version: 66.08
glider: 141
mission: 15
dive: 3
start: 2 20 111 2 23 49
data:
$ID,141
$MISSION,15
$DIVE,3
$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,100
$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,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,-22022.932
$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,2910
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,021852,6700.711,-5638.812,8,99.0,27,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.1
$GPS2,200211,022311,6700.715,-5638.812,33,99.0,52,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.8,169060,-17.5,-10.000
$D_GRID,430
$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,-146.0,0.0,0.0,0,198,0.00,0.00,-178.43,0.000,6,0.000,0.000,108,2313,3627,0,0,0,0,0,0
$GC,200,-0.62,-146.0,6.8,-16.6,31,220,13.52,2.40,0.00,0.000,4,0.338,0.088,2697,3702,3629,0,0,0,0,0,0
$GC,417,-0.62,-146.0,48.6,-12.5,69,424,0.00,2.35,0.00,0.000,6,0.000,0.067,2697,2286,3630,0,0,0,0,0,0
$GC,762,-0.62,-146.0,90.6,-11.7,130,768,0.00,2.45,0.00,0.000,4,0.000,0.089,2697,3718,3629,0,0,0,0,0,0
$GC,858,-0.62,-146.0,102.5,-11.9,145,865,0.00,2.33,0.00,0.000,6,0.000,0.065,2697,2300,3629,0,0,0,0,0,0
$GC,1183,-0.62,-146.0,140.4,-11.6,176,1187,0.00,2.40,0.00,0.000,4,0.000,0.087,2697,3707,3628,0,0,0,0,0,0
$GC,1268,-0.66,-146.0,149.7,-11.1,183,1272,0.00,2.28,0.00,0.000,6,0.000,0.064,2697,2298,3628,0,0,0,0,0,0
$GC,1595,-0.69,-146.0,183.0,-9.6,213,1599,0.00,2.38,0.00,0.000,4,0.000,0.083,2697,3705,3627,0,0,0,0,0,0
$GC,1669,-0.74,-146.0,190.1,-8.6,219,1673,0.00,2.28,0.00,0.000,6,0.000,0.061,2697,2300,3627,0,0,0,0,0,0
$GC,1999,-0.77,-146.0,221.2,-10.0,250,2004,0.12,2.35,0.00,0.000,4,0.142,0.081,2657,3705,3628,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,231.7,-12.5,257,2088,0.00,2.28,0.00,0.000,6,0.000,0.060,2657,2294,3628,0,0,0,0,0,0
$GC,2410,-0.68,-146.0,272.0,-12.3,287,2414,0.12,2.38,0.00,0.000,4,0.232,0.080,2684,3715,3629,0,0,0,0,0,0
$GC,2524,-0.71,-146.0,283.3,-9.6,297,2528,0.00,2.25,0.00,0.000,6,0.000,0.057,2684,2295,3630,0,0,0,0,0,0
$GC,2849,-0.71,-146.0,314.7,-9.2,327,2853,0.00,2.33,0.00,0.000,4,0.000,0.080,2684,3709,3631,0,0,0,0,0,0
$GC,2934,-0.74,-146.0,322.8,-9.7,334,2938,0.00,2.22,0.00,0.000,6,0.000,0.057,2684,2298,3631,0,0,0,0,0,0
$GC,3260,-0.77,-146.0,352.1,-8.7,364,3264,0.00,2.33,0.00,0.000,4,0.000,0.079,2684,3718,3632,0,0,0,0,0,0
$GC,3345,-0.80,-146.0,360.0,-9.1,371,3349,0.00,2.25,0.00,0.000,6,0.000,0.056,2684,2286,3632,0,0,0,0,0,0
$GC,3672,-0.83,-146.0,390.2,-9.4,401,3677,0.12,2.35,0.00,0.000,4,0.138,0.078,2644,3716,3632,0,0,0,0,0,0
$GC,3772,-0.79,-146.0,402.5,-12.2,409,3779,0.00,2.22,0.00,0.000,6,0.000,0.056,2644,2303,3632,0,0,0,0,0,0
$STATE,3851,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3851,begin apogee
$GC,3856,-0.12,0.0,412.4,12.3,417,3980,0.77,0.00,116.55,1.012,6,0.203,0.000,2862,2149,3030,0,0,0,0,0,0
$STATE,3981,end apogee,CONTROL_FINISHED_OK
$STATE,3981,begin climb
$GC,3983,0.62,146.0,414.9,0.0,428,4111,0.73,2.50,119.55,0.979,4,0.105,0.078,3111,748,2434,0,0,0,0,0,0
