version: 66.08
glider: 141
mission: 15
dive: 215
start: 3 25 111 16 45 44
data:
$ID,141
$MISSION,15
$DIVE,215
$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,120
$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,-30163.6
$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,21
$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
$GPS1,250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,102.22
$_SM_ANGLEo,8.0
$GPS2,250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2
$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,148.4,62999,-17.5,-10.000
$D_GRID,1046
$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,-146.0,0.0,0.0,0,24,0.00,1.90,-4.35,0.000,6,0.000,0.060,2881,2483,3637,0,0,0,0,0,0
$GC,27,-0.62,-146.0,103.5,-0.0,1,34,0.62,2.17,0.00,0.000,4,0.131,0.054,2674,1078,3638,0,0,0,0,0,0
$GC,96,-0.59,-146.0,110.6,-10.9,7,103,0.00,2.22,0.00,0.000,6,0.000,0.057,2674,2498,3638,0,0,0,0,0,0
$GC,421,-0.54,-146.0,152.5,-13.0,38,425,0.00,2.25,0.00,0.000,4,0.000,0.070,2674,3905,3639,0,0,0,0,0,0
$GC,454,-0.51,-146.0,157.0,-13.3,40,461,0.00,2.15,0.00,0.000,6,0.000,0.041,2674,2490,3638,0,0,0,0,0,0
$GC,779,-0.47,-146.0,196.9,-11.9,71,784,0.12,2.20,0.00,0.000,4,0.216,0.057,2705,1080,3638,0,0,0,0,0,0
$GC,789,-0.44,-146.0,198.1,-11.9,71,796,0.00,2.22,0.00,0.000,6,0.000,0.054,2704,2490,3638,0,0,0,0,0,0
$GC,1116,-0.50,-146.0,223.9,-7.4,102,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2490,3638,0,0,0,0,0,0
$GC,1434,-0.56,-146.0,249.0,-7.7,132,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2490,3638,0,0,0,0,0,0
$GC,1752,-0.63,-146.0,274.5,-7.8,162,1757,0.15,2.28,0.00,0.000,4,0.114,0.070,2651,3901,3638,0,0,0,0,0,0
$GC,1770,-0.66,-146.0,276.1,-8.0,163,1774,0.00,2.15,0.00,0.000,6,0.000,0.041,2651,2489,3637,0,0,0,0,0,0
$GC,2095,-0.59,-146.0,315.4,-12.0,193,2099,0.00,2.20,0.00,0.000,4,0.000,0.056,2651,1077,3637,0,0,0,0,0,0
$GC,2106,-0.52,-146.0,316.9,-11.9,193,2113,0.15,2.25,0.00,0.000,6,0.213,0.054,2687,2496,3638,0,0,0,0,0,0
$GC,2431,-0.55,-146.0,346.6,-8.9,224,2436,0.00,2.25,0.00,0.000,4,0.000,0.070,2687,3904,3638,0,0,0,0,0,0
$GC,2442,-0.57,-146.0,347.7,-8.9,224,2449,0.00,2.15,0.00,0.000,6,0.000,0.040,2687,2481,3638,0,0,0,0,0,0
$GC,2768,-0.61,-146.0,376.6,-9.0,255,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2481,3638,0,0,0,0,0,0
$GC,3088,-0.64,-146.0,405.5,-8.7,285,3092,0.00,2.15,0.00,0.000,4,0.000,0.056,2687,1087,3639,0,0,0,0,0,0
$GC,3134,-0.69,-146.0,409.8,-9.1,289,3139,0.15,2.20,0.00,0.000,6,0.117,0.054,2637,2492,3639,0,0,0,0,0,0
$GC,3460,-0.60,-146.0,450.9,-12.9,319,3462,0.12,0.00,0.00,0.000,6,0.221,0.000,2665,2492,3639,0,0,0,0,0,0
$GC,3777,-0.60,-146.0,483.0,-9.9,349,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2492,3639,0,0,0,0,0,0
