version: 66.08
glider: 141
mission: 15
dive: 237
start: 3 28 111 1 25 33
data:
$ID,141
$MISSION,15
$DIVE,237
$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,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-31274.113
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,280311,010736,6718.525,-5720.883,39,1.5,39,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-72.5
$GPS2,280311,012504,6718.326,-5720.913,10,99.0,29,-38.0
$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,178.1,37020,-17.5,-10.000
$D_GRID,358
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,221,0.00,0.00,-199.48,0.000,6,0.000,0.000,109,2512,3626,0,0,0,0,0,0
$GC,223,-0.62,-146.0,2.9,0.2,35,243,11.30,2.33,0.00,0.000,4,0.285,0.051,2659,1049,3629,0,0,0,0,0,0
$GC,417,-0.53,-146.0,27.1,-15.2,69,425,0.12,2.28,0.00,0.000,6,0.222,0.059,2688,2468,3628,0,0,0,0,0,0
$GC,763,-0.47,-146.0,74.4,-12.4,130,770,0.00,2.35,0.00,0.000,4,0.000,0.075,2688,3897,3628,0,0,0,0,0,0
$GC,811,-0.47,-146.0,80.3,-11.4,138,818,0.00,2.22,0.00,0.000,6,0.000,0.047,2689,2483,3628,0,0,0,0,0,0
$GC,1147,-0.45,-146.0,122.6,-12.3,183,1151,0.00,2.22,0.00,0.000,4,0.000,0.066,2689,1082,3627,0,0,0,0,0,0
$GC,1164,-0.42,-146.0,124.9,-12.2,184,1169,0.12,2.28,0.00,0.000,6,0.216,0.060,2718,2489,3628,0,0,0,0,0,0
$GC,1490,-0.49,-146.0,155.0,-8.6,214,1494,0.00,2.25,0.00,0.000,4,0.000,0.066,2719,1082,3626,0,0,0,0,0,0
$GC,1519,-0.56,-146.0,157.6,-9.0,216,1524,0.12,2.25,0.00,0.000,6,0.125,0.059,2676,2497,3626,0,0,0,0,0,0
$GC,1844,-0.53,-146.0,195.4,-11.7,246,1848,0.00,2.28,0.00,0.000,4,0.000,0.075,2676,3903,3625,0,0,0,0,0,0
$GC,1862,-0.50,-146.0,197.7,-12.0,247,1866,0.00,2.20,0.00,0.000,6,0.000,0.047,2676,2485,3625,0,0,0,0,0,0
$GC,2188,-0.48,-146.0,235.4,-11.2,277,2192,0.12,2.33,0.00,0.000,4,0.211,0.072,2705,3905,3626,0,0,0,0,0,0
$GC,2197,-0.48,-146.0,236.7,-11.3,277,2205,0.00,2.17,0.00,0.000,6,0.000,0.044,2705,2485,3626,0,0,0,0,0,0
$GC,2524,-0.55,-146.0,265.6,-8.8,308,2528,0.00,2.20,0.00,0.000,4,0.000,0.062,2706,1080,3627,0,0,0,0,0,0
$GC,2553,-0.61,-146.0,268.3,-9.4,310,2558,0.12,2.22,0.00,0.000,6,0.122,0.056,2661,2495,3627,0,0,0,0,0,0
$GC,2880,-0.57,-146.0,303.9,-10.6,340,2884,0.00,2.25,0.00,0.000,4,0.000,0.071,2661,3901,3628,0,0,0,0,0,0
$GC,2901,-0.53,-146.0,306.6,-10.9,341,2909,0.08,2.20,0.00,0.000,6,0.184,0.042,2684,2492,3628,0,0,0,0,0,0
$GC,3227,-0.55,-146.0,334.5,-8.4,372,3231,0.00,2.20,0.00,0.000,4,0.000,0.059,2684,1076,3630,0,0,0,0,0,0
$GC,3238,-0.55,-146.0,335.7,-8.1,372,3245,0.00,2.22,0.00,0.000,6,0.000,0.054,2684,2494,3629,0,0,0,0,0,0
$STATE,3498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3498,begin apogee
$GC,3504,-0.12,0.0,358.3,9.1,397,3628,0.45,0.00,118.22,1.101,6,0.181,0.000,2817,2263,3029,0,0,0,0,0,0
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3631,0.62,146.0,362.6,0.0,408,3762,0.75,2.50,120.00,1.057,4,0.135,0.062,3060,877,2433,0,0,0,0,0,0
$GC,3791,0.55,146.0,350.9,12.1,423,3795,0.00,2.38,0.00,0.000,6,0.000,0.047,3060,2277,2430,0,0,0,0,0,0
