version: 66.08
glider: 141
mission: 15
dive: 267
start: 3 30 111 18 50 21
data:
$ID,141
$MISSION,15
$DIVE,267
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,300311,164656,6704.211,-5645.685,0,2120.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.84
$_SM_ANGLEo,0.5
$GPS2,300311,164656,6704.211,-5645.685,0,2120.5,0,-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,254.4,2798,-17.5,-10.000
$D_GRID,470
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.30,0.000,2,0.000,0.000,2882,3689,3103,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.1,-0.0,1,51,0.60,4.10,-16.05,0.000,4,0.103,0.050,2670,1075,3627,0,0,0,0,0,0
$GC,307,-0.57,-146.0,47.0,-15.7,50,314,0.00,2.22,0.00,0.000,6,0.000,0.050,2670,2489,3628,0,0,0,0,0,0
$GC,653,-0.50,-146.0,97.1,-12.8,111,660,0.12,0.00,0.00,0.000,6,0.230,0.000,2698,2489,3627,0,0,0,0,0,0
$GC,986,-0.53,-146.0,133.6,-10.7,144,990,0.00,2.28,0.00,0.000,4,0.000,0.066,2698,3904,3625,0,0,0,0,0,0
$GC,1049,-0.59,-146.0,139.8,-10.0,149,1053,0.00,2.17,0.00,0.000,6,0.000,0.038,2698,2481,3624,0,0,0,0,0,0
$GC,1374,-0.64,-146.0,171.0,-8.3,179,1379,0.12,2.15,0.00,0.000,4,0.129,0.054,2656,1093,3622,0,0,0,0,0,0
$GC,1403,-0.61,-146.0,174.1,-11.3,181,1407,0.00,2.17,0.00,0.000,6,0.000,0.050,2656,2494,3622,0,0,0,0,0,0
$GC,1728,-0.56,-146.0,211.7,-12.1,211,1732,0.00,2.22,0.00,0.000,4,0.000,0.066,2656,3899,3622,0,0,0,0,0,0
$GC,1749,-0.51,-146.0,214.3,-11.5,212,1757,0.15,2.15,0.00,0.000,6,0.196,0.037,2692,2480,3621,0,0,0,0,0,0
$GC,2075,-0.55,-146.0,241.8,-7.8,243,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2479,3622,0,0,0,0,0,0
$GC,2397,-0.58,-146.0,265.8,-7.8,273,2401,0.00,2.15,0.00,0.000,4,0.000,0.050,2692,1083,3622,0,0,0,0,0,0
$GC,2426,-0.63,-146.0,268.4,-8.4,275,2430,0.00,2.17,0.00,0.000,6,0.000,0.047,2692,2492,3622,0,0,0,0,0,0
$GC,2757,-0.67,-146.0,295.9,-9.0,306,2758,0.15,0.00,0.00,0.000,6,0.109,0.000,2638,2492,3623,0,0,0,0,0,0
$GC,3075,-0.59,-146.0,336.4,-13.0,336,3080,0.12,2.22,0.00,0.000,4,0.214,0.063,2665,3896,3623,0,0,0,0,0,0
$GC,3126,-0.62,-146.0,342.2,-10.8,340,3130,0.00,2.12,0.00,0.000,6,0.000,0.035,2666,2476,3623,0,0,0,0,0,0
$GC,3456,-0.62,-146.0,374.8,-9.8,371,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2476,3624,0,0,0,0,0,0
$GC,3776,-0.62,-146.0,404.2,-9.3,401,3780,0.00,2.28,0.00,0.000,4,0.000,0.060,2666,3905,3624,0,0,0,0,0,0
$GC,3842,-0.62,-146.0,411.0,-10.1,406,3849,0.00,2.12,0.00,0.000,6,0.000,0.034,2666,2486,3624,0,0,0,0,0,0
$GC,4168,-0.62,-146.0,443.2,-9.8,437,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2485,3625,0,0,0,0,0,0
$STATE,4442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4443,begin apogee
$GC,4448,-0.12,0.0,470.8,10.0,463,4571,0.50,0.00,117.07,1.163,6,0.181,0.000,2814,2248,3030,0,0,0,0,0,0
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4572,begin climb
$GC,4574,0.62,146.0,475.1,0.0,474,4701,0.77,0.00,121.22,1.118,6,0.133,0.000,3056,2247,2434,0,0,0,0,0,0
$GC,5019,0.55,146.0,429.3,11.8,517,5023,0.00,2.35,0.00,0.000,4,0.000,0.054,3056,3685,2428,0,0,0,0,0,0
$GC,5094,0.44,146.0,419.1,14.7,523,5099,0.22,2.20,0.00,0.000,6,0.184,0.039,3009,2295,2427,0,0,0,0,0,0
$GC,5419,0.46,166.1,388.3,9.1,553,5442,0.00,2.30,17.10,1.021,4,0.000,0.054,3009,3685,2352,0,0,0,0,0,0
$GC,5481,0.46,166.1,381.0,12.3,558,5488,0.00,2.25,0.00,0.000,6,0.000,0.038,3017,2273,2351,0,0,0,0,0,0
