version: 66.08
glider: 141
mission: 15
dive: 66
start: 3 2 111 0 30 44
data:
$ID,141
$MISSION,15
$DIVE,66
$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,-23144.75
$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,25
$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
$GPS1,020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.50
$_SM_ANGLEo,-3.2
$GPS2,020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0
$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,119.8,145160,-17.5,-10.000
$D_GRID,665
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.88,0.000,2,0.000,0.000,2900,2284,2985,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.5,-0.0,1,53,0.65,2.03,-18.30,0.000,4,0.094,0.080,2667,1073,3627,0,0,0,0,0,0
$GC,82,-0.48,-146.0,15.9,-13.7,10,90,0.15,2.33,0.00,0.000,6,0.236,0.060,2700,2498,3628,0,0,0,0,0,0
$GC,427,-0.40,-146.0,71.1,-14.8,71,434,0.12,0.00,0.00,0.000,6,0.246,0.000,2728,2499,3629,0,0,0,0,0,0
$GC,769,-0.40,-146.0,114.5,-12.3,122,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2499,3628,0,0,0,0,0,0
$GC,1090,-0.42,-146.0,151.6,-10.4,152,1094,0.00,2.25,0.00,0.000,4,0.000,0.064,2728,1080,3628,0,0,0,0,0,0
$GC,1164,-0.47,-146.0,158.7,-8.7,158,1168,0.00,2.25,0.00,0.000,6,0.000,0.060,2728,2490,3628,0,0,0,0,0,0
$GC,1495,-0.52,-146.0,191.2,-9.8,189,1499,0.00,2.30,0.00,0.000,4,0.000,0.076,2728,3905,3627,0,0,0,0,0,0
$GC,1517,-0.58,-146.0,193.4,-9.4,190,1524,0.15,2.20,0.00,0.000,6,0.122,0.048,2679,2485,3627,0,0,0,0,0,0
$GC,1842,-0.52,-146.0,235.5,-12.5,221,1846,0.00,2.22,0.00,0.000,4,0.000,0.067,2679,1086,3627,0,0,0,0,0,0
$GC,1881,-0.47,-146.0,240.4,-12.2,224,1886,0.12,2.25,0.00,0.000,6,0.231,0.063,2706,2500,3627,0,0,0,0,0,0
$GC,2208,-0.47,-146.0,270.1,-9.3,254,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2500,3626,0,0,0,0,0,0
$GC,2527,-0.50,-146.0,300.8,-9.5,284,2531,0.00,2.25,0.00,0.000,4,0.000,0.064,2706,1072,3626,0,0,0,0,0,0
$GC,2550,-0.53,-146.0,303.2,-9.3,285,2556,0.00,2.25,0.00,0.000,6,0.000,0.062,2706,2495,3626,0,0,0,0,0,0
$GC,2875,-0.56,-146.0,332.4,-9.3,316,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2495,3625,0,0,0,0,0,0
$GC,3195,-0.59,-146.0,362.2,-9.3,346,3199,0.00,2.25,0.00,0.000,4,0.000,0.064,2705,1073,3625,0,0,0,0,0,0
$GC,3235,-0.65,-146.0,366.2,-9.9,349,3242,0.15,2.25,0.00,0.000,6,0.124,0.060,2656,2498,3625,0,0,0,0,0,0
$GC,3560,-0.56,-146.0,408.9,-13.3,380,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2498,3626,0,0,0,0,0,0
$GC,3882,-0.48,-146.0,450.5,-12.6,410,3889,0.20,0.00,0.00,0.000,6,0.217,0.000,2705,2499,3626,0,0,0,0,0,0
$GC,4208,-0.53,-146.0,479.9,-8.6,441,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2500,3627,0,0,0,0,0,0
$GC,4528,-0.58,-146.0,506.6,-8.3,471,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2500,3627,0,0,0,0,0,0
