version: 66.08
glider: 141
mission: 15
dive: 269
start: 3 31 111 0 41 21
data:
$ID,141
$MISSION,15
$DIVE,269
$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,-34044.652
$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,28
$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,-5648.344,181,99.0,181,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-48.1
$GPS2,300311,204800,6702.295,-5648.344,181,99.0,181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,218,0.00,0.00,-196.55,0.000,6,0.000,0.000,109,2496,3626,0,0,0,0,0,0
$GC,221,-0.62,-146.0,2.8,-0.5,35,240,11.98,2.25,0.00,0.000,4,0.306,0.063,2658,3889,3628,0,0,0,0,0,0
$GC,286,-0.44,-146.0,8.0,-13.4,46,294,0.22,2.17,0.00,0.000,6,0.213,0.041,2713,2473,3628,0,0,0,0,0,0
$GC,632,-0.47,-146.0,47.3,-10.2,107,639,0.00,2.30,0.00,0.000,4,0.000,0.066,2713,3888,3628,0,0,0,0,0,0
$GC,691,-0.53,-146.0,53.6,-10.5,117,698,0.00,2.17,0.00,0.000,6,0.000,0.041,2713,2482,3628,0,0,0,0,0,0
$GC,1036,-0.56,-146.0,89.0,-9.9,178,1043,0.00,2.17,0.00,0.000,4,0.000,0.060,2713,1091,3628,0,0,0,0,0,0
$GC,1073,-0.59,-146.0,92.8,-10.3,184,1080,0.12,2.20,0.00,0.000,6,0.127,0.054,2670,2482,3628,0,0,0,0,0,0
$GC,1408,-0.54,-146.0,137.0,-13.0,220,1412,0.00,2.30,0.00,0.000,4,0.000,0.071,2670,3899,3626,0,0,0,0,0,0
$GC,1539,-0.54,-146.0,152.6,-11.7,231,1542,0.00,2.15,0.00,0.000,6,0.000,0.043,2670,2491,3626,0,0,0,0,0,0
$GC,1869,-0.51,-146.0,190.6,-11.3,262,1873,0.00,2.20,0.00,0.000,4,0.000,0.058,2670,1078,3626,0,0,0,0,0,0
$GC,1943,-0.51,-146.0,199.1,-11.5,268,1950,0.00,2.25,0.00,0.000,6,0.000,0.054,2670,2497,3626,0,0,0,0,0,0
$GC,2268,-0.51,-146.0,235.0,-10.7,299,2272,0.00,2.25,0.00,0.000,4,0.000,0.069,2670,3905,3626,0,0,0,0,0,0
$GC,2342,-0.51,-146.0,242.7,-9.9,305,2346,0.00,2.15,0.00,0.000,6,0.000,0.040,2670,2487,3626,0,0,0,0,0,0
$GC,2673,-0.51,-146.0,277.3,-10.9,336,2677,0.00,2.20,0.00,0.000,4,0.000,0.055,2670,1078,3627,0,0,0,0,0,0
$GC,2708,-0.51,-146.0,281.2,-11.0,339,2712,0.00,2.22,0.00,0.000,6,0.000,0.051,2670,2490,3628,0,0,0,0,0,0
$GC,3033,-0.51,-146.0,315.6,-10.1,369,3037,0.00,2.30,0.00,0.000,4,0.000,0.067,2670,3906,3628,0,0,0,0,0,0
$GC,3077,-0.51,-146.0,320.2,-10.0,372,3084,0.00,2.20,0.00,0.000,6,0.000,0.037,2670,2482,3628,0,0,0,0,0,0
$GC,3403,-0.51,-146.0,352.1,-9.9,403,3406,0.00,2.15,0.00,0.000,4,0.000,0.053,2670,1081,3629,0,0,0,0,0,0
$GC,3471,-0.51,-146.0,358.7,-9.8,409,3475,0.00,2.20,0.00,0.000,6,0.000,0.050,2669,2497,3629,0,0,0,0,0,0
$GC,3801,-0.51,-146.0,390.6,-9.6,440,3805,0.00,2.22,0.00,0.000,4,0.000,0.066,2669,3903,3631,0,0,0,0,0,0
$GC,3853,-0.54,-146.0,395.5,-9.9,444,3857,0.00,2.12,0.00,0.000,6,0.000,0.037,2670,2487,3631,0,0,0,0,0,0
$GC,4184,-0.54,-146.0,426.8,-9.5,475,4188,0.00,2.15,0.00,0.000,4,0.000,0.051,2670,1084,3632,0,0,0,0,0,0
$GC,4241,-0.54,-146.0,432.3,-9.6,480,4245,0.00,2.20,0.00,0.000,6,0.000,0.048,2670,2492,3632,0,0,0,0,0,0
