version: 66.08
glider: 141
mission: 15
dive: 67
start: 3 2 111 3 58 37
data:
$ID,141
$MISSION,15
$DIVE,67
$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,27
$R_STBD_OVSHOOT,27
$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,9.03
$_SM_ANGLEo,-1.3
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.43,0.000,2,0.000,0.000,2900,3680,3008,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.6,-0.0,1,52,0.68,0.35,-16.42,0.000,4,0.109,0.190,2666,3896,3628,0,0,0,0,0,0
$GC,274,-0.53,-146.0,52.0,-17.1,44,280,0.00,2.22,0.00,0.000,6,0.000,0.050,2667,2489,3631,0,0,0,0,0,0
$GC,613,-0.38,-146.0,116.5,-17.6,97,618,0.25,2.25,0.00,0.000,4,0.223,0.064,2732,1073,3629,0,0,0,0,0,0
$GC,714,-0.42,-146.0,128.4,-9.6,105,720,0.00,2.25,0.00,0.000,6,0.000,0.061,2732,2490,3629,0,0,0,0,0,0
$GC,1039,-0.47,-146.0,159.8,-10.0,136,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2490,3629,0,0,0,0,0,0
$GC,1359,-0.53,-146.0,191.4,-9.4,166,1364,0.12,2.30,0.00,0.000,4,0.132,0.079,2691,3899,3628,0,0,0,0,0,0
$GC,1377,-0.57,-146.0,193.3,-9.9,167,1381,0.00,2.22,0.00,0.000,6,0.000,0.048,2691,2477,3628,0,0,0,0,0,0
$GC,1702,-0.54,-146.0,234.4,-12.2,197,1706,0.00,2.20,0.00,0.000,4,0.000,0.067,2692,1083,3628,0,0,0,0,0,0
$GC,1742,-0.54,-146.0,239.4,-12.2,200,1746,0.00,2.28,0.00,0.000,6,0.000,0.063,2692,2498,3628,0,0,0,0,0,0
$GC,2069,-0.54,-146.0,277.0,-11.1,230,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2498,3627,0,0,0,0,0,0
$GC,2395,-0.54,-146.0,310.8,-10.3,261,2399,0.00,2.30,0.00,0.000,4,0.000,0.080,2692,3906,3627,0,0,0,0,0,0
$GC,2417,-0.54,-146.0,313.1,-9.6,262,2424,0.00,2.17,0.00,0.000,6,0.000,0.047,2692,2490,3627,0,0,0,0,0,0
$GC,2743,-0.54,-146.0,345.3,-10.2,293,2747,0.00,2.25,0.00,0.000,4,0.000,0.065,2691,1081,3627,0,0,0,0,0,0
$GC,2795,-0.56,-146.0,351.1,-10.3,297,2799,0.00,2.25,0.00,0.000,6,0.000,0.061,2691,2494,3627,0,0,0,0,0,0
$GC,3120,-0.56,-146.0,384.4,-10.2,327,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2493,3628,0,0,0,0,0,0
$GC,3439,-0.56,-146.0,416.7,-9.9,357,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2494,3628,0,0,0,0,0,0
$GC,3758,-0.56,-146.0,446.9,-9.2,387,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2495,3628,0,0,0,0,0,0
$GC,4077,-0.56,-146.0,476.1,-9.3,417,4081,0.00,2.22,0.00,0.000,4,0.000,0.063,2692,1085,3628,0,0,0,0,0,0
$GC,4096,-0.56,-146.0,477.9,-8.8,418,4100,0.00,2.22,0.00,0.000,6,0.000,0.061,2691,2498,3628,0,0,0,0,0,0
$GC,4427,-0.56,-146.0,507.5,-9.4,449,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2498,3629,0,0,0,0,0,0
$GC,4746,-0.56,-146.0,536.9,-8.8,479,4750,0.00,2.22,0.00,0.000,4,0.000,0.062,2691,1072,3629,0,0,0,0,0,0
$GC,4763,-0.56,-146.0,538.6,-9.4,480,4767,0.00,2.25,0.00,0.000,6,0.000,0.061,2692,2490,3630,0,0,0,0,0,0
