version: 66.08
glider: 141
mission: 15
dive: 218
start: 3 26 111 2 53 21
data:
$ID,141
$MISSION,15
$DIVE,218
$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,29
$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
$GPS1,260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.45
$_SM_ANGLEo,9.5
$GPS2,260311,004322,6720.368,-5801.221,0,3125.7,0,-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,159.5,61891,-17.5,-10.000
$D_GRID,862
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.43,0.000,2,0.000,0.000,2882,865,3127,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.6,-0.0,1,52,0.60,4.95,-14.65,0.000,4,0.103,0.067,2670,3897,3629,0,0,0,0,0,0
$GC,232,-0.56,-146.0,34.0,-13.7,37,239,0.00,2.20,0.00,0.000,6,0.000,0.041,2670,2480,3630,0,0,0,0,0,0
$GC,578,-0.47,-146.0,84.7,-14.2,98,585,0.15,2.30,0.00,0.000,4,0.219,0.067,2704,3897,3630,0,0,0,0,0,0
$GC,638,-0.51,-146.0,91.2,-9.3,108,645,0.00,2.15,0.00,0.000,6,0.000,0.040,2705,2489,3630,0,0,0,0,0,0
$GC,975,-0.54,-146.0,124.1,-9.0,147,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3628,0,0,0,0,0,0
$GC,1296,-0.58,-146.0,152.9,-9.1,177,1300,0.00,2.30,0.00,0.000,4,0.000,0.067,2705,3905,3626,0,0,0,0,0,0
$GC,1351,-0.67,-146.0,158.6,-10.2,181,1359,0.17,2.17,0.00,0.000,6,0.109,0.040,2644,2489,3626,0,0,0,0,0,0
$GC,1678,-0.57,-146.0,205.7,-14.4,212,1680,0.15,0.00,0.00,0.000,6,0.216,0.000,2678,2488,3626,0,0,0,0,0,0
$GC,1995,-0.57,-146.0,240.7,-10.0,242,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2489,3626,0,0,0,0,0,0
$GC,2315,-0.57,-146.0,271.1,-9.0,272,2319,0.00,2.17,0.00,0.000,4,0.000,0.056,2679,1080,3626,0,0,0,0,0,0
$GC,2338,-0.57,-146.0,273.5,-9.8,274,2342,0.00,2.22,0.00,0.000,6,0.000,0.053,2679,2490,3626,0,0,0,0,0,0
$GC,2663,-0.57,-146.0,302.0,-8.7,304,2667,0.00,2.28,0.00,0.000,4,0.000,0.067,2678,3905,3627,0,0,0,0,0,0
$GC,2685,-0.57,-146.0,304.0,-8.3,305,2692,0.00,2.17,0.00,0.000,6,0.000,0.037,2679,2480,3627,0,0,0,0,0,0
$GC,3010,-0.57,-146.0,332.3,-9.1,336,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3628,0,0,0,0,0,0
$GC,3330,-0.57,-146.0,362.2,-9.6,366,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2479,3629,0,0,0,0,0,0
$GC,3649,-0.57,-146.0,391.4,-8.6,396,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3629,0,0,0,0,0,0
$GC,3967,-0.57,-146.0,420.2,-9.5,426,3971,0.00,2.28,0.00,0.000,4,0.000,0.067,2679,3902,3629,0,0,0,0,0,0
$GC,4000,-0.60,-146.0,423.5,-9.4,428,4007,0.00,2.12,0.00,0.000,6,0.000,0.039,2679,2491,3629,0,0,0,0,0,0
$GC,4325,-0.60,-146.0,451.7,-8.2,459,4329,0.00,2.17,0.00,0.000,4,0.000,0.055,2679,1093,3629,0,0,0,0,0,0
$GC,4336,-0.60,-146.0,452.8,-8.2,459,4343,0.00,2.17,0.00,0.000,6,0.000,0.053,2679,2489,3629,0,0,0,0,0,0
$GC,4661,-0.60,-146.0,479.6,-8.4,490,4665,0.00,2.25,0.00,0.000,4,0.000,0.070,2679,3899,3628,0,0,0,0,0,0
$GC,4694,-0.63,-146.0,482.3,-8.1,492,4701,0.00,2.15,0.00,0.000,6,0.000,0.040,2679,2481,3628,0,0,0,0,0,0
$GC,5020,-0.65,-146.0,507.7,-7.8,523,5025,0.00,2.25,0.00,0.000,4,0.000,0.067,2679,3896,3628,0,0,0,0,0,0
$GC,5066,-0.70,-146.0,511.6,-7.9,527,5071,0.12,2.15,0.00,0.000,6,0.125,0.040,2635,2488,3628,0,0,0,0,0,0
$GC,5397,-0.61,-146.0,549.9,-11.7,558,5399,0.12,0.00,0.00,0.000,6,0.217,0.000,2663,2487,3628,0,0,0,0,0,0
$STATE,5597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5597,begin apogee
$GC,5602,-0.12,0.0,569.0,9.2,577,5733,0.52,0.00,120.20,1.271,6,0.182,0.000,2819,2247,3029,0,0,0,0,0,0
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5734,begin climb
$GC,5735,0.62,146.0,572.8,0.0,589,5871,0.75,2.45,124.93,1.222,4,0.127,0.061,3064,898,2433,0,0,0,0,0,0
$GC,5991,0.53,146.0,547.2,13.8,612,5996,0.12,2.33,0.00,0.000,6,0.191,0.048,3038,2275,2427,0,0,0,0,0,0