$GC,4848,-0.63,-146.0,532.8,-7.9,501,4854,0.15,0.00,0.00,0.000,6,0.119,0.000,2654,2499,3627,0,0,0,0,0,0
$GC,5173,-0.56,-146.0,571.2,-12.5,532,5177,0.00,2.22,0.00,0.000,4,0.000,0.063,2654,1076,3628,0,0,0,0,0,0
$GC,5194,-0.48,-146.0,574.1,-12.5,533,5202,0.20,2.25,0.00,0.000,6,0.212,0.061,2704,2492,3627,0,0,0,0,0,0
$GC,5521,-0.54,-146.0,600.3,-7.8,564,5525,0.00,2.25,0.00,0.000,4,0.000,0.077,2704,3904,3628,0,0,0,0,0,0
$GC,5542,-0.60,-146.0,602.0,-7.4,564,5547,0.10,2.17,0.00,0.000,6,0.141,0.046,2670,2487,3628,0,0,0,0,0,0
$GC,5855,-0.57,-146.0,633.9,-10.3,574,5859,0.00,2.20,0.00,0.000,4,0.000,0.063,2671,1079,3628,0,0,0,0,0,0
$GC,5893,-0.57,-146.0,638.3,-11.1,575,5898,0.00,2.28,0.00,0.000,6,0.000,0.060,2670,2497,3628,0,0,0,0,0,0
$STATE,6165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6165,begin apogee
$GC,6171,-0.12,0.0,667.8,11.0,584,6300,0.50,0.00,122.07,1.340,6,0.194,0.000,2816,2266,3030,0,0,0,0,0,0
$STATE,6301,end apogee,CONTROL_FINISHED_OK
$STATE,6301,begin climb
$GC,6303,0.62,146.0,672.7,0.0,588,6439,0.77,2.53,125.38,1.297,4,0.133,0.068,3065,884,2432,0,0,0,0,0,0
$GC,6478,0.62,146.0,660.2,23439.4,593,6482,0.00,2.42,0.00,0.000,6,0.000,0.054,3065,2283,2428,0,0,0,0,0,0
$GC,6797,0.62,146.0,622.0,23439.4,604,6801,0.00,2.38,0.00,0.000,4,0.000,0.070,3065,3689,2424,0,0,0,0,0,0
$GC,6903,0.62,146.0,606.9,23439.4,607,6907,0.00,2.30,0.00,0.000,6,0.000,0.051,3076,2285,2423,0,0,0,0,0,0
$GC,7234,0.62,146.0,563.7,23439.4,635,7238,0.00,2.30,0.00,0.000,4,0.000,0.067,3076,3688,2423,0,0,0,0,0,0
$GC,7296,0.62,146.0,554.6,23439.4,640,7301,0.00,2.30,0.00,0.000,6,0.000,0.053,3085,2268,2422,0,0,0,0,0,0
$GC,7621,0.62,146.0,509.2,23439.4,670,7626,0.00,2.33,0.00,0.000,4,0.000,0.067,3085,3699,2422,0,0,0,0,0,0
$GC,7707,0.62,146.0,496.0,23439.4,677,7711,0.12,2.30,0.00,0.000,6,0.219,0.053,3069,2266,2422,0,0,0,0,0,0
$GC,8032,0.62,146.0,452.5,23439.4,707,8036,0.00,2.30,0.00,0.000,4,0.000,0.068,3068,3688,2422,0,0,0,0,0,0
$GC,8092,0.62,146.0,443.5,23439.4,712,8099,0.00,2.28,0.00,0.000,6,0.000,0.053,3077,2264,2422,0,0,0,0,0,0
$GC,8419,0.62,146.0,400.0,23439.4,743,8423,0.00,2.30,0.00,0.000,4,0.000,0.066,3077,3699,2422,0,0,0,0,0,0
$GC,8471,0.62,146.0,392.5,23439.4,747,8475,0.00,2.28,0.00,0.000,6,0.000,0.051,3087,2264,2422,0,0,0,0,0,0
$GC,8796,0.62,146.0,349.6,23439.4,777,8800,0.00,2.30,0.00,0.000,4,0.000,0.067,3087,3692,2422,0,0,0,0,0,0
$GC,8841,0.62,146.0,343.2,23439.4,781,8846,0.12,2.25,0.00,0.000,6,0.220,0.053,3069,2270,2422,0,0,0,0,0,0
$GC,9166,0.62,146.0,301.4,23439.4,811,9171,0.00,2.28,0.00,0.000,4,0.000,0.065,3068,3699,2422,0,0,0,0,0,0
$GC,9195,0.62,146.0,297.6,23439.4,813,9200,0.00,2.25,0.00,0.000,6,0.000,0.051,3077,2272,2422,0,0,0,0,0,0
$GC,9521,0.62,146.0,256.2,23439.4,843,9525,0.00,2.28,0.00,0.000,4,0.000,0.066,3077,3695,2422,0,0,0,0,0,0
