3,0
$FREEZE,7.88,-1.643,-1.833,3,3,0
$STATE,7906,end climb,FINISH_DEPTH_REACHED
$STATE,7907,begin subsurface finish
$FINISH1,7.9,1.026817,33
$GC,7914,0.04,33.5,7.9,-15.4,864,7962,0.75,2.28,-41.45,0.000,4,0.166,0.068,2883,867,2895,0,0,0,0,0,0
$FINISH2,5.5
$STATE,7963,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7963,begin surface
$RAFOS_CLK,422
$RAFOS,6,1301201344,4.833333,4.817778,114,60,58,54,51,51,702,216,194,225,138,178
$RAFOS,5,1301200863,4.700000,4.684166,135,68,62,56,54,53,672,199,156,115,181,138
$RAFOS,4,1301200381,4.566667,4.550278,59,58,57,55,52,51,183,162,195,208,231,116
$RAFOS_FIX,6718.907715,-5744.720703,270311,040400,2,124,0.46
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.2
$24V_AH,23.0,32.836
$10V_AH,10.2,18.067
$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,4.175,59.600,363.325,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2053.380,4079.809,415.893,1342.965,135.589,0.000,1138.145,0.000,1347.061,720.000,7.915,0.000
$DEVICE_MAMPS,224.145,71.910,1146.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.531,662.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,33396,872
$CAP_FILE_SIZE,90187,0
$CFSIZE,260165632,236515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.3
$GPS,270311,044800,6718.908,-5744.721,0,2124.5,0,-38.2