version: 66.08
glider: 141
mission: 15
dive: 265
start: 3 30 111 13 38 31
data:
$ID,141
$MISSION,15
$DIVE,265
$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,42
$R_STBD_OVSHOOT,32
$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
$GPS1,300311,124800,6704.333,-5646.949,0,2153.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.65
$_SM_ANGLEo,-4.5
$GPS2,300311,124800,6704.333,-5646.949,0,2153.5,0,-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,234.8,2584,-17.5,-10.000
$D_GRID,482
$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,-6.72,0.000,2,0.000,0.000,2883,865,3090,0,0,0,0,0,0
$GC,26,-0.62,-146.0,5.6,-0.0,1,57,0.60,4.88,-18.33,0.000,4,0.102,0.060,2668,3890,3627,0,0,0,0,0,0
$GC,127,-0.58,-146.0,17.4,-14.0,18,134,0.00,2.12,0.00,0.000,6,0.000,0.035,2668,2489,3629,0,0,0,0,0,0
$GC,472,-0.50,-146.0,64.8,-12.8,79,479,0.12,0.00,0.00,0.000,6,0.216,0.000,2696,2488,3628,0,0,0,0,0,0
$GC,816,-0.50,-146.0,101.3,-10.5,139,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2489,3626,0,0,0,0,0,0
$GC,1138,-0.53,-146.0,132.7,-10.6,169,1142,0.00,2.22,0.00,0.000,4,0.000,0.063,2696,3892,3624,0,0,0,0,0,0
$GC,1172,-0.58,-146.0,136.7,-10.4,171,1178,0.00,2.12,0.00,0.000,6,0.000,0.036,2696,2485,3624,0,0,0,0,0,0
$GC,1497,-0.62,-146.0,168.5,-9.3,202,1501,0.00,2.15,0.00,0.000,4,0.000,0.051,2696,1093,3623,0,0,0,0,0,0
$GC,1547,-0.68,-146.0,173.3,-8.9,206,1555,0.15,2.17,0.00,0.000,6,0.119,0.048,2646,2489,3622,0,0,0,0,0,0
$GC,1872,-0.60,-146.0,212.9,-11.9,237,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2489,3622,0,0,0,0,0,0
$GC,2194,-0.53,-146.0,252.6,-12.5,267,2199,0.17,2.28,0.00,0.000,4,0.209,0.064,2689,3898,3622,0,0,0,0,0,0
$GC,2227,-0.57,-146.0,256.7,-10.5,269,2234,0.00,2.12,0.00,0.000,6,0.000,0.034,2689,2487,3622,0,0,0,0,0,0
$GC,2553,-0.61,-146.0,286.9,-9.1,300,2556,0.00,2.12,0.00,0.000,4,0.000,0.050,2689,1091,3623,0,0,0,0,0,0
$GC,2566,-0.65,-146.0,288.1,-8.9,301,2570,0.12,2.17,0.00,0.000,6,0.122,0.047,2647,2497,3623,0,0,0,0,0,0
$GC,2896,-0.59,-146.0,325.5,-11.4,332,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2497,3624,0,0,0,0,0,0
$GC,3216,-0.53,-146.0,362.7,-11.3,362,3221,0.17,2.25,0.00,0.000,4,0.204,0.063,2690,3902,3624,0,0,0,0,0,0
$GC,3234,-0.51,-146.0,364.7,-11.0,363,3237,0.00,2.12,0.00,0.000,6,0.000,0.034,2690,2484,3624,0,0,0,0,0,0
$GC,3565,-0.55,-146.0,389.1,-7.2,394,3569,0.00,2.25,0.00,0.000,4,0.000,0.060,2690,3899,3624,0,0,0,0,0,0
$GC,3583,-0.60,-146.0,390.4,-7.4,395,3587,0.00,2.12,0.00,0.000,6,0.000,0.033,2690,2481,3624,0,0,0,0,0,0
$GC,3914,-0.66,-146.0,414.0,-7.1,426,3916,0.12,0.00,0.00,0.000,6,0.120,0.000,2645,2481,3625,0,0,0,0,0,0
$GC,4234,-0.60,-146.0,448.0,-11.0,456,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2481,3625,0,0,0,0,0,0
$STATE,4549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4555,-0.12,0.0,482.8,10.6,486,4679,0.60,0.00,117.50,1.168,6,0.193,0.000,2815,2255,3030,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4681,0.62,146.0,486.0,0.0,497,4808,0.75,0.00,121.18,1.123,6,0.135,0.000,3049,2254,2434,0,0,0,0,0,0
