version: 66.08
glider: 141
mission: 15
dive: 266
start: 3 30 111 16 15 7
data:
$ID,141
$MISSION,15
$DIVE,266
$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,38
$R_STBD_OVSHOOT,36
$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,8.20
$_SM_ANGLEo,1.3
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.85,0.000,2,0.000,0.000,2884,3675,3163,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,52,0.65,4.12,-12.35,0.000,4,0.142,0.049,2674,1084,3628,0,0,0,0,0,0
$GC,204,-0.58,-146.0,31.1,-13.3,32,211,0.00,2.20,0.00,0.000,6,0.000,0.049,2674,2483,3628,0,0,0,0,0,0
$GC,549,-0.51,-146.0,80.2,-14.1,93,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2483,3627,0,0,0,0,0,0
$GC,888,-0.47,-146.0,124.0,-12.0,137,889,0.15,0.00,0.00,0.000,6,0.218,0.000,2709,2483,3625,0,0,0,0,0,0
$GC,1208,-0.53,-146.0,148.2,-6.9,167,1212,0.00,2.25,0.00,0.000,4,0.000,0.066,2709,3900,3623,0,0,0,0,0,0
$GC,1241,-0.62,-146.0,150.7,-6.4,169,1248,0.15,2.15,0.00,0.000,6,0.115,0.037,2657,2485,3623,0,0,0,0,0,0
$GC,1567,-0.56,-146.0,189.8,-13.3,200,1571,0.00,2.17,0.00,0.000,4,0.000,0.052,2657,1077,3622,0,0,0,0,0,0
$GC,1594,-0.50,-146.0,194.1,-14.2,202,1602,0.15,2.20,0.00,0.000,6,0.208,0.050,2692,2489,3622,0,0,0,0,0,0
$GC,1922,-0.54,-146.0,226.4,-9.2,233,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3622,0,0,0,0,0,0
$GC,2238,-0.58,-146.0,254.2,-8.0,263,2243,0.00,2.25,0.00,0.000,4,0.000,0.063,2691,3902,3622,0,0,0,0,0,0
$GC,2260,-0.63,-146.0,256.1,-7.7,264,2267,0.00,2.15,0.00,0.000,6,0.000,0.035,2692,2477,3622,0,0,0,0,0,0
$GC,2586,-0.67,-146.0,281.8,-8.7,295,2588,0.15,0.00,0.00,0.000,6,0.112,0.000,2639,2477,3622,0,0,0,0,0,0
$GC,2904,-0.60,-146.0,322.8,-12.4,325,2905,0.12,0.00,0.00,0.000,6,0.213,0.000,2666,2477,3623,0,0,0,0,0,0
$GC,3222,-0.60,-146.0,356.9,-11.2,355,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2477,3624,0,0,0,0,0,0
$GC,3543,-0.60,-146.0,389.6,-9.8,385,3547,0.00,2.28,0.00,0.000,4,0.000,0.060,2666,3901,3624,0,0,0,0,0,0
$GC,3584,-0.60,-146.0,393.8,-9.8,388,3588,0.00,2.10,0.00,0.000,6,0.000,0.034,2667,2489,3624,0,0,0,0,0,0
$GC,3909,-0.60,-146.0,424.4,-9.2,418,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2488,3625,0,0,0,0,0,0
$GC,4231,-0.60,-146.0,453.1,-8.7,448,4235,0.00,2.25,0.00,0.000,4,0.000,0.060,2667,3903,3625,0,0,0,0,0,0
$GC,4282,-0.62,-146.0,457.9,-9.0,452,4286,0.00,2.12,0.00,0.000,6,0.000,0.034,2667,2489,3625,0,0,0,0,0,0
$STATE,4553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4553,begin apogee
$GC,4559,-0.12,0.0,482.3,9.5,477,4682,0.50,0.00,117.53,1.167,6,0.184,0.000,2814,2250,3029,0,0,0,0,0,0
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4685,0.62,146.0,485.5,0.0,488,4817,0.77,2.53,121.32,1.121,4,0.134,0.054,3056,3685,2433,0,0,0,0,0,0
$GC,4845,0.50,146.0,470.1,15.6,503,4853,0.17,2.30,0.00,0.000,6,0.184,0.037,3026,2306,2430,0,0,0,0,0,0
$GC,5170,0.50,146.0,432.9,10.7,534,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2306,2427,0,0,0,0,0,0
$GC,5492,0.50,146.0,398.7,10.9,564,5496,0.00,2.22,0.00,0.000,4,0.000,0.054,3025,3694,2427,0,0,0,0,0,0
$GC,5546,0.44,146.0,391.5,12.9,568,5554,0.00,2.22,0.00,0.000,6,0.000,0.039,3033,2265,2426,0,0,0,0,0,0
