version: 66.08
glider: 141
mission: 15
dive: 264
start: 3 30 111 11 7 22
data:
$ID,141
$MISSION,15
$DIVE,264
$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,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
$GPS1,300311,084656,6704.811,-5648.206,0,2094.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.43
$_SM_ANGLEo,3.0
$GPS2,300311,084656,6704.811,-5648.206,0,2094.0,0,-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,215.2,3356,-17.5,-10.000
$D_GRID,465
$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,-6.88,0.000,2,0.000,0.000,2885,876,3148,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.5,-0.0,1,52,0.62,4.85,-13.27,0.000,4,0.109,0.060,2666,3903,3629,0,0,0,0,0,0
$GC,110,-0.57,-146.0,18.9,-14.6,15,117,0.00,2.15,0.00,0.000,6,0.000,0.037,2666,2486,3630,0,0,0,0,0,0
$GC,455,-0.50,-146.0,69.3,-13.8,76,462,0.15,0.00,0.00,0.000,6,0.217,0.000,2701,2486,3629,0,0,0,0,0,0
$GC,802,-0.50,-146.0,106.2,-10.4,133,806,0.00,2.15,0.00,0.000,4,0.000,0.054,2701,1092,3627,0,0,0,0,0,0
$GC,829,-0.50,-146.0,109.2,-11.0,135,837,0.00,2.20,0.00,0.000,6,0.000,0.050,2701,2478,3627,0,0,0,0,0,0
$GC,1155,-0.53,-146.0,141.2,-9.3,166,1159,0.00,2.28,0.00,0.000,4,0.000,0.067,2701,3904,3624,0,0,0,0,0,0
$GC,1182,-0.58,-146.0,143.9,-9.3,168,1189,0.00,2.15,0.00,0.000,6,0.000,0.037,2701,2489,3624,0,0,0,0,0,0
$GC,1509,-0.63,-146.0,171.0,-7.4,199,1511,0.12,0.00,0.00,0.000,6,0.125,0.000,2659,2489,3623,0,0,0,0,0,0
$GC,1826,-0.59,-146.0,207.6,-12.0,229,1830,0.00,2.15,0.00,0.000,4,0.000,0.051,2658,1083,3622,0,0,0,0,0,0
$GC,1850,-0.53,-146.0,210.5,-12.8,231,1854,0.12,2.20,0.00,0.000,6,0.211,0.050,2687,2494,3622,0,0,0,0,0,0
$GC,2181,-0.56,-146.0,242.1,-9.3,262,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2494,3622,0,0,0,0,0,0
$GC,2500,-0.59,-146.0,270.7,-8.5,292,2504,0.00,2.22,0.00,0.000,4,0.000,0.064,2687,3903,3623,0,0,0,0,0,0
$GC,2544,-0.65,-146.0,274.8,-8.5,295,2551,0.00,2.15,0.00,0.000,6,0.000,0.036,2688,2482,3623,0,0,0,0,0,0
$GC,2870,-0.68,-146.0,301.7,-7.6,326,2872,0.12,0.00,0.00,0.000,6,0.123,0.000,2644,2481,3624,0,0,0,0,0,0
$GC,3188,-0.62,-146.0,337.5,-11.4,356,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2481,3625,0,0,0,0,0,0
$GC,3507,-0.56,-146.0,374.2,-11.7,386,3509,0.15,0.00,0.00,0.000,6,0.207,0.000,2680,2481,3625,0,0,0,0,0,0
$GC,3826,-0.58,-146.0,402.7,-8.5,416,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2481,3625,0,0,0,0,0,0
$GC,4147,-0.61,-146.0,429.1,-8.3,446,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2481,3625,0,0,0,0,0,0
$GC,4473,-0.64,-146.0,455.9,-8.2,477,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2480,3626,0,0,0,0,0,0
$STATE,4587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4587,begin apogee
$GC,4593,-0.12,0.0,465.3,7.9,488,4716,0.45,0.00,117.53,1.158,6,0.179,0.000,2814,2246,3030,0,0,0,0,0,0
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4719,0.62,146.0,468.3,0.0,499,4849,0.77,2.33,121.22,1.113,4,0.134,0.051,3066,901,2433,0,0,0,0,0,0
$GC,4884,0.56,146.0,454.4,12.9,514,4888,0.00,2.30,0.00,0.000,6,0.000,0.040,3066,2282,2429,0,0,0,0,0,0
$GC,5209,0.48,146.0,412.0,13.1,544,5213,0.17,2.28,0.00,0.000,4,0.179,0.057,3021,3691,2427,0,0,0,0,0,0
