version: 66.08
glider: 141
mission: 15
dive: 268
start: 3 30 111 21 25 14
data:
$ID,141
$MISSION,15
$DIVE,268
$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,1
$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,-33675.066
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.64
$_SM_ANGLEo,2.3
$GPS2,300311,204800,6702.295,-5648.344,0,2121.0,0,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,295.7,162794,-17.5,-10.000
$D_GRID,547
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.38,0.000,2,0.000,0.000,2886,3683,3161,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.2,-0.0,1,46,0.62,4.07,-11.20,0.000,4,0.110,0.048,2671,1084,3628,0,0,0,0,0,0
$GC,255,-0.58,-146.0,41.3,-13.9,41,262,0.00,2.22,0.00,0.000,6,0.000,0.050,2670,2491,3629,0,0,0,0,0,0
$GC,600,-0.51,-146.0,91.1,-13.5,102,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2491,3628,0,0,0,0,0,0
$GC,930,-0.47,-146.0,132.5,-12.3,139,935,0.15,2.28,0.00,0.000,4,0.220,0.067,2705,3899,3626,0,0,0,0,0,0
$GC,993,-0.55,-146.0,138.8,-9.8,144,997,0.00,2.15,0.00,0.000,6,0.000,0.039,2705,2484,3625,0,0,0,0,0,0
$GC,1319,-0.61,-146.0,167.9,-8.2,174,1320,0.12,0.00,0.00,0.000,6,0.122,0.000,2662,2483,3623,0,0,0,0,0,0
$GC,1637,-0.56,-146.0,203.1,-10.8,204,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2483,3623,0,0,0,0,0,0
$GC,1957,-0.52,-146.0,237.8,-10.5,234,1962,0.12,2.28,0.00,0.000,4,0.207,0.063,2690,3899,3622,0,0,0,0,0,0
$GC,1979,-0.52,-146.0,240.3,-10.4,236,1983,0.00,2.15,0.00,0.000,6,0.000,0.036,2690,2482,3622,0,0,0,0,0,0
$GC,2307,-0.56,-146.0,266.3,-7.5,266,2311,0.00,2.12,0.00,0.000,4,0.000,0.052,2691,1094,3623,0,0,0,0,0,0
$GC,2340,-0.61,-146.0,269.2,-7.9,268,2347,0.00,2.17,0.00,0.000,6,0.000,0.048,2691,2504,3622,0,0,0,0,0,0
$GC,2666,-0.65,-146.0,293.8,-7.7,299,2668,0.12,0.00,0.00,0.000,6,0.120,0.000,2646,2504,3623,0,0,0,0,0,0
$GC,2984,-0.59,-146.0,328.4,-11.1,329,2988,0.00,2.20,0.00,0.000,4,0.000,0.064,2646,3904,3623,0,0,0,0,0,0
$GC,3040,-0.55,-146.0,334.5,-10.8,333,3047,0.15,2.12,0.00,0.000,6,0.198,0.035,2682,2489,3624,0,0,0,0,0,0
$GC,3365,-0.59,-146.0,362.2,-8.8,364,3369,0.00,2.12,0.00,0.000,4,0.000,0.050,2682,1091,3624,0,0,0,0,0,0
$GC,3398,-0.61,-146.0,365.3,-9.3,366,3405,0.00,2.17,0.00,0.000,6,0.000,0.047,2682,2494,3624,0,0,0,0,0,0
$GC,3725,-0.65,-146.0,392.1,-8.5,397,3729,0.00,2.20,0.00,0.000,4,0.000,0.063,2682,3897,3624,0,0,0,0,0,0
$GC,3823,-0.70,-146.0,400.4,-9.2,405,3827,0.15,2.10,0.00,0.000,6,0.114,0.035,2629,2487,3624,0,0,0,0,0,0
$GC,4148,-0.61,-146.0,440.1,-12.1,435,4152,0.12,2.28,0.00,0.000,4,0.222,0.060,2658,3905,3625,0,0,0,0,0,0
