version: 66.08
glider: 141
mission: 15
dive: 52
start: 2 28 111 4 51 19
data:
$ID,141
$MISSION,15
$DIVE,52
$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,-2
$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,-22406.588
$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,29
$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
$GPS1,280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,64.15
$_SM_ANGLEo,2.0
$GPS2,280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0
$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,247.6,22799,-17.5,-10.000
$D_GRID,651
$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,-146.0,0.0,0.0,0,25,0.00,0.65,-6.55,0.000,3,0.000,0.098,2891,3235,3634,0,0,0,0,0,0
$GC,28,-0.62,-146.0,67.2,-0.0,1,35,0.62,3.38,0.00,0.000,4,0.116,0.052,2670,1069,3635,0,0,0,0,0,0
$GC,104,-0.53,-146.0,81.2,-18.2,14,111,0.00,2.22,0.00,0.000,6,0.000,0.060,2670,2485,3635,0,0,0,0,0,0
$GC,442,-0.42,-146.0,139.8,-14.7,55,447,0.20,2.28,0.00,0.000,4,0.227,0.073,2718,3907,3634,0,0,0,0,0,0
$GC,494,-0.48,-146.0,145.0,-8.2,59,498,0.00,2.20,0.00,0.000,6,0.000,0.047,2718,2487,3634,0,0,0,0,0,0
$GC,820,-0.52,-146.0,178.3,-11.3,89,824,0.00,2.22,0.00,0.000,4,0.000,0.067,2719,1081,3634,0,0,0,0,0,0
$GC,887,-0.56,-146.0,186.3,-11.8,94,895,0.12,2.22,0.00,0.000,6,0.137,0.060,2679,2490,3633,0,0,0,0,0,0
$GC,1214,-0.50,-146.0,236.6,-14.7,125,1218,0.00,2.30,0.00,0.000,4,0.000,0.077,2679,3898,3632,0,0,0,0,0,0
$GC,1235,-0.44,-146.0,240.0,-13.7,126,1243,0.15,2.17,0.00,0.000,6,0.210,0.048,2714,2487,3633,0,0,0,0,0,0
$GC,1561,-0.49,-146.0,267.4,-8.6,157,1565,0.00,2.22,0.00,0.000,4,0.000,0.066,2715,1076,3633,0,0,0,0,0,0
$GC,1623,-0.56,-146.0,273.0,-8.7,162,1627,0.00,2.22,0.00,0.000,6,0.000,0.060,2715,2492,3632,0,0,0,0,0,0
$GC,1953,-0.62,-146.0,305.8,-9.9,193,1955,0.15,0.00,0.00,0.000,6,0.122,0.000,2665,2492,3632,0,0,0,0,0,0
$GC,2272,-0.55,-146.0,345.2,-11.4,223,2276,0.00,2.22,0.00,0.000,4,0.000,0.065,2665,1088,3631,0,0,0,0,0,0
$GC,2318,-0.51,-146.0,350.5,-11.5,226,2325,0.12,2.22,0.00,0.000,6,0.230,0.061,2693,2489,3631,0,0,0,0,0,0
$GC,2643,-0.51,-146.0,379.6,-8.4,257,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3632,0,0,0,0,0,0
$GC,2964,-0.51,-146.0,406.7,-8.1,287,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3632,0,0,0,0,0,0
$GC,3291,-0.51,-146.0,434.0,-9.0,318,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3632,0,0,0,0,0,0
$GC,3609,-0.51,-146.0,463.5,-9.1,348,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3632,0,0,0,0,0,0
$GC,3930,-0.53,-146.0,492.7,-9.4,378,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3632,0,0,0,0,0,0
$GC,4257,-0.55,-146.0,523.7,-9.4,409,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2490,3633,0,0,0,0,0,0
$GC,4577,-0.58,-146.0,552.0,-9.2,439,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2490,3633,0,0,0,0,0,0
$GC,4904,-0.60,-146.0,579.4,-8.0,470,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2490,3633,0,0,0,0,0,0
$GC,5230,-0.62,-146.0,605.7,-8.1,497,5234,0.00,2.25,0.00,0.000,4,0.000,0.064,2693,1080,3633,0,0,0,0,0,0
$GC,5252,-0.65,-146.0,607.8,-8.6,497,5257,0.12,2.22,0.00,0.000,6,0.135,0.062,2652,2497,3633,0,0,0,0,0,0
$GC,5565,-0.58,-146.0,642.3,-11.5,507,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2498,3633,0,0,0,0,0,0
$STATE,5658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5658,begin apogee
$GC,5664,-0.12,0.0,653.5,12.1,510,5793,0.57,0.00,123.28,1.330,6,0.207,0.000,2816,2270,3029,0,0,0,0,0,0
$STATE,5794,end apogee,CONTROL_FINISHED_OK
$STATE,5794,begin climb
$GC,5796,0.62,146.0,659.1,0.0,514,5932,0.77,2.53,125.00,1.287,4,0.142,0.071,3061,885,2432,0,0,0,0,0,0
