version: 66.08
glider: 141
mission: 15
dive: 56
start: 2 28 111 17 46 6
data:
$ID,141
$MISSION,15
$DIVE,56
$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,-22775.168
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.46
$_SM_ANGLEo,-4.6
$GPS2,280211,162202,6652.793,-6017.645,0,3122.7,0,-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,238.6,17394,-17.5,-10.000
$D_GRID,587
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.28,0.000,2,0.000,0.000,2903,855,2973,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.5,-0.0,1,58,0.68,4.97,-17.48,0.000,4,0.100,0.075,2664,3893,3628,0,0,0,0,0,0
$GC,100,-0.48,-146.0,21.0,-18.4,13,107,0.17,2.20,0.00,0.000,6,0.229,0.049,2705,2489,3629,0,0,0,0,0,0
$GC,445,-0.39,-146.0,80.4,-16.9,74,453,0.12,2.35,0.00,0.000,4,0.237,0.075,2733,3904,3629,0,0,0,0,0,0
$GC,516,-0.44,-146.0,89.5,-11.2,86,523,0.00,2.22,0.00,0.000,6,0.000,0.048,2733,2486,3629,0,0,0,0,0,0
$GC,847,-0.47,-146.0,129.1,-11.2,124,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2486,3629,0,0,0,0,0,0
$GC,1167,-0.52,-146.0,152.8,-6.3,154,1172,0.12,2.25,0.00,0.000,4,0.136,0.070,2693,1086,3628,0,0,0,0,0,0
$GC,1206,-0.52,-146.0,156.7,-10.2,157,1213,0.00,2.25,0.00,0.000,6,0.000,0.063,2693,2486,3628,0,0,0,0,0,0
$GC,1531,-0.47,-146.0,202.6,-13.2,188,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2485,3628,0,0,0,0,0,0
$GC,1851,-0.44,-146.0,240.9,-11.7,218,1855,0.00,2.28,0.00,0.000,4,0.000,0.079,2693,3898,3627,0,0,0,0,0,0
$GC,1891,-0.44,-146.0,246.4,-13.7,221,1895,0.00,2.20,0.00,0.000,6,0.000,0.050,2692,2492,3627,0,0,0,0,0,0
$GC,2217,-0.44,-146.0,285.3,-10.9,251,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2492,3627,0,0,0,0,0,0
$GC,2535,-0.44,-146.0,320.8,-11.4,281,2539,0.00,2.22,0.00,0.000,4,0.000,0.067,2693,1075,3626,0,0,0,0,0,0
$GC,2545,-0.44,-146.0,322.2,-11.0,281,2553,0.00,2.28,0.00,0.000,6,0.000,0.062,2693,2486,3626,0,0,0,0,0,0
$GC,2871,-0.44,-146.0,355.2,-9.3,312,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2485,3626,0,0,0,0,0,0
$GC,3191,-0.44,-146.0,385.7,-9.9,342,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2485,3627,0,0,0,0,0,0
$GC,3511,-0.44,-146.0,416.3,-9.6,372,3515,0.00,2.30,0.00,0.000,4,0.000,0.078,2692,3904,3627,0,0,0,0,0,0
$GC,3551,-0.47,-146.0,420.3,-9.8,375,3555,0.00,2.17,0.00,0.000,6,0.000,0.048,2693,2487,3627,0,0,0,0,0,0
$GC,3876,-0.47,-146.0,449.8,-8.9,405,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2486,3628,0,0,0,0,0,0
$GC,4198,-0.47,-146.0,478.6,-9.0,435,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2487,3628,0,0,0,0,0,0
$GC,4524,-0.49,-146.0,509.3,-9.8,466,4528,0.00,2.20,0.00,0.000,4,0.000,0.065,2693,1086,3628,0,0,0,0,0,0
$GC,4558,-0.52,-146.0,512.6,-9.3,468,4564,0.00,2.25,0.00,0.000,6,0.000,0.062,2692,2500,3628,0,0,0,0,0,0
$GC,4884,-0.52,-146.0,542.6,-9.4,499,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2500,3628,0,0,0,0,0,0
$GC,5203,-0.88,-146.0,566.8,0.1,529,5205,0.32,0.00,0.00,0.000,6,0.102,0.000,2578,2501,3629,0,0,0,0,0,0
$STATE,5306,end dive,NO_VERTICAL_VELOCITY
$STATE,5306,begin apogee
$GC,5311,-0.12,0.0,566.7,0.0,539,5442,0.70,0.00,121.53,1.278,6,0.118,0.000,2819,2257,3029,0,0,0,0,0,0
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5445,0.62,146.0,566.8,0.0,551,5582,0.75,2.60,125.15,1.229,4,0.132,0.068,3051,3675,2433,0,0,0,0,0,0
$GC,5629,0.48,146.0,553.1,14.2,568,5634,0.17,2.38,0.00,0.000,6,0.191,0.052,3021,2281,2429,0,0,0,0,0,0
$GC,5954,0.45,149.0,520.5,9.9,598,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2281,2424,0,0,0,0,0,0
$GC,6274,0.42,149.0,489.3,10.3,628,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2281,2423,0,0,0,0,0,0
