version: 66.08
glider: 141
mission: 15
dive: 217
start: 3 25 111 23 37 56
data:
$ID,141
$MISSION,15
$DIVE,217
$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,-30532.186
$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,33
$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
$GPS1,250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,33.01
$_SM_ANGLEo,1.7
$GPS2,250311,204800,6718.357,-5805.202,0,2106.5,0,-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,155.2,62587,-17.5,-10.000
$D_GRID,952
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.50,0.000,2,0.000,0.000,2886,870,3426,0,0,0,0,0,0
$GC,26,-0.62,-146.0,34.2,-0.0,1,40,0.65,4.90,-2.42,0.000,4,0.139,0.063,2672,3906,3632,0,0,0,0,0,0
$GC,120,-0.58,-146.0,44.9,-13.0,17,127,0.00,2.20,0.00,0.000,6,0.000,0.041,2672,2480,3634,0,0,0,0,0,0
$GC,465,-0.49,-146.0,99.2,-17.0,78,472,0.12,2.30,0.00,0.000,4,0.230,0.068,2700,3897,3633,0,0,0,0,0,0
$GC,483,-0.43,-146.0,102.3,-15.8,80,490,0.00,2.17,0.00,0.000,6,0.000,0.041,2700,2479,3634,0,0,0,0,0,0
$GC,811,-0.43,-146.0,140.4,-11.4,111,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2479,3633,0,0,0,0,0,0
$GC,1129,-0.45,-146.0,174.4,-10.0,141,1133,0.00,2.17,0.00,0.000,4,0.000,0.059,2700,1082,3632,0,0,0,0,0,0
$GC,1158,-0.48,-146.0,177.4,-10.0,143,1162,0.00,2.20,0.00,0.000,6,0.000,0.054,2700,2487,3632,0,0,0,0,0,0
$GC,1483,-0.51,-146.0,206.7,-8.4,173,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2487,3631,0,0,0,0,0,0
$GC,1803,-0.56,-146.0,232.2,-8.2,203,1807,0.00,2.28,0.00,0.000,4,0.000,0.070,2700,3906,3631,0,0,0,0,0,0
$GC,1859,-0.64,-146.0,237.0,-8.5,207,1866,0.15,2.17,0.00,0.000,6,0.120,0.041,2650,2477,3631,0,0,0,0,0,0
$GC,2184,-0.57,-146.0,278.0,-13.0,238,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2477,3630,0,0,0,0,0,0
$GC,2503,-0.50,-146.0,318.7,-13.0,268,2507,0.20,2.15,0.00,0.000,4,0.208,0.054,2700,1089,3631,0,0,0,0,0,0
$GC,2535,-0.53,-146.0,322.4,-10.0,270,2542,0.00,2.20,0.00,0.000,6,0.000,0.052,2700,2500,3631,0,0,0,0,0,0
$GC,2861,-0.59,-146.0,348.4,-8.1,301,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2500,3631,0,0,0,0,0,0
$GC,3181,-0.65,-146.0,373.5,-7.7,331,3186,0.15,2.25,0.00,0.000,4,0.121,0.070,2648,3899,3631,0,0,0,0,0,0
$GC,3202,-0.65,-146.0,375.9,-9.8,332,3209,0.00,2.15,0.00,0.000,6,0.000,0.041,2649,2490,3631,0,0,0,0,0,0
$GC,3528,-0.58,-146.0,414.9,-12.0,363,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2489,3632,0,0,0,0,0,0
$GC,3849,-0.51,-146.0,450.7,-11.0,393,3853,0.17,2.20,0.00,0.000,4,0.210,0.055,2691,1080,3632,0,0,0,0,0,0
$GC,3870,-0.49,-146.0,453.2,-10.1,394,3877,0.00,2.22,0.00,0.000,6,0.000,0.054,2691,2501,3632,0,0,0,0,0,0
