version: 66.08
glider: 141
mission: 15
dive: 238
start: 3 28 111 3 26 43
data:
$ID,141
$MISSION,15
$DIVE,238
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,280311,012504,6718.326,-5720.913,10,99.0,29,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-61.1
$GPS2,280311,012504,6718.326,-5720.913,10,99.0,29,-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,178.1,37020,-17.5,-10.000
$D_GRID,358
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,132,0.00,0.00,-114.30,0.000,2,0.000,0.000,112,2507,3539,0,0,0,0,0,0
$GC,134,-0.62,-146.0,6.2,-12.4,20,155,12.65,2.30,-1.75,0.000,4,0.326,0.077,2644,3897,3628,0,0,0,0,0,0
$GC,302,-0.52,-146.0,46.5,-16.9,49,310,0.20,2.20,0.00,0.000,6,0.207,0.041,2694,2483,3630,0,0,0,0,0,0
$GC,647,-0.49,-146.0,89.5,-11.6,110,654,0.00,2.20,0.00,0.000,4,0.000,0.059,2694,1074,3629,0,0,0,0,0,0
$GC,673,-0.46,-146.0,92.5,-11.9,114,680,0.00,2.25,0.00,0.000,6,0.000,0.054,2694,2489,3629,0,0,0,0,0,0
$GC,1003,-0.46,-146.0,128.6,-9.9,150,1007,0.00,2.25,0.00,0.000,4,0.000,0.060,2694,1078,3627,0,0,0,0,0,0
$GC,1020,-0.46,-146.0,130.4,-10.7,151,1024,0.00,2.22,0.00,0.000,6,0.000,0.055,2694,2489,3627,0,0,0,0,0,0
$GC,1345,-0.46,-146.0,161.5,-9.7,181,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2489,3625,0,0,0,0,0,0
$GC,1665,-0.48,-146.0,193.2,-10.0,211,1669,0.00,2.22,0.00,0.000,4,0.000,0.059,2694,1080,3624,0,0,0,0,0,0
$GC,1682,-0.50,-146.0,195.2,-9.9,212,1689,0.00,2.22,0.00,0.000,6,0.000,0.054,2694,2490,3624,0,0,0,0,0,0
$GC,2009,-0.53,-146.0,226.1,-9.8,243,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2490,3624,0,0,0,0,0,0
$GC,2327,-0.56,-146.0,256.0,-9.4,273,2331,0.00,2.28,0.00,0.000,4,0.000,0.069,2694,3907,3624,0,0,0,0,0,0
$GC,2348,-0.61,-146.0,258.2,-8.8,274,2355,0.00,2.15,0.00,0.000,6,0.000,0.040,2694,2486,3625,0,0,0,0,0,0
$GC,2674,-0.65,-146.0,287.3,-9.7,305,2676,0.12,0.00,0.00,0.000,6,0.128,0.000,2651,2486,3626,0,0,0,0,0,0
$GC,2993,-0.59,-146.0,327.7,-12.7,335,2997,0.00,2.28,0.00,0.000,4,0.000,0.065,2651,3903,3627,0,0,0,0,0,0
$GC,3047,-0.56,-146.0,334.6,-11.6,339,3055,0.12,2.12,0.00,0.000,6,0.201,0.039,2680,2489,3626,0,0,0,0,0,0
$STATE,3287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3287,begin apogee
$GC,3292,-0.12,0.0,358.5,9.9,362,3416,0.45,0.00,117.22,1.096,6,0.178,0.000,2815,2249,3029,0,0,0,0,0,0
$STATE,3416,end apogee,CONTROL_FINISHED_OK
$STATE,3417,begin climb
$GC,3418,0.62,146.0,362.9,0.0,373,3544,0.77,0.00,119.50,1.052,6,0.135,0.000,3056,2248,2434,0,0,0,0,0,0
$GC,3861,0.56,146.0,319.0,11.2,415,3865,0.00,2.38,0.00,0.000,4,0.000,0.058,3056,3693,2428,0,0,0,0,0,0
$GC,3956,0.45,146.0,305.9,14.5,423,3963,0.20,2.20,0.00,0.000,6,0.181,0.041,3017,2293,2427,0,0,0,0,0,0
$GC,4281,0.47,162.8,274.9,9.2,454,4304,0.00,2.30,14.35,0.935,4,0.000,0.057,3016,3685,2366,0,0,0,0,0,0