$GC,4193,-0.61,-146.0,445.1,-10.7,439,4197,0.00,2.12,0.00,0.000,6,0.000,0.034,2658,2489,3625,0,0,0,0,0,0
$GC,4518,-0.61,-146.0,477.6,-10.2,469,4522,0.00,2.15,0.00,0.000,4,0.000,0.048,2658,1083,3626,0,0,0,0,0,0
$GC,4584,-0.61,-146.0,484.6,-10.4,474,4591,0.00,2.17,0.00,0.000,6,0.000,0.047,2658,2494,3626,0,0,0,0,0,0
$GC,4911,-0.61,-146.0,515.9,-9.7,505,4915,0.00,2.20,0.00,0.000,4,0.000,0.063,2658,3897,3626,0,0,0,0,0,0
$GC,5008,-0.61,-146.0,525.7,-9.8,513,5012,0.00,2.12,0.00,0.000,6,0.000,0.034,2658,2483,3626,0,0,0,0,0,0
$STATE,5235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5235,begin apogee
$GC,5242,-0.12,0.0,547.1,9.0,534,5366,0.52,0.00,118.43,1.212,6,0.187,0.000,2811,2246,3030,0,0,0,0,0,0
$STATE,5367,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5369,0.62,146.0,550.0,0.0,545,5500,0.80,2.53,122.28,1.167,4,0.137,0.054,3056,3689,2433,0,0,0,0,0,0
$GC,5513,0.51,146.0,538.2,12.4,558,5518,0.15,2.33,0.00,0.000,6,0.184,0.038,3033,2298,2431,0,0,0,0,0,0
$GC,5838,0.48,146.0,502.4,10.5,588,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2297,2426,0,0,0,0,0,0
$GC,6158,0.45,146.0,470.2,10.1,618,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2297,2425,0,0,0,0,0,0
$GC,6478,0.41,146.0,437.0,11.0,648,6483,0.12,2.20,0.00,0.000,4,0.203,0.056,3001,3686,2424,0,0,0,0,0,0
$GC,6499,0.39,146.0,434.1,10.9,649,6507,0.00,2.20,0.00,0.000,6,0.000,0.039,3009,2264,2424,0,0,0,0,0,0
$GC,6826,0.40,157.2,403.7,9.5,680,6841,0.00,2.30,9.05,0.969,4,0.000,0.055,3009,3680,2389,0,0,0,0,0,0
$GC,6875,0.40,157.2,398.3,10.8,684,6882,0.00,2.20,0.00,0.000,6,0.000,0.038,3019,2276,2389,0,0,0,0,0,0
$GC,7202,0.40,157.2,365.7,10.0,715,7206,0.00,2.25,0.00,0.000,4,0.000,0.055,3019,3692,2388,0,0,0,0,0,0
$GC,7246,0.37,157.2,360.4,12.0,718,7254,0.17,2.20,0.00,0.000,6,0.177,0.039,2985,2267,2388,0,0,0,0,0,0
$GC,7573,0.52,213.5,334.9,7.4,749,7625,0.15,0.00,49.25,1.064,6,0.090,0.000,3050,2266,2159,0,0,0,0,0,0
$GC,7939,0.52,213.5,290.2,12.8,784,7943,0.00,2.25,0.00,0.000,4,0.000,0.054,3049,3684,2152,0,0,0,0,0,0
$GC,7978,0.48,213.5,284.9,13.5,787,7986,0.15,2.20,0.00,0.000,6,0.180,0.040,3021,2276,2151,0,0,0,0,0,0
$GC,8303,0.53,213.5,250.5,10.7,818,8307,0.00,2.20,0.00,0.000,4,0.000,0.053,3028,870,2150,0,0,0,0,0,0
$GC,8333,0.59,213.5,247.5,10.8,820,8337,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,2287,2149,0,0,0,0,0,0
$GC,8658,0.62,213.5,211.7,10.6,850,8663,0.10,2.17,0.00,0.000,4,0.116,0.056,3076,3684,2149,0,0,0,0,0,0
$GC,8710,0.55,213.5,204.3,16.4,854,8714,0.17,2.15,0.00,0.000,6,0.181,0.040,3040,2275,2149,0,0,0,0,0,0