$GC,9593,0.62,146.0,245.6,23439.4,849,9600,0.00,2.22,0.00,0.000,6,0.000,0.051,3087,2273,2422,0,0,0,0,0,0
$GC,9920,0.62,146.0,204.8,23439.4,880,9923,0.00,2.22,0.00,0.000,4,0.000,0.065,3097,868,2422,0,0,0,0,0,0
$GC,9954,0.62,146.0,200.9,23439.4,883,9959,0.12,2.22,0.00,0.000,6,0.211,0.054,3069,2280,2422,0,0,0,0,0,0
$GC,10280,0.62,146.0,172.3,23439.4,913,10284,0.00,2.22,0.00,0.000,4,0.000,0.069,3069,3691,2422,0,0,0,0,0,0
$GC,10404,0.62,146.0,159.6,23439.4,923,10410,0.00,2.22,0.00,0.000,6,0.000,0.052,3077,2273,2422,0,0,0,0,0,0
$GC,10730,0.62,146.0,131.5,23439.4,954,10734,0.00,2.25,0.00,0.000,4,0.000,0.067,3077,3685,2422,0,0,0,0,0,0
$GC,10763,0.62,146.0,128.2,23439.4,956,10770,0.00,2.22,0.00,0.000,6,0.000,0.053,3087,2266,2422,0,0,0,0,0,0
$GC,11089,0.62,146.0,105.4,23439.4,987,11092,0.00,2.22,0.00,0.000,4,0.000,0.067,3098,863,2422,0,0,0,0,0,0
$GC,11157,0.62,146.0,100.0,23439.4,993,11164,0.12,2.22,0.00,0.000,6,0.204,0.056,3068,2280,2421,0,0,0,0,0,0
$GC,11504,0.69,234.6,79.0,5.9,1054,11604,0.00,2.42,85.00,0.939,4,0.000,0.070,3067,3685,2071,0,0,0,0,1,0
$GC,11685,0.69,234.6,63.9,10.0,1085,11692,0.00,2.33,0.00,0.000,6,0.000,0.053,3074,2270,2065,0,0,0,0,0,0
$GC,12033,0.75,247.4,32.3,9.4,1146,12046,0.00,0.00,9.18,0.910,6,0.000,0.000,3074,2270,2020,0,0,0,0,0,0
$FREEZE,8.81,-1.736,-1.779,3,43,0
$STATE,12294,end climb,FINISH_DEPTH_REACHED
$STATE,12294,begin subsurface finish
$FINISH1,8.8,1.026050,71
$GC,12299,0.09,71.1,8.8,-9.9,1192,12336,0.55,2.38,-26.98,0.000,4,0.149,0.085,2900,3680,2744,0,0,0,0,0,0
$FINISH2,7.5
$STATE,12337,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12337,begin surface
$RAFOS_CLK,686
$RAFOS,6,1299026943,0.833333,0.817500,137,69,67,63,55,55,751,223,177,214,194,151
$RAFOS,5,1299026461,0.700000,0.683611,159,66,59,57,55,55,919,217,118,170,189,201
$RAFOS,4,1299025983,0.566667,0.550833,106,62,58,55,52,50,689,217,207,157,195,139
$RAFOS,3,1299025501,0.433333,0.416944,90,61,59,58,54,54,822,133,169,160,210,180
$RAFOS_FIX,6652.593262,-6000.615723,020311,000007,7,117,5.11
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.96
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,22.9,12.487
$10V_AH,10.3,6.113
$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,4.325,107.075,341.625,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2964.850,6887.266,410.002,1984.596,168.958,0.000,1458.084,0.000,1966.512,1080.000,19.239,0.000
$DEVICE_MAMPS,245.565,84.915,1340.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.072,918.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,46648,1198
$CAP_FILE_SIZE,135474,0
$CFSIZE,260165632,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.4
$GPS,020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0