version: 66.08
glider: 141
mission: 15
dive: 263
start: 3 30 111 8 51 2
data:
$ID,141
$MISSION,15
$DIVE,263
$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,37
$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
$GPS1,300311,044800,6707.110,-5649.802,0,2110.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.11
$_SM_ANGLEo,2.2
$GPS2,300311,044800,6707.110,-5649.802,0,2110.0,0,-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,208.0,7722,-17.5,-10.000
$D_GRID,434
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-6.45,0.000,2,0.000,0.000,2883,3687,3132,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.3,-0.0,1,51,0.60,4.10,-13.45,0.000,4,0.104,0.049,2670,1089,3628,0,0,0,0,0,0
$GC,103,-0.57,-146.0,17.2,-13.7,14,109,0.00,2.20,0.00,0.000,6,0.000,0.047,2670,2494,3629,0,0,0,0,0,0
$GC,447,-0.49,-146.0,66.5,-13.1,75,454,0.12,0.00,0.00,0.000,6,0.229,0.000,2698,2495,3629,0,0,0,0,0,0
$GC,795,-0.49,-146.0,106.6,-11.4,132,799,0.00,2.25,0.00,0.000,4,0.000,0.066,2698,3896,3627,0,0,0,0,0,0
$GC,812,-0.49,-146.0,108.6,-11.5,133,816,0.00,2.17,0.00,0.000,6,0.000,0.038,2698,2476,3627,0,0,0,0,0,0
$GC,1137,-0.52,-146.0,144.2,-10.0,163,1141,0.00,2.15,0.00,0.000,4,0.000,0.054,2698,1081,3625,0,0,0,0,0,0
$GC,1150,-0.54,-146.0,145.5,-9.7,164,1154,0.00,2.20,0.00,0.000,6,0.000,0.051,2698,2489,3624,0,0,0,0,0,0
$GC,1480,-0.59,-146.0,177.8,-9.7,195,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3623,0,0,0,0,0,0
$GC,1800,-0.63,-146.0,207.4,-8.8,225,1805,0.12,2.28,0.00,0.000,4,0.124,0.067,2655,3899,3622,0,0,0,0,0,0
$GC,1878,-0.60,-146.0,216.3,-11.2,231,1885,0.00,2.15,0.00,0.000,6,0.000,0.037,2655,2486,3622,0,0,0,0,0,0
$GC,2205,-0.55,-146.0,253.1,-10.9,262,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2486,3622,0,0,0,0,0,0
$GC,2523,-0.51,-146.0,288.4,-11.0,292,2527,0.17,2.30,0.00,0.000,4,0.198,0.063,2698,3906,3622,0,0,0,0,0,0
$GC,2567,-0.60,-146.0,292.7,-8.2,295,2574,0.00,2.12,0.00,0.000,6,0.000,0.036,2699,2484,3622,0,0,0,0,0,0
$GC,2893,-0.67,-146.0,317.1,-7.1,326,2894,0.15,0.00,0.00,0.000,6,0.118,0.000,2648,2484,3623,0,0,0,0,0,0
$GC,3211,-0.62,-146.0,351.4,-10.8,356,3215,0.00,2.28,0.00,0.000,4,0.000,0.061,2648,3908,3624,0,0,0,0,0,0
$GC,3228,-0.55,-146.0,353.2,-10.7,357,3233,0.15,2.15,0.00,0.000,6,0.202,0.035,2684,2481,3624,0,0,0,0,0,0
$GC,3553,-0.58,-146.0,380.3,-8.0,387,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2481,3624,0,0,0,0,0,0
$GC,3874,-0.61,-146.0,405.5,-7.8,417,3878,0.00,2.10,0.00,0.000,4,0.000,0.048,2684,1094,3625,0,0,0,0,0,0
$GC,3898,-0.65,-146.0,407.7,-8.2,419,3902,0.00,2.17,0.00,0.000,6,0.000,0.048,2684,2503,3624,0,0,0,0,0,0
$GC,4229,-0.69,-146.0,434.0,-7.9,450,4233,0.12,2.08,0.00,0.000,3,0.122,0.047,2640,1146,3625,0,0,0,0,0,0
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4241,-0.12,0.0,434.5,7.9,450,4368,0.62,0.00,116.97,1.143,6,0.197,0.000,2816,2285,3029,0,0,0,0,0,0