$GC,5806,0.46,166.1,345.8,10.1,589,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2273,2350,0,0,0,0,0,0
$GC,6126,0.48,182.8,315.7,9.2,619,6149,0.00,2.30,14.95,0.990,4,0.000,0.055,3017,3696,2284,0,0,0,0,0,0
$GC,6199,0.48,182.8,308.1,10.9,625,6206,0.00,2.20,0.00,0.000,6,0.000,0.038,3028,2269,2283,0,0,0,0,0,0
$GC,6526,0.49,188.6,277.0,9.7,656,6536,0.00,0.00,6.22,0.808,6,0.000,0.000,3027,2269,2261,0,0,0,0,0,0
$GC,6853,0.49,188.6,243.9,10.3,687,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2269,2260,0,0,0,0,0,0
$GC,7172,0.51,189.1,210.9,10.0,717,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2269,2260,0,0,0,0,0,0
$GC,7492,0.53,189.1,177.9,10.6,747,7497,0.00,2.25,0.00,0.000,4,0.000,0.053,3027,3698,2260,0,0,0,0,0,0
$GC,7541,0.53,189.1,171.8,12.7,751,7548,0.00,2.20,0.00,0.000,6,0.000,0.038,3038,2275,2259,0,0,0,0,0,0
$GC,7867,0.53,189.1,134.9,11.4,782,7870,0.00,2.25,0.00,0.000,4,0.000,0.052,3038,3691,2259,0,0,0,0,0,0
$GC,7899,0.53,189.1,130.7,12.4,784,7906,0.00,2.20,0.00,0.000,6,0.000,0.037,3048,2267,2259,0,0,0,0,0,0
$GC,8227,0.53,189.1,94.5,10.5,819,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2266,2259,0,0,0,0,0,0
$GC,8571,0.62,231.6,61.2,8.0,880,8619,0.00,2.33,37.88,0.900,4,0.000,0.053,3048,3684,2084,0,0,0,0,0,0
$GC,8648,0.67,236.4,54.6,9.8,893,8661,0.00,2.22,5.20,0.669,6,0.000,0.037,3057,2263,2066,0,0,0,0,0,0
$GC,9001,0.76,264.9,23.4,8.7,955,9021,0.15,2.28,14.77,0.879,4,0.094,0.054,3132,866,1950,0,0,0,0,0,0
$GC,9040,0.71,264.9,18.4,13.2,961,9048,0.15,2.22,0.00,0.000,6,0.184,0.042,3094,2289,1946,0,0,0,0,0,0
$FREEZE,8.59,-1.732,-1.836,3,16,0
$STATE,9122,end climb,FINISH_DEPTH_REACHED
$STATE,9123,begin subsurface finish
$FINISH1,8.6,1.026862,31
$GC,9128,0.04,31.3,8.6,-10.7,975,9170,0.68,2.28,-32.00,0.000,4,0.164,0.074,2886,3683,2905,0,0,0,0,0,0
$FINISH2,6.4
$STATE,9171,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9171,begin surface
$RAFOS_CLK,467
$RAFOS,6,1301518148,20.833334,20.818890,114,63,63,58,51,50,831,206,197,177,121,233
$RAFOS,5,1301517670,20.700001,20.686111,128,60,58,57,54,53,633,185,167,221,137,203
$RAFOS,4,1301517185,20.566668,20.551390,64,63,61,60,58,56,222,167,140,182,874,123
$RAFOS,3,1301516709,20.433332,20.419167,60,60,58,58,53,52,211,927,144,185,114,161
$RAFOS,2,1301516225,20.299999,20.284721,59,58,58,55,53,53,151,177,202,188,110,215
$RAFOS,1,1301515752,20.166666,20.153334,58,57,57,56,54,53,194,150,210,174,140,219
$RAFOS,0,1301515262,20.033333,20.017221,66,63,57,55,54,52,210,200,141,183,173,580
$RAFOS_FIX,6702.295410,-5648.343750,300311,202000,2,121,0.28
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.025466
$HUMID,44.52
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.4
$24V_AH,23.0,36.837
$10V_AH,10.2,20.147
$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,3.750,66.675,334.425,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2297.389,4891.723,395.890,1516.314,136.466,0.000,1192.554,0.000,1510.110,2520.000,9.697,0.000
$DEVICE_MAMPS,230.265,74.205,1162.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.939,739.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36716,982
$CAP_FILE_SIZE,99810,0
$CFSIZE,260165632,234573824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.1
$GPS,300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7