$GC,6316,0.46,146.0,508.9,11.5,642,6320,0.00,2.30,0.00,0.000,4,0.000,0.062,3037,3683,2424,0,0,0,0,0,0
$GC,6412,0.35,146.0,496.6,13.2,650,6418,0.25,2.22,0.00,0.000,6,0.193,0.045,2983,2286,2424,0,0,0,0,0,0
$GC,6738,0.46,200.1,470.8,7.5,680,6793,0.00,2.40,45.83,1.164,4,0.000,0.062,2990,873,2213,0,0,0,0,0,0
$GC,6829,0.64,249.2,463.8,7.7,688,6880,0.22,2.28,44.35,1.146,6,0.081,0.047,3080,2283,2013,0,0,0,0,0,0
$GC,7199,0.55,249.2,403.6,16.6,722,7203,0.15,2.28,0.00,0.000,4,0.180,0.062,3041,3697,2003,0,0,0,0,0,0
$GC,7264,0.55,249.2,393.4,14.0,727,7272,0.00,2.30,0.00,0.000,6,0.000,0.047,3048,2279,2000,0,0,0,0,0,0
$GC,7590,0.55,249.2,349.7,13.1,758,7594,0.00,2.28,0.00,0.000,4,0.000,0.061,3059,862,1999,0,0,0,0,0,0
$GC,7663,0.55,249.2,340.3,12.5,764,7667,0.00,2.25,0.00,0.000,6,0.000,0.049,3059,2286,1997,0,0,0,0,0,0
$GC,7993,0.52,249.2,294.2,14.9,795,7997,0.00,2.22,0.00,0.000,4,0.000,0.062,3059,3692,1997,0,0,0,0,0,0
$GC,8082,0.48,249.2,279.7,16.3,802,8090,0.17,2.25,0.00,0.000,6,0.184,0.049,3024,2269,1996,0,0,0,0,0,0
$GC,8409,0.52,249.2,241.1,11.0,833,8413,0.00,2.25,0.00,0.000,4,0.000,0.062,3029,859,1996,0,0,0,0,0,0
$GC,8487,0.60,260.1,232.9,9.5,839,8505,0.00,2.22,7.65,0.911,6,0.000,0.048,3029,2276,1969,0,0,0,0,0,0
$GC,8823,0.63,260.1,195.7,11.1,871,8827,0.10,2.25,0.00,0.000,4,0.120,0.063,3074,3688,1967,0,0,0,0,0,0
$GC,8902,0.57,260.1,183.8,16.2,878,8907,0.12,2.22,0.00,0.000,6,0.194,0.049,3054,2270,1966,0,0,0,0,0,0
$GC,9232,0.57,260.1,140.8,12.7,909,9236,0.00,2.20,0.00,0.000,4,0.000,0.060,3063,865,1966,0,0,0,0,0,0
$GC,9265,0.57,260.1,136.3,12.5,911,9272,0.00,2.22,0.00,0.000,6,0.000,0.047,3063,2277,1964,0,0,0,0,0,0
$GC,9592,0.57,260.1,94.0,11.3,946,9599,0.00,2.20,0.00,0.000,4,0.000,0.060,3063,3682,1964,0,0,0,0,0,0
$GC,9668,0.54,260.1,84.9,12.4,959,9676,0.12,2.20,0.00,0.000,6,0.188,0.047,3042,2261,1964,0,0,0,0,0,0
$GC,10015,0.64,289.0,53.8,8.7,1020,10051,0.00,2.28,26.83,0.927,4,0.000,0.061,3042,868,1850,0,0,0,0,0,0
$GC,10105,0.79,316.9,45.6,8.7,1035,10137,0.22,2.22,25.02,0.903,6,0.088,0.046,3128,2279,1737,0,0,0,0,0,0
$FREEZE,8.83,-1.652,-1.833,3,93,0
$STATE,10333,end climb,FINISH_DEPTH_REACHED
$STATE,10334,begin subsurface finish
$FINISH1,8.8,1.026816,33
$GC,10339,0.04,33.5,8.8,-16.7,1075,10388,0.82,0.00,-44.92,0.000,6,0.171,0.000,2884,2279,2894,0,0,0,0,0,0
$FINISH2,5.5
$STATE,10389,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10389,begin surface
$RAFOS_CLK,550
$RAFOS,6,1301114942,4.833333,4.817222,142,74,62,59,57,57,677,161,209,219,194,185
$RAFOS,5,1301114471,4.700000,4.686389,139,65,56,55,54,53,642,211,196,118,152,140
$RAFOS,4,1301113982,4.566667,4.550556,54,52,52,52,51,49,115,170,194,214,224,152
$RAFOS,3,1301113511,4.433333,4.419722,61,58,55,54,50,50,165,131,118,207,145,216
$RAFOS,2,1301113025,4.300000,4.284722,63,59,56,56,54,54,196,115,180,150,133,209
$RAFOS,1,1301112543,4.166667,4.150833,70,60,57,56,53,48,199,216,165,121,142,133
$RAFOS,0,1301112069,4.033333,4.019166,74,61,52,52,52,50,206,180,134,193,145,125
$RAFOS_FIX,6719.733398,-5759.884766,260311,040456,2,140,0.10
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.1
$ALTIM_BOTTOM_PING,551.0,32.2
$24V_AH,22.8,31.752
$10V_AH,10.2,17.494
$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,4.925,92.625,394.800,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2588.784,5505.934,451.478,1745.469,161.021,0.000,1391.678,0.000,1733.989,2520.000,15.963,0.000
$DEVICE_MAMPS,218.790,70.380,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.154,825.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43309,1083
$CAP_FILE_SIZE,116895,0
$CFSIZE,260165632,237043712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$GPS,260311,044656,6719.733,-5759.885,0,2140.5,0,-38.2