$GC,6592,0.41,156.8,457.9,9.6,658,6607,0.00,2.38,8.95,1.023,4,0.000,0.068,3021,3680,2390,0,0,0,0,0,0
$GC,6659,0.34,156.8,450.3,12.3,664,6664,0.20,2.30,0.00,0.000,6,0.193,0.053,2980,2264,2389,0,0,0,0,0,0
$GC,6985,0.50,224.9,426.0,6.9,694,7052,0.15,2.47,60.30,1.169,4,0.099,0.069,3037,3687,2112,0,0,0,0,0,0
$GC,7092,0.46,224.9,414.1,13.3,704,7097,0.12,2.35,0.00,0.000,6,0.197,0.053,3019,2269,2108,0,0,0,0,0,0
$GC,7418,0.50,227.6,381.4,9.9,734,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2269,2103,0,0,0,0,0,0
$GC,7738,0.55,234.1,350.8,9.7,764,7750,0.00,2.40,7.80,0.961,4,0.000,0.066,3019,3688,2075,0,0,0,0,0,0
$GC,7800,0.55,234.1,343.5,12.7,769,7808,0.00,2.28,0.00,0.000,6,0.000,0.052,3027,2272,2074,0,0,0,0,0,0
$GC,8126,0.58,234.1,309.2,10.5,800,8130,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3689,2072,0,0,0,0,0,0
$GC,8166,0.58,234.1,304.4,12.4,803,8172,0.00,2.25,0.00,0.000,6,0.000,0.050,3036,2274,2072,0,0,0,0,0,0
$GC,8491,0.60,244.0,269.5,9.5,834,8506,0.00,2.35,9.98,0.988,4,0.000,0.066,3036,3682,2035,0,0,0,0,0,0
$GC,8536,0.60,249.5,265.3,9.7,838,8548,0.00,2.22,6.68,0.900,6,0.000,0.050,3045,2274,2012,0,0,0,0,0,0
$GC,8866,0.63,249.5,233.3,11.9,869,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2273,2010,0,0,0,0,0,0
$GC,9184,0.67,249.5,193.9,11.4,899,9189,0.10,2.30,0.00,0.000,4,0.128,0.063,3084,3698,2008,0,0,0,0,0,0
$GC,9213,0.62,249.5,190.3,13.3,901,9217,0.00,2.28,0.00,0.000,6,0.000,0.050,3094,2262,2009,0,0,0,0,0,0
$GC,9541,0.58,249.5,149.7,10.9,931,9548,0.15,0.00,0.00,0.000,6,0.184,0.000,3055,2262,2008,0,0,0,0,0,0
$GC,9866,0.61,249.5,114.0,13.5,962,9871,0.00,2.30,0.00,0.000,4,0.000,0.067,3056,3690,2008,0,0,0,0,0,0
$GC,9929,0.64,249.5,105.6,13.5,967,9933,0.00,2.25,0.00,0.000,6,0.000,0.051,3059,2266,2008,0,0,0,0,0,0
$GC,10269,0.83,339.8,80.0,5.8,1022,10356,0.20,2.47,81.32,0.988,4,0.096,0.064,3134,3688,1643,0,0,0,0,0,0
$GC,10409,0.77,339.8,62.2,16.2,1046,10417,0.12,2.33,0.00,0.000,6,0.207,0.050,3117,2274,1637,0,0,0,0,0,0
$GC,10755,0.79,339.8,23.4,11.0,1107,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2274,1631,0,0,0,0,0,0
$FREEZE,8.99,-1.735,-1.769,3,33,0
$STATE,10868,end climb,FINISH_DEPTH_REACHED
$STATE,10868,begin subsurface finish
$FINISH1,9.0,1.025895,79
$GC,10875,0.10,78.7,9.0,-12.9,1127,10917,0.70,0.00,-38.45,0.000,6,0.165,0.000,2901,2274,2712,0,0,0,0,0,0
$FINISH2,8.0
$STATE,10918,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10918,begin surface
$RAFOS_CLK,607
$RAFOS,5,1298925666,20.700001,20.684999,129,61,60,54,51,50,962,199,214,176,117,226
$RAFOS,4,1298925186,20.566668,20.551666,65,61,53,51,50,49,730,157,127,188,174,229
$RAFOS,3,1298924702,20.433332,20.417223,89,66,58,55,54,50,837,218,186,132,154,207
$RAFOS,2,1298924231,20.299999,20.286388,114,59,59,57,57,56,642,198,188,162,119,177
$RAFOS,1,1298923743,20.166666,20.150833,161,56,56,55,55,54,591,214,152,185,205,174
$RAFOS,0,1298923269,20.033333,20.019167,133,66,62,62,58,56,584,210,167,186,141,198
$RAFOS_FIX,6649.386230,-6023.021973,280211,202028,6,115,0.51
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,23.1,11.203
$10V_AH,10.3,5.446
$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,4.800,76.725,421.700,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2665.089,5954.556,471.938,1746.953,155.600,0.000,1401.517,0.000,1740.595,2160.000,15.789,0.000
$DEVICE_MAMPS,237.150,78.795,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.386,869.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43323,1134
$CAP_FILE_SIZE,117245,0
$CFSIZE,260165632,248201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0