version: 66.08
glider: 141
mission: 15
dive: 262
start: 3 30 111 6 38 16
data:
$ID,141
$MISSION,15
$DIVE,262
$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,40
$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
$GPS1,300311,044800,6707.110,-5649.802,0,2110.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.48
$_SM_ANGLEo,-1.5
$GPS2,300311,044800,6707.110,-5649.802,0,2110.0,0,-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,208.0,7722,-17.5,-10.000
$D_GRID,434
$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,-6.35,0.000,2,0.000,0.000,2881,2273,3164,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.9,-0.0,1,46,0.60,2.62,-11.10,0.000,4,0.101,0.073,2667,3904,3628,0,0,0,0,0,0
$GC,75,-0.55,-146.0,16.1,-13.4,9,82,0.00,2.15,0.00,0.000,6,0.000,0.036,2667,2478,3630,0,0,0,0,0,0
$GC,420,-0.47,-146.0,63.7,-13.4,70,427,0.17,2.15,0.00,0.000,4,0.214,0.052,2709,1094,3629,0,0,0,0,0,0
$GC,446,-0.43,-146.0,66.8,-12.4,74,453,0.00,2.20,0.00,0.000,6,0.000,0.050,2709,2490,3629,0,0,0,0,0,0
$GC,796,-0.46,-146.0,101.8,-11.0,135,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2490,3627,0,0,0,0,0,0
$GC,1116,-0.50,-146.0,135.1,-9.9,165,1120,0.00,2.30,0.00,0.000,4,0.000,0.068,2709,3902,3626,0,0,0,0,0,0
$GC,1134,-0.55,-146.0,136.9,-9.9,166,1138,0.00,2.15,0.00,0.000,6,0.000,0.039,2709,2493,3626,0,0,0,0,0,0
$GC,1465,-0.61,-146.0,168.7,-8.8,197,1467,0.12,0.00,0.00,0.000,6,0.128,0.000,2666,2492,3624,0,0,0,0,0,0
$GC,1783,-0.58,-146.0,203.3,-10.6,227,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2492,3623,0,0,0,0,0,0
$GC,2103,-0.55,-146.0,241.2,-12.3,257,2107,0.00,2.25,0.00,0.000,4,0.000,0.063,2666,3898,3622,0,0,0,0,0,0
$GC,2142,-0.55,-146.0,246.4,-12.6,260,2146,0.00,2.15,0.00,0.000,6,0.000,0.037,2666,2482,3623,0,0,0,0,0,0
$GC,2473,-0.55,-146.0,286.5,-12.1,291,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2482,3623,0,0,0,0,0,0
$GC,2793,-0.53,-146.0,321.0,-10.5,321,2797,0.00,2.28,0.00,0.000,4,0.000,0.062,2665,3905,3623,0,0,0,0,0,0
$GC,2850,-0.53,-146.0,327.0,-9.7,325,2857,0.00,2.15,0.00,0.000,6,0.000,0.036,2666,2482,3623,0,0,0,0,0,0
$GC,3175,-0.53,-146.0,359.8,-10.3,356,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2482,3624,0,0,0,0,0,0
$GC,3495,-0.53,-146.0,391.7,-9.8,386,3499,0.00,2.12,0.00,0.000,4,0.000,0.049,2666,1083,3625,0,0,0,0,0,0
$GC,3507,-0.53,-146.0,393.2,-10.3,387,3511,0.00,2.20,0.00,0.000,6,0.000,0.048,2666,2498,3625,0,0,0,0,0,0
$GC,3832,-0.53,-146.0,424.6,-9.7,417,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2498,3625,0,0,0,0,0,0
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3942,-0.12,0.0,434.8,9.6,427,4065,0.50,0.00,116.97,1.146,6,0.186,0.000,2811,2258,3029,0,0,0,0,0,0
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4068,0.62,146.0,438.0,0.0,438,4196,0.77,0.00,121.07,1.096,6,0.133,0.000,3053,2258,2433,0,0,0,0,0,0
$GC,4514,0.55,146.0,387.8,12.1,481,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2258,2427,0,0,0,0,0,0