$GC,9039,0.55,213.5,165.7,11.0,885,9043,0.00,2.20,0.00,0.000,4,0.000,0.054,3043,864,2149,0,0,0,0,0,0
$GC,9050,0.55,213.5,164.3,11.2,885,9057,0.00,2.17,0.00,0.000,6,0.000,0.038,3043,2284,2148,0,0,0,0,0,0
$GC,9375,0.58,213.5,128.7,10.6,916,9379,0.00,2.17,0.00,0.000,4,0.000,0.055,3043,3691,2148,0,0,0,0,0,0
$GC,9437,0.58,213.5,121.3,12.4,921,9441,0.00,2.15,0.00,0.000,6,0.000,0.038,3053,2270,2147,0,0,0,0,0,0
$GC,9771,0.61,213.5,85.5,10.8,964,9778,0.00,2.20,0.00,0.000,4,0.000,0.054,3052,3682,2148,0,0,0,0,0,0
$GC,9857,0.61,213.5,75.4,11.6,979,9864,0.00,2.15,0.00,0.000,6,0.000,0.038,3062,2274,2148,0,0,0,0,0,0
$GC,10204,0.66,226.5,42.0,9.4,1040,10217,0.00,0.00,10.32,0.838,6,0.000,0.000,3061,2274,2106,0,0,0,0,0,0
$FREEZE,8.88,-1.590,-1.835,3,17,0
$FREEZE,8.48,-1.590,-1.835,3,17,0
$FREEZE,7.80,-1.590,-1.834,3,17,0
$FREEZE,6.90,-1.591,-1.834,3,17,0
$GC,10556,0.71,250.5,8.5,8.9,1102,10578,0.00,2.30,11.73,0.823,4,0.000,0.053,3062,3692,2007,0,0,0,0,0,0
$FREEZE,5.25,-1.594,-1.833,3,17,0
$FREEZE,4.48,-1.593,-1.832,3,17,0
$FREEZE,3.97,-1.597,-1.832,3,17,0
$FREEZE,3.47,-1.605,-1.831,3,17,0
$FREEZE,2.91,-1.602,-1.831,3,17,0
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10605,begin surface coast
$FREEZE,2.34,-1.614,-1.830,3,17,0
$FREEZE,1.78,-1.600,-1.829,3,17,0
$FREEZE,1.56,-1.618,-1.830,3,17,0
$FREEZE,1.47,-1.600,-1.829,3,17,0
$FREEZE,1.38,-1.613,-1.830,3,17,0
$FINISH,1.4,1.026847
$STATE,10632,end surface coast,CONTROL_FINISHED_OK
$STATE,10632,begin surface
$SM_CCo,10652,134.07,0.063,0,0,750,559.04
$SM_GC,2.41,0.00,0.00,134.07,0.000,0.000,0.063,109,2495,750,-8.61,0.14,559.04
$RAFOS_CLK,550
$RAFOS,1,1301530141,0.166667,0.150278,68,53,50,49,49,49,205,131,184,172,94,140
$RAFOS,0,1301529666,0.033333,0.018333,63,63,57,54,52,51,176,214,200,159,123,227
$RAFOS_FIX,6702.295410,-5648.343750,300311,202000,2,121,0.28
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.027713
$HUMID,44.80
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,23.0,36.943
$10V_AH,10.3,20.212
$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,12.575,94.350,321.050,134.075,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2668.535,5746.925,503.155,1771.448,158.394,0.000,1429.088,0.000,1761.639,1080.000,11.462,0.000
$DEVICE_MAMPS,221.850,67.320,1211.760,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.474,843.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,43378,1115
$CAP_FILE_SIZE,121304,0
$CFSIZE,260165632,234487808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.3
$GPS,300311,204800,6702.295,-5648.344,181,99.0,181,-37.7