$GC,5943,0.59,227.1,650.2,6.3,518,6024,0.00,2.42,73.88,1.245,6,0.000,0.056,3061,2273,2103,0,0,0,0,0,0
$GC,6341,0.59,227.1,595.3,19974.5,533,6345,0.00,2.40,0.00,0.000,4,0.000,0.071,3061,3694,2091,0,0,0,0,0,0
$GC,6448,0.59,227.1,577.9,19974.5,542,6452,0.00,2.35,0.00,0.000,6,0.000,0.054,3071,2282,2090,0,0,0,0,0,0
$GC,6773,0.59,227.1,527.3,19974.5,572,6777,0.00,2.33,0.00,0.000,4,0.000,0.067,3071,3692,2088,0,0,0,0,0,0
$GC,6817,0.59,227.1,519.8,19974.5,575,6824,0.00,2.30,0.00,0.000,6,0.000,0.054,3081,2274,2087,0,0,0,0,0,0
$GC,7144,0.59,227.1,465.3,19974.5,606,7148,0.00,2.35,0.00,0.000,4,0.000,0.068,3080,3698,2087,0,0,0,0,0,0
$GC,7184,0.59,227.1,457.8,19974.5,609,7189,0.15,2.28,0.00,0.000,6,0.194,0.054,3055,2273,2087,0,0,0,0,0,0
$GC,7509,0.59,227.1,410.8,19974.5,639,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2273,2087,0,0,0,0,0,0
$GC,7829,0.59,227.1,365.6,19974.5,669,7833,0.00,2.30,0.00,0.000,4,0.000,0.067,3055,3694,2087,0,0,0,0,0,0
$GC,7874,0.59,227.1,358.5,19974.5,673,7878,0.00,2.28,0.00,0.000,6,0.000,0.054,3063,2270,2087,0,0,0,0,0,0
$GC,8199,0.59,227.1,310.3,19974.5,703,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2270,2087,0,0,0,0,0,0
$GC,8519,0.59,227.1,271.7,19974.5,733,8523,0.00,2.30,0.00,0.000,4,0.000,0.067,3062,3697,2087,0,0,0,0,0,0
$GC,8570,0.59,227.1,265.3,19974.5,737,8575,0.00,2.25,0.00,0.000,6,0.000,0.052,3073,2269,2086,0,0,0,0,0,0
$GC,8901,0.59,227.1,226.0,19974.5,768,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2269,2086,0,0,0,0,0,0
$GC,9221,0.59,227.1,184.9,19974.5,798,9225,0.00,2.28,0.00,0.000,4,0.000,0.063,3073,3691,2086,0,0,0,0,0,0
$GC,9253,0.59,227.1,181.0,19974.5,800,9260,0.00,2.22,0.00,0.000,6,0.000,0.051,3083,2274,2086,0,0,0,0,0,0
$GC,9580,0.59,227.1,144.3,19974.5,831,9584,0.00,2.22,0.00,0.000,4,0.000,0.067,3093,867,2086,0,0,0,0,0,0
$GC,9613,0.59,227.1,139.8,19974.5,833,9621,0.15,2.22,0.00,0.000,6,0.184,0.054,3053,2281,2084,0,0,0,0,0,0
$GC,9939,0.59,227.1,109.6,19974.5,864,9943,0.00,2.22,0.00,0.000,4,0.000,0.068,3053,3694,2085,0,0,0,0,0,0
$GC,9979,0.59,227.1,106.9,19974.5,867,9983,0.00,2.25,0.00,0.000,6,0.000,0.052,3059,2264,2085,0,0,0,0,0,0
$GC,10316,0.64,237.5,83.5,9.5,916,10328,0.00,0.00,8.80,0.828,6,0.000,0.000,3059,2265,2060,0,0,0,0,0,0
$GC,10668,0.79,319.7,58.7,6.2,978,10763,0.17,2.42,79.10,0.957,4,0.103,0.063,3125,3688,1724,0,0,0,0,1,0
$GC,10926,0.73,319.7,22.8,16.0,1023,10934,0.15,2.30,0.00,0.000,6,0.195,0.050,3099,2270,1717,0,0,0,0,0,0
$STATE,11037,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11037,begin subsurface finish
$FINISH1,9.9,1.026174,65
$GC,11043,0.08,65.0,9.9,-13.8,1042,11079,0.62,0.00,-32.47,0.000,6,0.132,0.000,2896,2269,2766,0,0,0,0,0,0
$FINISH2,9.3
$STATE,11080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$RAFOS_CLK,607
$RAFOS,6,1298868544,4.833333,4.817778,87,66,63,53,50,48,752,215,198,118,155,166
$RAFOS_FIX,6655.514160,-6005.677734,280211,040432,5,101,9.33
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,14.1
$ALTIM_BOTTOM_PING,653.5,20.9
$24V_AH,22.6,10.641
$10V_AH,10.3,5.160
$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,4.100,79.600,410.050,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2567.077,6301.672,424.698,1700.352,158.009,0.000,1345.523,0.000,1695.901,0.000,19.464,0.000
$DEVICE_MAMPS,229.500,97.920,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.882,811.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,39989,1048
$CAP_FILE_SIZE,114932,0
$CFSIZE,260165632,248467456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.5
$GPS,280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0