version: 66.08
glider: 141
mission: 15
dive: 258
start: 3 29 111 21 53 53
data:
$ID,141
$MISSION,15
$DIVE,258
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,290311,204656,6709.638,-5656.386,0,2084.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.48
$_SM_ANGLEo,-0.8
$GPS2,290311,204656,6709.638,-5656.386,0,2084.0,0,-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,191.5,13703,-17.5,-10.000
$D_GRID,408
$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,-6.95,0.000,2,0.000,0.000,2881,865,3188,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.3,-0.0,1,47,0.62,4.85,-10.80,0.000,4,0.117,0.060,2666,3898,3628,0,0,0,0,0,0
$GC,217,-0.57,-146.0,34.1,-14.3,34,224,0.00,2.15,0.00,0.000,6,0.000,0.038,2666,2478,3629,0,0,0,0,0,0
$GC,562,-0.49,-146.0,86.1,-16.6,95,569,0.15,0.00,0.00,0.000,6,0.214,0.000,2701,2477,3628,0,0,0,0,0,0
$GC,894,-0.49,-146.0,125.9,-10.8,135,898,0.00,2.15,0.00,0.000,4,0.000,0.056,2702,1091,3626,0,0,0,0,0,0
$GC,917,-0.51,-146.0,128.3,-10.8,137,922,0.00,2.17,0.00,0.000,6,0.000,0.051,2702,2485,3626,0,0,0,0,0,0
$GC,1245,-0.55,-146.0,157.6,-8.4,167,1249,0.00,2.28,0.00,0.000,4,0.000,0.068,2702,3899,3624,0,0,0,0,0,0
$GC,1289,-0.63,-146.0,161.5,-8.0,170,1297,0.12,2.15,0.00,0.000,6,0.122,0.040,2660,2483,3623,0,0,0,0,0,0
$GC,1615,-0.58,-146.0,199.5,-12.2,201,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2482,3622,0,0,0,0,0,0
$GC,1936,-0.54,-146.0,239.2,-12.3,231,1940,0.00,2.15,0.00,0.000,4,0.000,0.054,2659,1084,3622,0,0,0,0,0,0
$GC,1999,-0.54,-146.0,247.4,-12.5,236,2003,0.00,2.20,0.00,0.000,6,0.000,0.050,2659,2498,3622,0,0,0,0,0,0
$GC,2325,-0.50,-146.0,285.2,-11.0,266,2330,0.15,2.25,0.00,0.000,4,0.210,0.067,2695,3898,3622,0,0,0,0,0,0
$GC,2346,-0.50,-146.0,287.7,-10.5,267,2354,0.00,2.17,0.00,0.000,6,0.000,0.037,2694,2484,3622,0,0,0,0,0,0
$GC,2673,-0.56,-146.0,314.1,-8.1,298,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2484,3623,0,0,0,0,0,0
$GC,2992,-0.61,-146.0,337.7,-7.2,328,2996,0.00,2.12,0.00,0.000,4,0.000,0.051,2695,1092,3623,0,0,0,0,0,0
$GC,3015,-0.67,-146.0,339.5,-7.4,329,3022,0.15,2.17,0.00,0.000,6,0.113,0.049,2643,2497,3623,0,0,0,0,0,0
$GC,3340,-0.60,-146.0,375.6,-11.6,360,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2497,3623,0,0,0,0,0,0
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3626,begin apogee
$GC,3631,-0.12,0.0,409.1,12.2,387,3755,0.60,0.00,116.80,1.127,6,0.195,0.000,2812,2259,3029,0,0,0,0,0,0
$STATE,3755,end apogee,CONTROL_FINISHED_OK
$STATE,3755,begin climb
$GC,3757,0.62,146.0,413.5,0.0,398,3887,0.77,2.42,120.15,1.081,4,0.135,0.057,3065,891,2433,0,0,0,0,0,0