$GC,5088,-0.56,-146.0,568.9,-9.4,510,5092,0.00,2.28,0.00,0.000,4,0.000,0.077,2691,3899,3629,0,0,0,0,0,0
$GC,5118,-0.58,-146.0,571.5,-9.4,512,5121,0.00,2.15,0.00,0.000,6,0.000,0.046,2691,2488,3629,0,0,0,0,0,0
$GC,5468,-0.58,-146.0,603.0,-9.0,543,5472,0.00,2.17,0.00,0.000,4,0.000,0.062,2691,1080,3629,0,0,0,0,0,0
$GC,5507,-0.62,-146.0,606.7,-9.3,544,5511,0.00,2.22,0.00,0.000,6,0.000,0.060,2691,2499,3630,0,0,0,0,0,0
$GC,5836,-0.62,-146.0,635.6,-9.0,555,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2499,3629,0,0,0,0,0,0
$GC,6143,-0.64,-146.0,662.7,-8.7,565,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2499,3630,0,0,0,0,0,0
$STATE,6171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6171,begin apogee
$GC,6176,-0.12,0.0,665.3,8.7,566,6305,0.43,0.00,123.22,1.335,6,0.187,0.000,2817,2268,3029,0,0,0,0,0,0
$STATE,6306,end apogee,CONTROL_FINISHED_OK
$STATE,6306,begin climb
$GC,6308,0.62,146.0,669.4,0.0,570,6444,0.77,2.53,125.18,1.292,4,0.135,0.069,3065,886,2433,0,0,0,0,0,0
$GC,6500,0.62,146.0,654.1,22088.2,576,6504,0.00,2.40,0.00,0.000,6,0.000,0.055,3065,2274,2428,0,0,0,0,0,0
$GC,6829,0.62,146.0,613.7,22088.2,587,6834,0.00,2.38,0.00,0.000,4,0.000,0.071,3065,3693,2425,0,0,0,0,0,0
$GC,6941,0.62,146.0,597.7,22088.2,590,6945,0.00,2.33,0.00,0.000,6,0.000,0.054,3075,2273,2423,0,0,0,0,0,0
$GC,7267,0.62,146.0,556.5,22088.2,620,7271,0.00,2.33,0.00,0.000,4,0.000,0.069,3075,3690,2423,0,0,0,0,0,0
$GC,7322,0.62,146.0,548.6,22088.2,624,7330,0.00,2.30,0.00,0.000,6,0.000,0.052,3085,2272,2422,0,0,0,0,0,0
$GC,7650,0.62,146.0,505.2,22088.2,655,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2272,2423,0,0,0,0,0,0
$GC,7967,0.62,146.0,462.8,22088.2,685,7971,0.00,2.30,0.00,0.000,4,0.000,0.067,3085,3697,2422,0,0,0,0,0,0
$GC,8019,0.62,146.0,455.1,22088.2,689,8024,0.12,2.28,0.00,0.000,6,0.217,0.053,3068,2272,2421,0,0,0,0,0,0
$GC,8344,0.62,146.0,414.2,22088.2,719,8348,0.00,2.30,0.00,0.000,4,0.000,0.067,3067,3691,2421,0,0,0,0,0,0
$GC,8390,0.62,146.0,407.8,22088.2,723,8394,0.00,2.25,0.00,0.000,6,0.000,0.052,3076,2274,2421,0,0,0,0,0,0
$GC,8716,0.62,146.0,364.4,22088.2,753,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2274,2421,0,0,0,0,0,0
$GC,9036,0.62,146.0,323.9,22088.2,783,9040,0.00,2.28,0.00,0.000,4,0.000,0.067,3076,3695,2422,0,0,0,0,0,0
$GC,9102,0.62,146.0,314.1,22088.2,788,9109,0.00,2.25,0.00,0.000,6,0.000,0.051,3086,2264,2421,0,0,0,0,0,0
$GC,9427,0.62,146.0,271.2,22088.2,819,9431,0.00,2.30,0.00,0.000,4,0.000,0.067,3086,3698,2421,0,0,0,0,0,0
$GC,9467,0.62,146.0,265.7,22088.2,822,9474,0.12,2.25,0.00,0.000,6,0.216,0.052,3068,2270,2421,0,0,0,0,0,0