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4371,0.62,146.0,437.4,0.0,462,4498,0.75,0.00,120.97,1.093,6,0.131,0.000,3051,2285,2433,0,0,0,0,0,0
$GC,4817,0.57,146.0,386.5,12.7,505,4821,0.00,2.28,0.00,0.000,4,0.000,0.057,3051,3681,2428,0,0,0,0,0,0
$GC,4862,0.47,146.0,380.1,14.6,509,4867,0.17,2.22,0.00,0.000,6,0.183,0.041,3017,2281,2427,0,0,0,0,0,0
$GC,5187,0.47,146.0,345.8,10.3,539,5191,0.00,2.20,0.00,0.000,4,0.000,0.053,3026,873,2426,0,0,0,0,0,0
$GC,5230,0.47,146.9,341.2,10.0,542,5237,0.00,2.22,0.00,0.000,6,0.000,0.042,3026,2275,2426,0,0,0,0,0,0
$GC,5557,0.47,150.0,308.0,9.9,573,5561,0.00,2.25,0.00,0.000,4,0.000,0.056,3026,3693,2426,0,0,0,0,0,0
$GC,5669,0.42,150.0,294.7,11.7,582,5677,0.15,2.20,0.00,0.000,6,0.187,0.038,2999,2269,2425,0,0,0,0,0,0
$GC,5995,0.52,189.6,268.0,8.2,613,6040,0.00,2.28,35.92,1.006,4,0.000,0.054,3002,876,2257,0,0,0,0,0,0
$GC,6068,0.66,216.2,261.7,8.8,619,6098,0.20,2.22,24.15,0.972,6,0.083,0.041,3086,2283,2148,0,0,0,0,0,0
$GC,6414,0.59,216.2,208.4,15.1,652,6419,0.12,2.25,0.00,0.000,4,0.181,0.056,3054,3692,2141,0,0,0,0,0,0
$GC,6475,0.57,216.2,199.4,13.7,657,6482,0.00,2.20,0.00,0.000,6,0.000,0.039,3063,2276,2140,0,0,0,0,0,0
$GC,6801,0.57,216.2,158.5,12.1,688,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2275,2140,0,0,0,0,0,0
$GC,7120,0.57,216.2,117.1,13.0,718,7124,0.00,2.22,0.00,0.000,4,0.000,0.054,3063,3695,2139,0,0,0,0,0,0
$GC,7175,0.54,216.2,109.1,14.5,722,7183,0.12,2.20,0.00,0.000,6,0.184,0.039,3042,2264,2139,0,0,0,0,0,0
$GC,7514,0.61,228.9,75.0,9.4,775,7533,0.00,2.22,10.90,0.834,4,0.000,0.054,3042,870,2095,0,0,0,0,0,0
$GC,7568,0.72,240.4,69.8,9.5,784,7588,0.15,2.17,11.40,0.835,6,0.100,0.041,3105,2288,2050,0,0,0,0,0,0
$GC,7926,0.69,240.4,22.2,12.9,847,7932,0.00,2.17,0.00,0.000,4,0.000,0.057,3105,3680,2047,0,0,0,0,0,0
$GC,7996,0.61,240.4,12.0,15.1,859,8003,0.20,2.17,0.00,0.000,6,0.190,0.041,3063,2274,2047,0,0,0,0,0,0
$FREEZE,8.53,-1.778,-1.836,2,12,0
$STATE,8020,end climb,FINISH_DEPTH_REACHED
$STATE,8020,begin subsurface finish
$FINISH1,8.5,1.026860,31
$GC,8026,0.04,31.3,8.5,-13.4,863,8063,0.57,2.22,-26.58,0.000,4,0.162,0.066,2885,876,2905,0,0,0,0,0,0
$FINISH2,7.2
$STATE,8064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8064,begin surface
$RAFOS_CLK,423
$RAFOS,6,1301474944,8.833333,8.817778,110,61,57,55,53,52,857,209,166,181,128,146
$RAFOS_FIX,6704.810547,-5648.205566,300311,080856,2,94,0.31
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,23.0,36.446
$10V_AH,10.2,19.920
$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,4.525,74.225,320.325,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2071.582,4189.210,384.720,1362.445,118.556,0.000,1112.732,0.000,1357.205,0.000,10.957,0.000
$DEVICE_MAMPS,228.735,66.555,1142.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.731,653.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,33446,869
$CAP_FILE_SIZE,92420,0
$CFSIZE,260165632,234790912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,300311,084656,6704.811,-5648.206,0,2094.0,0,-37.7