$GC,5345,0.44,146.0,395.4,12.3,556,5350,0.00,2.20,0.00,0.000,6,0.000,0.040,3029,2290,2426,0,0,0,0,0,0
$GC,5670,0.44,146.0,358.7,11.9,586,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2290,2425,0,0,0,0,0,0
$GC,5990,0.44,146.0,322.2,11.6,616,5995,0.00,2.22,0.00,0.000,4,0.000,0.054,3029,3692,2425,0,0,0,0,0,0
$GC,6051,0.38,146.0,314.1,13.1,621,6059,0.20,2.20,0.00,0.000,6,0.177,0.038,2988,2265,2425,0,0,0,0,0,0
$GC,6377,0.51,198.9,287.8,7.6,652,6424,0.12,0.00,43.60,1.026,6,0.102,0.000,3047,2264,2219,0,0,0,0,0,0
$GC,6739,0.51,198.9,245.4,12.0,686,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2265,2213,0,0,0,0,0,0
$GC,7060,0.51,198.9,207.1,11.9,716,7064,0.00,2.25,0.00,0.000,4,0.000,0.054,3047,3693,2213,0,0,0,0,0,0
$GC,7115,0.48,198.9,199.6,13.0,720,7123,0.15,2.20,0.00,0.000,6,0.181,0.038,3018,2267,2212,0,0,0,0,0,0
$GC,7442,0.54,204.6,168.4,9.7,751,7455,0.00,2.17,5.47,0.726,4,0.000,0.051,3026,865,2194,0,0,0,0,0,0
$GC,7512,0.61,206.1,161.5,9.9,757,7516,0.00,2.20,0.00,0.000,6,0.000,0.041,3027,2282,2193,0,0,0,0,0,0
$GC,7837,0.65,206.1,128.1,10.2,787,7842,0.12,2.20,0.00,0.000,4,0.101,0.056,3084,3684,2193,0,0,0,0,0,0
$GC,7934,0.57,206.1,112.9,16.7,795,7939,0.17,2.15,0.00,0.000,6,0.181,0.038,3048,2265,2193,0,0,0,0,0,0
$GC,8271,0.60,206.1,72.4,11.5,846,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2265,2193,0,0,0,0,0,0
$GC,8616,0.63,207.4,35.4,9.9,907,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2265,2192,0,0,0,0,0,0
$FREEZE,8.45,-1.756,-1.836,3,13,0
$STATE,8913,end climb,FINISH_DEPTH_REACHED
$STATE,8913,begin subsurface finish
$FINISH1,8.5,1.026860,31
$GC,8919,0.04,31.3,8.5,-9.7,960,8950,0.52,2.17,-23.77,0.000,4,0.158,0.060,2883,865,2904,0,0,0,0,0,0
$FINISH2,5.9
$STATE,8951,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8951,begin surface
$RAFOS_CLK,462
$RAFOS,6,1301489351,12.833333,12.819722,144,61,55,52,51,50,820,209,167,120,199,189
$RAFOS,5,1301488868,12.700000,12.685555,163,60,58,57,53,50,661,149,205,220,171,185
$RAFOS,4,1301488386,12.566667,12.551666,61,59,57,56,55,52,213,203,162,191,143,126
$RAFOS,3,1301487903,12.433333,12.417500,61,59,58,55,55,53,206,188,122,146,215,1298
$RAFOS,2,1301487426,12.300000,12.285000,67,65,63,58,56,49,199,162,216,178,150,109
$RAFOS,1,1301486948,12.166667,12.152223,61,59,57,53,53,50,196,216,173,157,139,120
$RAFOS,0,1301486470,12.033333,12.019444,62,59,55,54,53,51,217,174,114,199,146,156
$RAFOS_FIX,6704.333496,-5646.948730,300311,121200,2,154,0.09
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,23.1,36.536
$10V_AH,10.2,19.976
$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,4.000,53.675,287.825,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2301.564,4748.193,322.515,1516.180,124.757,0.000,1107.624,0.000,1503.156,2520.000,9.695,0.000
$DEVICE_MAMPS,217.260,66.555,1158.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.705,723.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,36664,965
$CAP_FILE_SIZE,94783,0
$CFSIZE,260165632,234737664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.4
$GPS,300311,124800,6704.333,-5646.949,0,2153.5,0,-37.7