version: 66.08
glider: 141
mission: 15
dive: 261
start: 3 30 111 4 23 52
data:
$ID,141
$MISSION,15
$DIVE,261
$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,-33675.066
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,300311,004656,6708.154,-5652.365,0,2112.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.32
$_SM_ANGLEo,-0.8
$GPS2,300311,004656,6708.154,-5652.365,0,2112.0,0,-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,199.4,10052,-17.5,-10.000
$D_GRID,423
$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,-7.00,0.000,2,0.000,0.000,2880,869,3176,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.9,-0.0,1,47,0.60,4.85,-11.48,0.000,4,0.109,0.060,2669,3899,3627,0,0,0,0,0,0
$GC,176,-0.58,-146.0,29.9,-14.5,27,183,0.00,2.12,0.00,0.000,6,0.000,0.037,2669,2482,3628,0,0,0,0,0,0
$GC,521,-0.51,-146.0,83.7,-15.9,88,528,0.00,2.25,0.00,0.000,4,0.000,0.063,2669,3897,3627,0,0,0,0,0,0
$GC,536,-0.44,-146.0,86.0,-15.6,90,543,0.20,2.12,0.00,0.000,6,0.208,0.037,2718,2486,3627,0,0,0,0,0,0
$GC,870,-0.50,-146.0,120.1,-8.1,131,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2486,3626,0,0,0,0,0,0
$GC,1189,-0.57,-146.0,142.4,-7.4,161,1194,0.12,2.17,0.00,0.000,4,0.127,0.056,2674,1090,3623,0,0,0,0,0,0
$GC,1221,-0.57,-146.0,145.9,-11.0,163,1229,0.00,2.17,0.00,0.000,6,0.000,0.051,2674,2487,3623,0,0,0,0,0,0
$GC,1547,-0.55,-146.0,186.0,-12.9,194,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2487,3621,0,0,0,0,0,0
$GC,1867,-0.55,-146.0,223.7,-10.8,224,1871,0.00,2.25,0.00,0.000,4,0.000,0.066,2674,3898,3621,0,0,0,0,0,0
$GC,1876,-0.55,-146.0,225.3,-11.2,224,1884,0.00,2.15,0.00,0.000,6,0.000,0.035,2674,2491,3621,0,0,0,0,0,0
$GC,2202,-0.55,-146.0,258.4,-10.2,255,2206,0.00,2.25,0.00,0.000,4,0.000,0.063,2674,3899,3621,0,0,0,0,0,0
$GC,2253,-0.57,-146.0,263.5,-10.3,259,2257,0.00,2.12,0.00,0.000,6,0.000,0.037,2674,2481,3621,0,0,0,0,0,0
$GC,2583,-0.57,-146.0,297.5,-10.3,290,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2481,3622,0,0,0,0,0,0
$GC,2903,-0.57,-146.0,328.1,-9.0,320,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2481,3622,0,0,0,0,0,0
$GC,3223,-0.57,-146.0,354.9,-8.4,350,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2481,3623,0,0,0,0,0,0
$GC,3542,-0.57,-146.0,384.6,-9.8,380,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2481,3623,0,0,0,0,0,0
$GC,3869,-0.57,-146.0,417.3,-9.5,411,3873,0.00,2.28,0.00,0.000,4,0.000,0.060,2674,3905,3624,0,0,0,0,0,0
$GC,3886,-0.57,-146.0,419.1,-9.7,412,3890,0.00,2.15,0.00,0.000,6,0.000,0.034,2674,2475,3624,0,0,0,0,0,0
$STATE,3927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3927,begin apogee
$GC,3933,-0.12,0.0,423.4,9.6,416,4055,0.47,0.00,116.65,1.135,6,0.187,0.000,2812,2255,3030,0,0,0,0,0,0
$STATE,4056,end apogee,CONTROL_FINISHED_OK
$STATE,4056,begin climb
$GC,4058,0.62,146.0,427.0,0.0,427,4187,0.77,2.50,120.78,1.089,4,0.138,0.054,3051,3691,2434,0,0,0,0,0,0
$GC,4233,0.51,146.0,411.1,14.8,443,4238,0.12,2.30,0.00,0.000,6,0.189,0.039,3034,2299,2430,0,0,0,0,0,0
$GC,4564,0.48,146.0,372.5,12.0,474,4568,0.00,2.28,0.00,0.000,4,0.000,0.052,3043,865,2427,0,0,0,0,0,0