$GC,5874,0.42,146.0,354.6,11.4,599,5878,0.12,2.28,0.00,0.000,4,0.187,0.054,3002,3691,2426,0,0,0,0,0,0
$GC,5924,0.42,146.0,348.6,10.9,603,5928,0.00,2.20,0.00,0.000,6,0.000,0.037,3010,2265,2425,0,0,0,0,0,0
$GC,6250,0.44,146.0,316.0,10.3,633,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2264,2425,0,0,0,0,0,0
$GC,6571,0.50,170.7,285.1,8.9,663,6597,0.00,2.33,20.38,1.000,4,0.000,0.054,3010,3690,2334,0,0,0,0,0,0
$GC,6672,0.50,170.7,274.4,11.1,672,6676,0.00,2.20,0.00,0.000,6,0.000,0.037,3020,2272,2332,0,0,0,0,0,0
$GC,6998,0.53,191.6,243.0,9.0,702,7019,0.00,0.00,18.77,0.970,6,0.000,0.000,3020,2272,2248,0,0,0,0,0,0
$GC,7337,0.57,193.1,209.9,9.9,734,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2272,2245,0,0,0,0,0,0
$GC,7655,0.61,193.1,177.9,10.2,764,7660,0.12,2.25,0.00,0.000,4,0.099,0.053,3078,3695,2245,0,0,0,0,0,0
$GC,7706,0.51,193.1,170.3,16.4,768,7711,0.22,2.20,0.00,0.000,6,0.181,0.038,3029,2265,2245,0,0,0,0,0,0
$GC,8032,0.56,196.1,136.0,9.9,798,8044,0.00,2.17,4.97,0.680,4,0.000,0.054,3029,865,2229,0,0,0,0,0,0
$GC,8079,0.66,222.4,131.8,8.8,802,8114,0.15,2.20,23.80,0.918,6,0.097,0.041,3095,2291,2122,0,0,0,0,0,0
$GC,8438,0.63,222.4,83.0,12.9,846,8445,0.00,2.17,0.00,0.000,4,0.000,0.054,3095,3686,2119,0,0,0,0,0,0
$GC,8559,0.55,222.4,65.7,14.3,867,8566,0.22,2.20,0.00,0.000,6,0.178,0.039,3045,2262,2118,0,0,0,0,0,0
$GC,8905,0.67,260.6,37.0,8.2,928,8936,0.10,2.20,23.73,0.959,4,0.119,0.051,3100,862,1965,0,0,0,0,0,0
$GC,8994,0.67,260.6,27.7,11.0,943,9001,0.00,2.20,0.00,0.000,6,0.000,0.041,3100,2279,1961,0,0,0,0,0,0
$FREEZE,8.36,-1.738,-1.835,3,15,0
$STATE,9147,end climb,FINISH_DEPTH_REACHED
$STATE,9147,begin subsurface finish
$FINISH1,8.4,1.026857,32
$GC,9153,0.04,31.5,8.4,-12.5,970,9195,0.70,2.28,-31.12,0.000,4,0.151,0.070,2882,3689,2903,0,0,0,0,0,0
$FINISH2,6.1
$STATE,9196,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9196,begin surface
$RAFOS_CLK,467
$RAFOS,6,1301503741,16.833334,16.816944,106,59,57,53,50,46,879,199,170,117,225,127
$RAFOS,5,1301503271,16.700001,16.686388,135,66,60,60,50,49,643,154,226,201,215,134
$RAFOS,4,1301502783,16.566668,16.550833,75,72,57,52,52,51,187,895,216,166,141,152
$RAFOS,3,1301502306,16.433332,16.418333,64,58,57,56,55,55,151,130,188,107,162,204
$RAFOS,2,1301501825,16.299999,16.284721,65,59,56,54,54,52,224,146,204,163,189,177
$RAFOS,1,1301501341,16.166666,16.150278,78,56,56,56,56,55,212,173,185,135,225,117
$RAFOS_FIX,6704.211426,-5645.685059,300311,161656,2,120,0.07
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,23.0,36.736
$10V_AH,10.2,20.090
$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,4.475,66.700,330.500,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2307.356,4918.414,384.835,1513.385,134.787,0.000,1180.293,0.000,1506.536,1800.000,9.697,0.000
$DEVICE_MAMPS,218.025,70.380,1167.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.287,735.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,36788,977
$CAP_FILE_SIZE,101162,0
$CFSIZE,260165632,234627072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,300311,164656,6704.211,-5645.685,0,2120.5,0,-37.7