$GC,5125,0.57,146.0,435.7,12.9,539,5129,0.00,2.33,0.00,0.000,4,0.000,0.054,3048,3690,2427,0,0,0,0,0,0
$GC,5182,0.47,146.0,427.4,15.3,544,5186,0.17,2.20,0.00,0.000,6,0.185,0.039,3015,2297,2427,0,0,0,0,0,0
$GC,5506,0.48,154.7,393.4,9.6,574,5517,0.00,0.00,7.40,0.881,6,0.000,0.000,3015,2297,2399,0,0,0,0,0,0
$GC,5837,0.48,156.6,360.8,9.9,605,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2297,2399,0,0,0,0,0,0
$GC,6155,0.49,161.8,329.4,9.8,635,6168,0.00,2.28,7.70,0.890,4,0.000,0.054,3015,3687,2370,0,0,0,0,0,0
$GC,6207,0.49,161.8,323.7,10.9,639,6214,0.00,2.20,0.00,0.000,6,0.000,0.039,3023,2265,2370,0,0,0,0,0,0
$GC,6533,0.51,177.6,292.8,9.3,670,6557,0.00,2.25,14.80,0.980,4,0.000,0.054,3032,867,2305,0,0,0,0,0,0
$GC,6593,0.55,194.6,287.3,9.2,675,6616,0.00,2.22,15.95,0.971,6,0.000,0.041,3032,2292,2236,0,0,0,0,0,0
$GC,6933,0.55,194.6,251.3,10.8,707,6937,0.00,2.20,0.00,0.000,4,0.000,0.055,3032,3687,2233,0,0,0,0,0,0
$GC,7028,0.55,194.6,239.6,12.6,715,7035,0.00,2.20,0.00,0.000,6,0.000,0.038,3042,2267,2232,0,0,0,0,0,0
$GC,7353,0.55,194.6,202.8,11.1,746,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2267,2232,0,0,0,0,0,0
$GC,7673,0.55,194.6,169.1,10.7,776,7677,0.00,2.15,0.00,0.000,4,0.000,0.051,3052,870,2232,0,0,0,0,0,0
$GC,7719,0.58,194.6,164.1,10.7,780,7723,0.00,2.17,0.00,0.000,6,0.000,0.041,3052,2280,2231,0,0,0,0,0,0
$GC,8044,0.58,194.6,126.9,11.2,810,8048,0.00,2.17,0.00,0.000,4,0.000,0.055,3052,3682,2231,0,0,0,0,0,0
$GC,8175,0.54,194.6,110.4,12.8,821,8179,0.00,2.17,0.00,0.000,6,0.000,0.038,3062,2262,2231,0,0,0,0,0,0
$GC,8512,0.56,205.1,76.0,9.5,872,8525,0.00,0.00,9.60,0.820,6,0.000,0.000,3062,2262,2194,0,0,0,0,0,0
$GC,8863,0.58,222.1,44.3,9.2,934,8887,0.00,2.22,16.02,0.865,4,0.000,0.053,3071,871,2123,0,0,0,0,0,0
$GC,8933,0.65,243.9,38.2,9.0,946,8958,0.00,2.20,14.98,0.949,6,0.000,0.041,3071,2285,2034,0,0,0,0,0,0
$FREEZE,8.53,-1.753,-1.836,3,14,0
$STATE,9244,end climb,FINISH_DEPTH_REACHED
$STATE,9246,begin subsurface finish
$FINISH1,8.5,1.026860,31
$GC,9251,0.04,31.4,8.5,-11.1,1001,9288,0.60,2.25,-26.60,0.000,4,0.150,0.070,2884,3675,2905,0,0,0,0,0,0
$FINISH2,7.5
$STATE,9289,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9289,begin surface
$RAFOS_CLK,476
$RAFOS,0,1301500863,16.033333,16.017500,69,62,57,57,52,49,187,200,152,176,164,225
$RAFOS_FIX,6704.333496,-5646.948730,300311,121200,2,154,0.09
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.028462
$HUMID,44.36
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,23.0,36.635
$10V_AH,10.3,20.034
$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,3.600,66.625,325.125,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2367.713,4900.739,364.407,1569.731,143.015,0.000,1192.579,0.000,1566.666,720.000,9.695,0.000
$DEVICE_MAMPS,215.730,70.380,1168.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.496,760.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40051,1007
$CAP_FILE_SIZE,98933,0
$CFSIZE,260165632,234680320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,300311,124800,6704.333,-5646.949,0,2153.5,0,-37.7