$GC,3961,0.56,146.0,395.0,12.5,417,3966,0.00,2.28,0.00,0.000,6,0.000,0.042,3065,2276,2428,0,0,0,0,0,0
$GC,4288,0.48,146.0,353.9,12.8,447,4293,0.15,2.28,0.00,0.000,4,0.179,0.057,3026,3685,2427,0,0,0,0,0,0
$GC,4467,0.43,146.0,331.3,12.5,462,4474,0.00,2.15,0.00,0.000,6,0.000,0.041,3035,2297,2426,0,0,0,0,0,0
$GC,4793,0.41,146.0,296.5,10.8,493,4794,0.15,0.00,0.00,0.000,6,0.176,0.000,2996,2296,2426,0,0,0,0,0,0
$GC,5113,0.51,186.7,269.9,8.1,523,5151,0.00,0.00,33.78,1.000,6,0.000,0.000,2997,2296,2268,0,0,0,0,0,0
$GC,5470,0.65,231.6,240.6,7.9,557,5515,0.22,2.35,38.60,0.981,4,0.075,0.054,3089,3693,2085,0,0,0,0,0,0
$GC,5564,0.57,231.6,227.0,16.9,565,5569,0.20,2.22,0.00,0.000,6,0.181,0.041,3047,2277,2082,0,0,0,0,0,0
$GC,5889,0.57,231.6,187.0,12.4,595,5893,0.00,2.22,0.00,0.000,4,0.000,0.054,3056,867,2078,0,0,0,0,0,0
$GC,5974,0.61,231.6,177.1,11.6,602,5978,0.00,2.17,0.00,0.000,6,0.000,0.041,3056,2283,2077,0,0,0,0,0,0
$GC,6300,0.61,231.6,136.5,12.5,632,6304,0.00,2.20,0.00,0.000,4,0.000,0.057,3055,3680,2076,0,0,0,0,0,0
$GC,6379,0.61,231.6,125.7,13.2,638,6385,0.00,2.15,0.00,0.000,6,0.000,0.039,3066,2270,2076,0,0,0,0,0,0
$GC,6709,0.61,231.6,88.3,10.1,679,6716,0.00,2.17,0.00,0.000,4,0.000,0.054,3076,872,2076,0,0,0,0,0,0
$GC,6757,0.64,231.6,83.4,10.7,687,6764,0.00,2.15,0.00,0.000,6,0.000,0.041,3076,2284,2075,0,0,0,0,0,0
$GC,7101,0.64,231.6,45.9,10.7,748,7108,0.00,2.20,0.00,0.000,4,0.000,0.056,3076,3692,2075,0,0,0,0,0,0
$GC,7210,0.64,231.6,32.0,12.4,767,7216,0.00,2.17,0.00,0.000,6,0.000,0.041,3086,2274,2075,0,0,0,0,0,0
$FREEZE,8.78,-1.765,-1.837,2,7,0
$STATE,7413,end climb,FINISH_DEPTH_REACHED
$STATE,7413,begin subsurface finish
$FINISH1,8.8,1.026869,31
$GC,7419,0.04,30.9,8.8,-11.0,803,7450,0.65,2.25,-25.17,0.000,4,0.156,0.067,2884,869,2907,0,0,0,0,0,0
$FINISH2,7.5
$STATE,7451,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7451,begin surface
$RAFOS_CLK,385
$RAFOS_FIX,6709.637695,-5656.385742,290311,202056,2,84,0.27
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,400.1,52.8
$24V_AH,23.1,35.962
$10V_AH,10.2,19.670
$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,3.950,62.550,309.325,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1900.218,3848.552,339.374,1296.467,120.847,0.000,1033.492,0.000,1294.235,0.000,10.724,0.000
$DEVICE_MAMPS,214.200,68.085,1126.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.842,610.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150500
$DATA_FILE_SIZE,30026,808
$CAP_FILE_SIZE,82701,0
$CFSIZE,260165632,235044864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,290311,204656,6709.638,-5656.386,0,2084.0,0,-37.7