$GC,9792,0.62,146.0,229.7,22088.2,853,9796,0.00,2.30,0.00,0.000,4,0.000,0.067,3068,3699,2421,0,0,0,0,0,0
$GC,9831,0.62,146.0,225.2,22088.2,856,9836,0.00,2.25,0.00,0.000,6,0.000,0.052,3077,2269,2422,0,0,0,0,0,0
$GC,10158,0.62,146.0,190.1,22088.2,886,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2269,2422,0,0,0,0,0,0
$GC,10476,0.62,146.0,157.1,22088.2,916,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2269,2421,0,0,0,0,0,0
$GC,10795,0.62,146.0,130.7,22088.2,946,10799,0.00,2.28,0.00,0.000,4,0.000,0.068,3077,3698,2422,0,0,0,0,0,0
$GC,10872,0.62,146.0,123.1,22088.2,952,10879,0.00,2.25,0.00,0.000,6,0.000,0.051,3087,2263,2422,0,0,0,0,0,0
$GC,11199,0.50,146.0,97.7,11.7,985,11206,0.20,2.22,0.00,0.000,4,0.184,0.065,3041,864,2422,0,0,0,0,0,0
$GC,11321,0.64,228.8,89.9,6.2,1006,11405,0.00,2.22,76.93,0.957,6,0.000,0.056,3041,2287,2097,0,0,0,0,0,0
$GC,11742,0.81,288.0,62.5,7.3,1080,11802,0.22,2.38,51.67,0.965,4,0.088,0.067,3128,3692,1854,0,0,0,0,0,0
$GC,11881,0.73,288.0,43.1,15.7,1104,11889,0.15,2.33,0.00,0.000,6,0.200,0.053,3103,2279,1848,0,0,0,0,0,0
$FREEZE,8.59,-1.765,-1.779,3,44,0
$STATE,12210,end climb,FINISH_DEPTH_REACHED
$STATE,12210,begin subsurface finish
$FINISH1,8.6,1.026046,71
$GC,12216,0.09,71.3,8.6,-9.6,1162,12257,0.68,0.00,-33.35,0.000,6,0.158,0.000,2895,2278,2742,0,0,0,0,0,0
$FINISH2,7.5
$STATE,12258,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12258,begin surface
$RAFOS_CLK,679
$RAFOS,6,1299041350,4.833333,4.819445,136,58,57,55,55,51,705,202,157,224,186,236
$RAFOS,5,1299040866,4.700000,4.685000,91,59,57,53,52,47,889,219,176,205,150,137
$RAFOS,4,1299040381,4.566667,4.550278,83,64,63,55,55,53,687,186,214,173,121,148
$RAFOS,3,1299039911,4.433333,4.419722,62,62,56,55,53,51,168,199,124,770,145,219
$RAFOS,2,1299039428,4.300000,4.285555,115,57,57,57,55,54,670,176,207,150,121,194
$RAFOS,1,1299038945,4.166667,4.151389,117,62,58,56,55,54,576,189,220,151,205,178
$RAFOS,0,1299038464,4.033333,4.017778,106,65,56,54,53,52,689,189,202,220,176,134
$RAFOS_FIX,6653.317871,-5956.769531,020311,040444,6,108,0.51
$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,19.9,18.6
$24V_AH,22.8,12.614
$10V_AH,10.3,6.184
$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,3.750,93.825,377.000,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2858.048,6980.151,418.299,1909.130,170.136,0.000,1433.199,0.000,1897.488,2520.000,16.757,0.000
$DEVICE_MAMPS,222.615,189.720,1334.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.325,900.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150708
$DATA_FILE_SIZE,43396,1169
$CAP_FILE_SIZE,127660,0
$CFSIZE,260165632,247463936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,020311,042744,6653.318,-5956.770,0,6108.0,0,-38.0