$GC,4836,0.50,146.0,349.1,12.1,511,4840,0.00,2.30,0.00,0.000,4,0.000,0.056,3053,3695,2426,0,0,0,0,0,0
$GC,4898,0.39,146.0,340.1,14.2,516,4903,0.25,2.20,0.00,0.000,6,0.182,0.040,2998,2284,2426,0,0,0,0,0,0
$GC,5224,0.49,189.6,313.1,8.0,546,5264,0.00,0.00,36.45,1.021,6,0.000,0.000,2998,2284,2256,0,0,0,0,0,0
$GC,5583,0.61,220.7,283.9,8.6,580,5613,0.17,0.00,27.17,0.992,6,0.081,0.000,3077,2284,2130,0,0,0,0,0,0
$GC,5934,0.55,220.7,231.2,15.8,613,5938,0.12,2.25,0.00,0.000,4,0.180,0.053,3046,3698,2125,0,0,0,0,0,0
$GC,5977,0.55,220.7,223.8,14.6,616,5984,0.00,2.20,0.00,0.000,6,0.000,0.038,3054,2277,2124,0,0,0,0,0,0
$GC,6304,0.55,220.7,180.4,12.1,647,6308,0.00,2.22,0.00,0.000,4,0.000,0.054,3054,3690,2124,0,0,0,0,0,0
$GC,6342,0.53,220.7,175.2,13.1,650,6349,0.00,2.20,0.00,0.000,6,0.000,0.039,3064,2267,2124,0,0,0,0,0,0
$GC,6667,0.53,220.7,135.6,12.8,681,6671,0.00,2.17,0.00,0.000,4,0.000,0.053,3075,870,2123,0,0,0,0,0,0
$GC,6721,0.53,220.7,128.2,13.1,685,6729,0.15,2.15,0.00,0.000,6,0.171,0.041,3034,2285,2121,0,0,0,0,0,0
$GC,7051,0.61,226.6,94.1,9.7,721,7064,0.00,2.20,5.32,0.689,4,0.000,0.055,3034,3680,2106,0,0,0,0,0,0
$GC,7116,0.64,226.6,87.3,11.2,732,7123,0.00,2.17,0.00,0.000,6,0.000,0.038,3042,2264,2106,0,0,0,0,0,0
$GC,7461,0.73,240.1,55.9,9.4,793,7480,0.15,2.25,13.48,0.858,4,0.099,0.054,3114,865,2051,0,0,0,0,0,0
$GC,7510,0.70,240.1,49.4,13.4,801,7517,0.00,2.20,0.00,0.000,6,0.000,0.041,3113,2279,2049,0,0,0,0,0,0
$FREEZE,8.39,-1.787,-1.835,2,11,0
$STATE,7814,end climb,FINISH_DEPTH_REACHED
$STATE,7814,begin subsurface finish
$FINISH1,8.4,1.026853,32
$GC,7819,0.04,31.7,8.4,-13.9,855,7857,0.75,2.28,-28.05,0.000,4,0.161,0.071,2883,3686,2904,0,0,0,0,0,0
$FINISH2,6.4
$STATE,7858,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7858,begin surface
$RAFOS_CLK,409
$RAFOS,5,1301474463,8.700000,8.684167,78,68,64,58,56,53,679,190,216,170,151,281
$RAFOS,4,1301473982,8.566667,8.550555,67,66,56,47,47,45,142,214,166,177,226,245
$RAFOS,3,1301473506,8.433333,8.418333,55,54,54,54,52,51,191,152,134,207,112,221
$RAFOS,2,1301473025,8.300000,8.284722,60,58,58,53,50,49,145,193,208,173,226,112
$RAFOS,1,1301472548,8.166667,8.152223,58,57,56,55,52,50,219,186,122,153,134,210
$RAFOS,0,1301472062,8.033334,8.017222,59,57,56,53,51,51,161,193,120,147,173,106
$RAFOS_FIX,6707.109863,-5649.801758,300311,040400,2,110,0.18
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.028462
$HUMID,45.11
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,23.1,36.349
$10V_AH,10.3,19.870
$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,3.775,55.850,320.475,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2036.422,4086.169,369.036,1308.490,113.004,0.000,1057.761,0.000,1305.647,2520.000,7.923,0.000
$DEVICE_MAMPS,214.200,73.440,1145.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.724,646.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,33370,861
$CAP_FILE_SIZE,84840,0
$CFSIZE,260165632,234848256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,300311,044800,6707.110,-5649.802,0,2110.0,0,-37.7