$GC,4118,0.48,146.0,310.6,12.5,453,4123,0.15,2.35,0.00,0.000,4,0.181,0.063,3023,3688,2428,0,0,0,0,0,0
$GC,4231,0.43,146.0,296.9,12.3,462,4238,0.00,2.25,0.00,0.000,6,0.000,0.046,3030,2276,2428,0,0,0,0,0,0
$GC,4556,0.40,146.0,264.0,10.3,493,4561,0.12,2.30,0.00,0.000,4,0.185,0.060,3000,3690,2428,0,0,0,0,0,0
$GC,4607,0.41,151.2,258.9,9.8,497,4619,0.00,2.22,4.88,0.698,6,0.000,0.044,3007,2265,2413,0,0,0,0,0,0
$GC,4937,0.49,186.5,229.9,8.4,528,4971,0.00,0.00,30.83,0.972,6,0.000,0.000,3007,2265,2269,0,0,0,0,0,0
$GC,5290,0.59,223.8,200.1,8.3,561,5328,0.12,2.35,32.40,0.952,4,0.101,0.059,3065,3695,2116,0,0,0,0,0,0
$GC,5390,0.54,223.8,187.1,14.6,569,5397,0.12,2.25,0.00,0.000,6,0.183,0.044,3045,2269,2114,0,0,0,0,0,0
$GC,5715,0.54,223.8,150.5,11.4,600,5719,0.00,2.20,0.00,0.000,4,0.000,0.057,3052,867,2111,0,0,0,0,0,0
$GC,5778,0.58,223.8,143.2,11.6,605,5782,0.00,2.22,0.00,0.000,6,0.000,0.045,3052,2283,2109,0,0,0,0,0,0
$GC,6103,0.62,223.8,104.2,11.1,635,6107,0.00,2.22,0.00,0.000,4,0.000,0.060,3052,3686,2109,0,0,0,0,0,0
$GC,6165,0.59,223.8,96.2,13.4,642,6172,0.00,2.22,0.00,0.000,6,0.000,0.044,3062,2261,2109,0,0,0,0,0,0
$GC,6511,0.65,250.2,61.9,8.8,703,6541,0.00,2.22,22.58,0.883,4,0.000,0.060,3070,868,2009,0,0,0,0,0,0
$GC,6583,0.72,250.2,55.1,10.2,715,6590,0.00,2.20,0.00,0.000,6,0.000,0.046,3071,2276,2007,0,0,0,0,0,0
$GC,6928,0.78,259.7,20.9,9.6,776,6943,0.12,2.28,4.72,0.713,4,0.101,0.062,3124,3675,1970,0,0,0,0,0,0
$FREEZE,8.20,-1.552,-1.835,3,1,0
$FREEZE,7.37,-1.555,-1.834,3,1,0
$FREEZE,6.42,-1.554,-1.833,3,1,0
$FREEZE,5.62,-1.558,-1.833,3,1,0
$FREEZE,4.88,-1.561,-1.832,3,1,0
$FREEZE,4.13,-1.560,-1.832,3,1,0
$FREEZE,3.29,-1.561,-1.831,3,1,0
$GC,7044,0.69,259.7,3.3,15.6,796,7051,0.17,2.20,0.00,0.000,6,0.197,0.047,3091,2267,1969,0,0,0,0,0,0
$FREEZE,1.75,-1.562,-1.828,3,1,0
$STATE,7057,end climb,SURFACE_DEPTH_REACHED
$STATE,7057,begin surface coast
$FREEZE,1.61,-1.588,-1.828,3,1,0
$FREEZE,1.65,-1.582,-1.828,3,1,0
$FREEZE,1.65,-1.580,-1.828,3,1,0
$FREEZE,1.72,-1.576,-1.828,3,1,0
$FINISH,1.7,1.026816
$STATE,7079,end surface coast,CONTROL_FINISHED_OK
$STATE,7079,begin surface
$SM_CCo,7096,62.80,0.064,0,0,1398,400.08
$SM_GC,3.21,0.00,0.00,62.80,0.000,0.000,0.064,112,2506,1398,-8.60,0.45,400.08
$RAFOS_CLK,329
$RAFOS_FIX,6718.426270,-5731.462891,280311,000040,3,106,0.25
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,23.1,33.837
$10V_AH,10.2,18.561
$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,22.475,77.550,333.625,62.800,0.000,49.820,70.550,577.429,0.750,0.000,33.120,1888.325,3434.908,565.639,1976.169,353.482,0.000,1299.859,0.000,1277.781,0.000,6.145,0.000
$DEVICE_MAMPS,285.345,74.970,1100.835,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.255,601.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150388
$DATA_FILE_SIZE,30109,802
$CAP_FILE_SIZE,105568,0
$CFSIZE,260165632,236052480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,280311,012504,6718.326,-5720.913,10,99.0,29,-38.0