$GC,4196,-0.53,-146.0,476.9,-7.4,425,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2501,3633,0,0,0,0,0,0
$GC,4518,-0.59,-146.0,500.2,-7.3,455,4522,0.00,2.28,0.00,0.000,4,0.000,0.071,2691,3906,3632,0,0,0,0,0,0
$GC,4559,-0.67,-146.0,503.6,-7.7,458,4564,0.12,2.17,0.00,0.000,6,0.125,0.041,2649,2487,3632,0,0,0,0,0,0
$GC,4884,-0.61,-146.0,538.2,-10.9,488,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2487,3632,0,0,0,0,0,0
$GC,5206,-0.54,-146.0,572.2,-10.9,518,5211,0.15,2.30,0.00,0.000,4,0.208,0.068,2684,3899,3632,0,0,0,0,0,0
$GC,5216,-0.49,-146.0,573.7,-11.0,518,5223,0.00,2.12,0.00,0.000,6,0.000,0.039,2684,2487,3632,0,0,0,0,0,0
$GC,5543,-0.53,-146.0,598.6,-7.7,549,5547,0.00,2.25,0.00,0.000,4,0.000,0.066,2684,3899,3632,0,0,0,0,0,0
$GC,5553,-0.58,-146.0,599.6,-7.6,549,5560,0.00,2.15,0.00,0.000,6,0.000,0.039,2684,2489,3632,0,0,0,0,0,0
$STATE,5721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5722,begin apogee
$GC,5727,-0.12,0.0,612.6,7.5,556,5854,0.43,0.00,121.47,1.295,6,0.181,0.000,2812,2250,3030,0,0,0,0,0,0
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,0.62,146.0,615.3,0.0,560,5989,0.77,0.00,125.90,1.245,6,0.132,0.000,3051,2249,2434,0,0,0,0,0,0
$GC,6299,0.54,146.0,567.5,12.3,590,6303,0.00,2.40,0.00,0.000,4,0.000,0.060,3051,3690,2425,0,0,0,0,0,0
$GC,6365,0.40,146.0,557.7,15.0,595,6373,0.25,2.28,0.00,0.000,6,0.192,0.046,2999,2297,2424,0,0,0,0,0,0
$GC,6690,0.42,162.3,525.6,9.2,626,6714,0.00,2.38,13.68,1.112,4,0.000,0.062,3007,871,2367,0,0,0,0,0,0
$GC,6753,0.45,163.5,519.3,9.9,631,6760,0.00,2.28,0.00,0.000,6,0.000,0.048,3007,2287,2366,0,0,0,0,0,0
$GC,7079,0.45,163.5,486.2,10.1,662,7083,0.00,2.25,0.00,0.000,4,0.000,0.062,3007,3694,2365,0,0,0,0,0,0
$GC,7175,0.41,163.5,474.7,12.2,670,7179,0.00,2.25,0.00,0.000,6,0.000,0.047,3017,2275,2364,0,0,0,0,0,0
$GC,7502,0.41,163.5,439.3,10.7,700,7506,0.00,2.28,0.00,0.000,4,0.000,0.061,3028,868,2364,0,0,0,0,0,0
$GC,7553,0.41,163.5,433.6,10.9,704,7558,0.12,2.22,0.00,0.000,6,0.189,0.048,2999,2279,2364,0,0,0,0,0,0
$GC,7879,0.48,193.8,404.3,8.6,734,7913,0.00,2.35,27.90,1.133,4,0.000,0.063,2999,3682,2239,0,0,0,0,0,0
$GC,7963,0.50,193.8,396.1,10.3,741,7970,0.00,2.25,0.00,0.000,6,0.000,0.047,3006,2265,2238,0,0,0,0,0,0
$GC,8289,0.55,199.0,365.9,9.8,772,8302,0.10,2.22,5.82,0.886,4,0.122,0.060,3060,868,2217,0,0,0,0,0,0
$GC,8353,0.52,199.0,358.0,12.7,777,8360,0.00,2.25,0.00,0.000,6,0.000,0.048,3060,2284,2216,0,0,0,0,0,0
$GC,8679,0.46,199.0,316.2,12.3,808,8683,0.17,2.25,0.00,0.000,4,0.181,0.063,3013,3692,2215,0,0,0,0,0,0
$GC,8756,0.46,199.0,307.5,11.1,814,8763,0.00,2.25,0.00,0.000,6,0.000,0.048,3021,2280,2214,0,0,0,0,0,0
$GC,9083,0.46,199.0,275.2,10.1,845,9087,0.00,2.25,0.00,0.000,4,0.000,0.063,3030,867,2214,0,0,0,0,0,0