$GC,4097,-0.60,-146.0,514.4,-9.9,379,4101,0.00,2.25,0.00,0.000,4,0.000,0.070,2665,3899,3639,0,0,0,0,0,0
$GC,4118,-0.60,-146.0,516.7,-9.7,380,4125,0.00,2.17,0.00,0.000,6,0.000,0.041,2665,2480,3638,0,0,0,0,0,0
$GC,4444,-0.60,-146.0,548.0,-9.6,411,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2480,3639,0,0,0,0,0,0
$GC,4763,-0.60,-146.0,579.6,-9.5,441,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2480,3639,0,0,0,0,0,0
$GC,5078,-0.60,-146.0,608.6,-9.0,465,5081,0.00,2.15,0.00,0.000,4,0.000,0.057,2665,1085,3638,0,0,0,0,0,0
$GC,5099,-0.60,-146.0,610.7,-9.1,465,5106,0.00,2.22,0.00,0.000,6,0.000,0.057,2665,2500,3638,0,0,0,0,0,0
$GC,5413,-0.60,-146.0,637.6,-8.8,476,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3638,0,0,0,0,0,0
$GC,5718,-0.60,-146.0,665.5,-9.1,486,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2499,3638,0,0,0,0,0,0
$GC,6025,-0.60,-146.0,692.4,-8.5,496,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3638,0,0,0,0,0,0
$GC,6331,-0.60,-146.0,717.8,-8.0,506,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3637,0,0,0,0,0,0
$GC,6637,-0.60,-146.0,744.8,-9.3,516,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3637,0,0,0,0,0,0
$GC,6944,-0.89,-146.0,753.8,0.1,526,6948,0.25,2.20,0.00,0.000,4,0.095,0.051,2568,1081,3637,0,0,0,0,0,0
$GC,6954,-1.18,-146.0,753.7,0.2,526,6959,0.22,2.25,0.00,0.000,6,0.093,0.059,2481,2497,3637,0,0,0,0,0,0
$STATE,6994,end dive,NO_VERTICAL_VELOCITY
$STATE,6995,begin apogee
$GC,7000,-0.12,0.0,753.8,0.0,528,7131,1.02,0.00,124.97,1.388,6,0.133,0.000,2814,2264,3030,0,0,0,0,0,0
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7132,begin climb
$GC,7134,0.62,146.0,753.5,0.0,532,7272,0.77,2.58,128.93,1.343,4,0.132,0.069,3053,3672,2432,0,0,0,0,0,0
$GC,7323,0.77,334.3,752.8,1.3,538,7503,0.15,2.38,171.57,1.300,6,0.094,0.048,3117,2279,1666,0,0,0,0,0,0
$GC,7839,0.60,334.3,631.9,25.1,555,7844,0.22,2.35,0.00,0.000,4,0.213,0.059,3062,3685,1652,0,0,0,0,0,0
$GC,7934,0.60,334.3,613.8,16.5,558,7939,0.00,2.30,0.00,0.000,6,0.000,0.053,3071,2274,1649,0,0,0,0,0,0
$GC,8258,0.53,334.3,556.3,17.7,583,8263,0.12,2.33,0.00,0.000,4,0.197,0.064,3049,859,1648,0,0,0,0,0,0
$GC,8346,0.60,334.3,544.0,12.1,590,8353,0.00,2.25,0.00,0.000,6,0.000,0.050,3049,2280,1648,0,0,0,0,0,0
$GC,8673,0.60,334.3,496.9,15.4,621,8677,0.00,2.28,0.00,0.000,4,0.000,0.064,3049,3689,1647,0,0,0,0,0,0
$GC,8712,0.60,334.3,490.4,16.4,624,8716,0.00,2.25,0.00,0.000,6,0.000,0.052,3058,2269,1646,0,0,0,0,0,0
$GC,9037,0.60,334.3,438.5,16.3,654,9041,0.00,2.22,0.00,0.000,4,0.000,0.063,3069,865,1646,0,0,0,0,0,0
$GC,9114,0.62,334.3,426.1,14.8,660,9121,0.00,2.22,0.00,0.000,6,0.000,0.049,3069,2285,1645,0,0,0,0,0,0
$GC,9441,0.58,334.3,370.5,17.0,691,9445,0.00,2.25,0.00,0.000,4,0.000,0.063,3069,3692,1645,0,0,0,0,0,0