$GC,4597,0.48,146.0,368.5,11.7,476,4604,0.00,2.28,0.00,0.000,6,0.000,0.041,3043,2286,2427,0,0,0,0,0,0
$GC,4923,0.45,146.0,331.1,11.4,507,4928,0.12,2.22,0.00,0.000,4,0.184,0.056,3012,3683,2427,0,0,0,0,0,0
$GC,5059,0.45,146.0,315.3,12.0,519,5063,0.00,2.20,0.00,0.000,6,0.000,0.039,3020,2265,2427,0,0,0,0,0,0
$GC,5384,0.45,146.0,281.4,11.0,549,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2265,2427,0,0,0,0,0,0
$GC,5703,0.45,146.0,245.9,10.8,579,5707,0.00,2.22,0.00,0.000,4,0.000,0.054,3020,3684,2427,0,0,0,0,0,0
$GC,5759,0.41,146.0,239.0,13.0,583,5768,0.12,2.15,0.00,0.000,6,0.189,0.039,3000,2270,2426,0,0,0,0,0,0
$GC,6085,0.53,197.1,212.0,7.6,614,6135,0.10,0.00,42.33,0.978,6,0.119,0.000,3046,2270,2225,0,0,0,0,0,0
$GC,6452,0.53,197.1,169.2,12.0,649,6456,0.00,2.25,0.00,0.000,4,0.000,0.054,3046,3686,2220,0,0,0,0,0,0
$GC,6513,0.51,197.1,160.7,14.3,654,6520,0.00,2.20,0.00,0.000,6,0.000,0.040,3056,2268,2220,0,0,0,0,0,0
$GC,6840,0.52,204.9,123.8,9.6,685,6853,0.00,2.25,7.22,0.779,4,0.000,0.053,3065,868,2193,0,0,0,0,0,0
$GC,6899,0.52,205.7,117.9,10.0,690,6904,0.12,2.17,0.00,0.000,6,0.172,0.041,3034,2281,2192,0,0,0,0,0,0
$GC,7230,0.63,244.0,90.8,8.2,730,7272,0.00,2.25,34.40,0.905,4,0.000,0.057,3033,3675,2034,0,0,0,0,0,0
$GC,7343,0.70,250.3,80.7,9.7,749,7357,0.15,2.20,6.72,0.746,6,0.094,0.039,3100,2267,2008,0,0,0,0,0,0
$GC,7697,0.70,250.3,37.2,11.6,811,7703,0.00,2.20,0.00,0.000,4,0.000,0.053,3111,870,2005,0,0,0,0,0,0
$GC,7755,0.70,250.3,29.9,12.1,821,7762,0.00,2.15,0.00,0.000,6,0.000,0.041,3111,2272,2004,0,0,0,0,0,0
$FREEZE,8.94,-1.787,-1.835,2,10,0
$STATE,7907,end climb,FINISH_DEPTH_REACHED
$STATE,7907,begin subsurface finish
$FINISH1,8.9,1.026848,32
$GC,7913,0.04,32.0,8.9,-14.6,848,7949,0.75,0.00,-28.48,0.000,6,0.161,0.000,2881,2273,2900,0,0,0,0,0,0
$FINISH2,7.2
$STATE,7950,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7950,begin surface
$RAFOS_CLK,416
$RAFOS,6,1301460545,4.833333,4.818056,98,65,62,57,57,56,844,214,191,166,202,155
$RAFOS,5,1301460069,4.700000,4.685833,122,58,56,54,54,52,653,195,216,152,141,181
$RAFOS,4,1301459586,4.566667,4.551667,64,61,61,60,58,51,147,201,223,165,186,127
$RAFOS,3,1301459106,4.433333,4.418334,59,58,57,51,50,47,156,198,129,214,1025,167
$RAFOS,2,1301458624,4.300000,4.284444,73,60,59,57,55,50,209,181,218,142,195,237
$RAFOS_FIX,6707.109863,-5649.801758,300311,040400,2,110,0.18
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,23.1,36.252
$10V_AH,10.2,19.820
$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,3.675,65.000,328.100,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2023.580,4157.486,382.112,1329.585,119.076,0.000,1093.251,0.000,1324.485,1440.000,7.926,0.000
$DEVICE_MAMPS,208.080,65.790,1135.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.449,639.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150508
$DATA_FILE_SIZE,33442,854
$CAP_FILE_SIZE,87109,0
$CFSIZE,260165632,234893312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,300311,044800,6707.110,-5649.802,0,2110.0,0,-37.7