$GC,4361,0.47,162.8,266.4,11.3,461,4365,0.00,2.22,0.00,0.000,6,0.000,0.042,3024,2277,2365,0,0,0,0,0,0
$GC,4686,0.47,162.8,233.5,10.2,491,4690,0.00,2.22,0.00,0.000,4,0.000,0.059,3029,865,2365,0,0,0,0,0,0
$GC,4726,0.52,176.5,229.7,9.4,494,4749,0.00,2.22,12.93,0.911,6,0.000,0.045,3029,2282,2310,0,0,0,0,0,0
$GC,5067,0.53,184.3,194.7,9.6,526,5080,0.00,2.30,8.00,0.828,4,0.000,0.059,3029,3685,2278,0,0,0,0,0,0
$GC,5130,0.53,184.3,187.5,11.9,531,5137,0.00,2.22,0.00,0.000,6,0.000,0.042,3039,2267,2278,0,0,0,0,0,0
$GC,5455,0.53,184.3,152.8,10.8,562,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2267,2277,0,0,0,0,0,0
$GC,5775,0.53,184.3,120.2,10.6,592,5779,0.00,2.22,0.00,0.000,4,0.000,0.057,3040,3683,2277,0,0,0,0,0,0
$GC,5838,0.50,184.3,112.8,11.8,597,5842,0.00,2.20,0.00,0.000,6,0.000,0.042,3048,2267,2277,0,0,0,0,0,0
$GC,6174,0.51,188.6,79.1,9.8,646,6187,0.00,2.22,5.47,0.695,4,0.000,0.057,3057,863,2260,0,0,0,0,0,0
$GC,6256,0.54,188.6,71.1,10.0,660,6262,0.00,2.17,0.00,0.000,6,0.000,0.044,3057,2275,2259,0,0,0,0,0,0
$GC,6601,0.59,229.4,38.1,8.1,721,6636,0.00,2.30,26.33,0.953,4,0.000,0.060,3057,3680,2093,0,0,0,0,0,0
$GC,6755,0.68,306.0,26.8,6.5,748,6802,0.00,2.20,40.70,0.918,6,0.000,0.043,3066,2267,1781,0,0,0,0,0,0
$FREEZE,8.99,-1.635,-1.831,3,2,0
$STATE,6953,end climb,FINISH_DEPTH_REACHED
$STATE,6953,begin subsurface finish
$FINISH1,9.0,1.026790,35
$GC,6959,0.04,34.8,9.0,-11.5,783,7001,0.57,0.00,-33.75,0.000,6,0.140,0.000,2885,2266,2889,0,0,0,0,0,0
$FINISH2,7.8
$STATE,7001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7001,begin surface
$RAFOS_CLK,372
$RAFOS,6,1301287750,4.833333,4.819445,107,64,56,55,52,52,704,191,200,209,147,157
$RAFOS,5,1301287264,4.700000,4.684444,137,83,64,60,60,57,647,209,180,221,162,126
$RAFOS,4,1301286785,4.566667,4.551389,61,61,58,54,52,50,196,226,213,127,184,152
$RAFOS,3,1301286311,4.433333,4.419722,72,63,59,56,55,49,212,163,195,130,177,150
$RAFOS,2,1301285822,4.300000,4.283889,61,54,51,50,49,48,189,144,171,132,1450,118
$RAFOS,1,1301285347,4.166667,4.151945,63,57,56,53,49,49,196,183,215,146,165,118
$RAFOS,0,1301284872,4.033333,4.020000,61,61,52,51,50,43,197,224,169,146,119,1434
$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,44.21
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,23.2,33.937
$10V_AH,10.2,18.608
$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,15.100,58.425,344.500,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1811.864,3445.330,463.044,1239.839,104.112,0.000,1152.160,0.000,1231.931,2520.000,6.152,0.000
$DEVICE_MAMPS,325.890,77.265,1096.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.060,589.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,30066,790
$CAP_FILE_SIZE,80959,0
$CFSIZE,260165632,236027904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0