$GC,4134,0.44,146.0,401.2,16.0,442,4139,0.22,2.40,0.00,0.000,6,0.196,0.060,3057,2153,2429,0,0,0,0,0,0
$GC,4460,0.34,146.0,357.3,14.0,472,4464,0.12,2.35,0.00,0.000,4,0.213,0.074,3026,3567,2425,0,0,0,0,0,0
$GC,4630,0.27,146.0,334.0,14.3,487,4635,0.15,2.33,0.00,0.000,6,0.199,0.060,2999,2157,2424,0,0,0,0,0,0
$GC,4955,0.31,154.4,300.8,9.6,517,4968,0.00,2.35,6.30,0.757,4,0.000,0.071,2999,3573,2402,0,0,0,0,0,0
$GC,5040,0.31,154.4,291.8,10.8,524,5048,0.00,2.33,0.00,0.000,6,0.000,0.057,3004,2140,2402,0,0,0,0,0,0
$GC,5368,0.38,193.4,263.4,8.2,555,5412,0.00,2.47,33.67,0.895,4,0.000,0.070,3004,3569,2240,0,0,0,0,0,0
$GC,5482,0.40,193.4,252.4,10.2,565,5486,0.00,2.33,0.00,0.000,6,0.000,0.056,3015,2154,2239,0,0,0,0,0,0
$GC,5809,0.48,215.7,221.6,9.0,595,5837,0.15,2.40,19.17,0.850,4,0.106,0.070,3071,3559,2149,0,0,0,0,0,0
$GC,5937,0.41,215.7,203.2,14.9,606,5945,0.15,2.33,0.00,0.000,6,0.190,0.058,3045,2137,2148,0,0,0,0,0,0
$GC,6262,0.41,215.7,169.4,10.3,637,6266,0.00,2.35,0.00,0.000,4,0.000,0.070,3044,3561,2145,0,0,0,0,0,0
$GC,6313,0.41,215.7,163.4,12.3,641,6319,0.00,2.28,0.00,0.000,6,0.000,0.057,3051,2144,2145,0,0,0,0,0,0
$GC,6645,0.41,215.7,126.0,11.1,672,6649,0.00,2.33,0.00,0.000,4,0.000,0.070,3051,3564,2144,0,0,0,0,0,0
$GC,6712,0.38,215.7,117.1,13.4,677,6719,0.00,2.30,0.00,0.000,6,0.000,0.055,3059,2145,2144,0,0,0,0,0,0
$GC,7048,0.38,215.7,79.7,11.3,724,7055,0.00,2.33,0.00,0.000,4,0.000,0.070,3060,3573,2144,0,0,0,0,0,0
$GC,7101,0.36,215.7,73.1,12.4,733,7109,0.15,2.28,0.00,0.000,6,0.187,0.053,3031,2142,2144,0,0,0,0,0,0
$GC,7446,0.51,284.4,44.6,6.8,794,7511,0.12,2.40,56.33,0.780,4,0.118,0.070,3078,3573,1868,0,0,0,0,0,0
$GC,7584,0.51,284.4,29.0,12.9,818,7592,0.00,2.33,0.00,0.000,6,0.000,0.055,3085,2145,1864,0,0,0,0,0,0
$STATE,7687,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7688,begin subsurface finish
$FINISH1,15.8,1.026702,39
$GC,7694,0.05,39.1,15.8,-12.9,836,7720,0.50,2.42,-20.08,0.000,4,0.162,0.084,2933,3569,2873,0,0,0,0,0,0
$FINISH2,13.7
$STATE,7721,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7721,begin surface
$RAFOS_CLK,354
$RAFOS,3,1298175903,4.433333,4.417500,71,65,56,55,48,47,215,140,188,166,235,113
$RAFOS,2,1298175430,4.300000,4.286111,63,57,56,56,53,52,164,198,120,219,209,147
$RAFOS,1,1298174947,4.166667,4.151945,62,60,57,56,53,49,174,211,200,135,220,152
$RAFOS,0,1298174464,4.033333,4.017778,60,59,55,55,50,48,220,205,124,140,173,190
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,8.2
$ALTIM_BOTTOM_PING,350.3,75.9
$24V_AH,23.5,4.057
$10V_AH,10.3,1.502
$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,16.975,86.800,351.575,0.000,0.000,0.000,0.000,0.000,1.250,0.000,55.799,1974.313,3742.343,515.061,1484.137,134.776,0.000,1311.861,0.000,1416.675,1440.000,11.968,0.000
$DEVICE_MAMPS,338.130,88.740,1012.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.895,629.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151868
$DATA_FILE_SIZE,33434,840
$CAP_FILE_SIZE,107863,0
$CFSIZE,260165632,251965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.5
$GPS,200211,022311,6700.715,-5638.812,33,99.0,52,-37.4