$GC,9149,0.49,199.0,268.3,10.7,850,9156,0.00,2.22,0.00,0.000,6,0.000,0.048,3030,2281,2213,0,0,0,0,0,0
$GC,9476,0.49,199.0,234.1,11.0,881,9480,0.00,2.25,0.00,0.000,4,0.000,0.063,3029,3694,2213,0,0,0,0,0,0
$GC,9543,0.46,199.0,225.3,13.0,886,9550,0.00,2.22,0.00,0.000,6,0.000,0.049,3040,2266,2213,0,0,0,0,0,0
$GC,9870,0.43,199.0,184.6,11.7,917,9875,0.15,2.22,0.00,0.000,4,0.184,0.062,3010,863,2213,0,0,0,0,0,0
$GC,9937,0.53,216.8,177.9,9.2,922,9958,0.00,2.22,15.68,0.983,6,0.000,0.048,3010,2283,2147,0,0,0,0,0,0
$GC,10284,0.61,232.6,147.2,9.3,955,10308,0.15,2.25,15.38,0.954,4,0.098,0.063,3073,3684,2080,0,0,0,0,0,0
$GC,10389,0.53,232.6,132.2,15.8,964,10395,0.17,2.22,0.00,0.000,6,0.187,0.048,3038,2273,2079,0,0,0,0,0,0
$GC,10716,0.54,237.6,97.3,9.8,996,10729,0.00,2.28,5.45,0.743,4,0.000,0.063,3042,858,2061,0,0,0,0,0,0
$GC,10775,0.60,237.6,91.6,10.0,1006,10782,0.00,2.25,0.00,0.000,6,0.000,0.047,3042,2283,2060,0,0,0,0,0,0
$GC,11122,0.72,284.7,60.4,7.8,1067,11171,0.15,2.35,42.42,0.932,4,0.098,0.060,3106,3685,1869,0,0,0,0,0,0
$GC,11218,0.65,284.7,48.2,15.4,1083,11226,0.17,2.25,0.00,0.000,6,0.190,0.047,3073,2273,1865,0,0,0,0,0,0
$FREEZE,8.60,-1.680,-1.833,3,92,0
$STATE,11547,end climb,FINISH_DEPTH_REACHED
$STATE,11547,begin subsurface finish
$FINISH1,8.6,1.026816,34
$GC,11553,0.04,33.5,8.6,-8.6,1141,11596,0.57,2.25,-35.15,0.000,4,0.129,0.070,2883,865,2895,0,0,0,0,0,0
$FINISH2,7.2
$STATE,11597,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$RAFOS_CLK,623
$RAFOS,6,1301100543,0.833333,0.817500,152,63,61,60,58,54,660,201,213,222,178,147
$RAFOS,5,1301100067,0.700000,0.685278,119,64,58,55,53,51,664,206,187,148,131,218
$RAFOS,4,1301099589,0.566667,0.552500,106,62,57,57,56,56,777,198,160,1394,178,144
$RAFOS,3,1301099102,0.433333,0.417222,60,58,55,53,52,52,184,167,131,115,205,227
$RAFOS,2,1301098628,0.300000,0.285556,60,58,57,54,53,50,128,187,218,204,109,147
$RAFOS,1,1301098150,0.166667,0.152778,65,57,56,53,51,51,216,135,154,199,172,188
$RAFOS,0,1301097661,0.033333,0.016944,61,58,53,51,50,50,197,218,620,119,178,206
$RAFOS_FIX,6720.367676,-5801.220703,260311,000022,3,126,0.33
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,16.9
$ALTIM_BOTTOM_PING,600.9,26.6
$24V_AH,22.7,31.621
$10V_AH,10.2,17.430
$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,4.950,108.325,373.700,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2810.336,6361.421,444.392,1875.662,172.730,0.000,1441.440,0.000,1858.556,2520.000,17.714,0.000
$DEVICE_MAMPS,229.500,71.145,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.676,874.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46742,1148
$CAP_FILE_SIZE,132148,0
$CFSIZE,260165632,237092864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2