$GC,9481,0.55,334.3,362.9,18.7,694,9485,0.15,2.25,0.00,0.000,6,0.187,0.052,3041,2262,1645,0,0,0,0,0,0
$GC,9806,0.59,334.3,319.5,12.8,724,9810,0.00,2.22,0.00,0.000,4,0.000,0.064,3043,857,1645,0,0,0,0,0,0
$GC,9872,0.69,334.3,311.6,11.0,729,9880,0.12,2.22,0.00,0.000,6,0.115,0.049,3097,2277,1643,0,0,0,0,0,0
$GC,10198,0.57,334.3,244.1,21.9,760,10200,0.17,0.00,0.00,0.000,6,0.188,0.000,3052,2277,1644,0,0,0,0,0,0
$GC,10517,0.57,334.3,194.8,14.5,790,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2277,1643,0,0,0,0,0,0
$GC,10837,0.61,334.3,149.7,14.6,820,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2277,1643,0,0,0,0,0,0
$GC,11155,0.68,334.3,108.3,11.9,850,11159,0.00,2.25,0.00,0.000,4,0.000,0.063,3055,866,1644,0,0,0,0,0,0
$GC,11194,0.78,334.3,103.8,10.7,853,11199,0.17,2.20,0.00,0.000,6,0.094,0.047,3127,2279,1644,0,0,0,0,0,0
$GC,11536,0.71,334.3,43.9,17.6,910,11544,0.12,2.22,0.00,0.000,4,0.197,0.062,3096,3681,1644,0,0,0,0,0,0
$GC,11590,0.69,334.3,34.8,15.9,919,11597,0.00,2.20,0.00,0.000,6,0.000,0.052,3104,2274,1643,0,0,0,0,0,0
$FREEZE,8.95,-1.722,-1.829,3,90,2
$FREEZE,8.05,-1.721,-1.828,3,90,2
$FREEZE,7.21,-1.720,-1.828,3,90,2
$FREEZE,6.38,-1.722,-1.827,3,90,2
$FREEZE,5.65,-1.722,-1.826,3,90,2
$FREEZE,4.76,-1.725,-1.826,3,90,2
$FREEZE,3.96,-1.727,-1.825,3,90,2
$FREEZE,3.25,-1.728,-1.825,3,90,2
$FREEZE,2.83,-1.731,-1.824,3,90,2
$STATE,11802,end climb,SURFACE_DEPTH_REACHED
$STATE,11802,begin surface coast
$FREEZE,2.24,-1.731,-1.824,3,90,2
$FREEZE,2.16,-1.734,-1.824,3,90,2
$FREEZE,2.13,-1.732,-1.823,3,90,2
$FREEZE,2.23,-1.731,-1.823,3,90,2
$FINISH,2.2,1.026744
$STATE,11826,end surface coast,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$SM_CCo,11963,98.78,0.073,0,0,750,559.04
$SM_GC,2.82,0.00,0.00,98.78,0.000,0.000,0.073,113,2503,750,-8.60,0.37,559.04
$RAFOS_CLK,649
$RAFOS,6,1301071751,16.833334,16.819723,123,58,58,58,53,53,606,199,217,169,115,155
$RAFOS,5,1301071269,16.700001,16.685833,75,63,62,60,59,48,644,173,199,213,147,113
$RAFOS_FIX,6716.117188,-5807.223145,250311,161656,2,99,0.22
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.2
$24V_AH,22.5,31.400
$10V_AH,10.2,17.282
$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,13.275,87.675,425.475,98.775,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2421.233,7399.218,509.996,1639.829,160.530,0.000,1418.403,0.000,1623.925,720.000,26.167,0.000
$DEVICE_MAMPS,221.085,70.380,1388.475,72.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.533,743.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,36775,961
$CAP_FILE_SIZE,121777,0
$CFSIZE,260165632,237244416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,250311,164656,6716.117,-5807.223,0,2099.0,0,-38.2