$GC,4571,-0.54,-146.0,463.2,-9.3,511,4575,0.00,2.22,0.00,0.000,4,0.000,0.063,2670,3900,3633,0,0,0,0,0,0
$GC,4635,-0.56,-146.0,469.0,-9.3,516,4639,0.00,2.12,0.00,0.000,6,0.000,0.036,2670,2489,3632,0,0,0,0,0,0
$GC,4965,-0.56,-146.0,499.4,-9.3,547,4969,0.00,2.15,0.00,0.000,4,0.000,0.050,2670,1091,3634,0,0,0,0,0,0
$GC,5027,-0.56,-146.0,505.1,-9.1,552,5033,0.00,2.20,0.00,0.000,6,0.000,0.048,2670,2500,3634,0,0,0,0,0,0
$GC,5353,-0.56,-146.0,533.3,-8.6,583,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2500,3635,0,0,0,0,0,0
$STATE,5519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5520,begin apogee
$GC,5525,-0.12,0.0,547.9,8.8,599,5651,0.50,0.00,120.65,1.220,6,0.179,0.000,2816,2253,3030,0,0,0,0,0,0
$STATE,5652,end apogee,CONTROL_FINISHED_OK
$STATE,5652,begin climb
$GC,5654,0.62,146.0,551.4,0.0,610,5788,0.77,2.40,123.22,1.178,4,0.132,0.055,3067,893,2432,0,0,0,0,0,0
$GC,5812,0.54,146.0,539.6,11.8,624,5816,0.00,2.38,0.00,0.000,6,0.000,0.043,3067,2281,2429,0,0,0,0,0,0
$GC,6137,0.46,146.0,500.7,12.3,654,6142,0.20,2.30,0.00,0.000,4,0.177,0.057,3013,3690,2426,0,0,0,0,0,0
$GC,6158,0.41,146.0,497.9,11.9,655,6165,0.00,2.25,0.00,0.000,6,0.000,0.041,3020,2286,2426,0,0,0,0,0,0
$GC,6485,0.42,151.6,466.2,9.7,686,6497,0.00,2.30,4.35,0.731,4,0.000,0.058,3020,3694,2412,0,0,0,0,0,0
$GC,6503,0.42,154.5,464.1,9.9,687,6513,0.00,2.22,4.53,0.754,6,0.000,0.041,3031,2274,2399,0,0,0,0,0,0
$GC,6839,0.42,154.5,427.4,11.2,719,6843,0.00,2.28,0.00,0.000,4,0.000,0.058,3030,3685,2398,0,0,0,0,0,0
$GC,6879,0.36,154.5,422.4,13.6,722,6884,0.20,2.22,0.00,0.000,6,0.180,0.043,2989,2267,2397,0,0,0,0,0,0
$GC,7205,0.46,185.6,392.9,8.6,752,7235,0.00,0.00,27.60,1.097,6,0.000,0.000,2989,2266,2272,0,0,0,0,0,0
$GC,7554,0.58,214.7,362.3,8.7,785,7587,0.17,0.00,26.20,1.073,6,0.083,0.000,3065,2267,2153,0,0,0,0,0,0
$GC,7905,0.53,214.7,312.0,14.4,818,7909,0.00,2.28,0.00,0.000,4,0.000,0.058,3064,3689,2149,0,0,0,0,0,0
$GC,7928,0.46,214.7,308.6,14.7,820,7933,0.22,2.20,0.00,0.000,6,0.171,0.042,3014,2275,2149,0,0,0,0,0,0
$GC,8253,0.56,242.0,278.2,8.7,850,8287,0.00,2.33,23.90,1.013,4,0.000,0.057,3015,865,2042,0,0,0,0,0,0
$GC,8316,0.70,261.5,272.7,9.1,855,8344,0.20,2.22,18.20,0.982,6,0.087,0.043,3098,2284,1964,0,0,0,0,0,0
$GC,8662,0.64,261.5,219.5,16.4,888,8666,0.00,2.22,0.00,0.000,4,0.000,0.057,3098,3691,1959,0,0,0,0,0,0
$GC,8696,0.56,261.5,213.5,18.8,891,8701,0.22,2.22,0.00,0.000,6,0.177,0.042,3048,2272,1957,0,0,0,0,0,0
$GC,9027,0.59,261.5,170.6,11.8,922,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2272,1956,0,0,0,0,0,0
$GC,9347,0.62,261.5,132.6,11.9,952,9350,0.00,2.17,0.00,0.000,4,0.000,0.055,3055,868,1956,0,0,0,0,0,0
$GC,9385,0.69,261.5,127.8,11.5,955,9392,0.00,2.17,0.00,0.000,6,0.000,0.041,3055,2279,1954,0,0,0,0,0,0
$GC,9714,0.74,261.5,91.3,10.2,993,9722,0.12,2.20,0.00,0.000,4,0.105,0.057,3113,3681,1954,0,0,0,0,0,0
$GC,9741,0.74,261.5,87.9,12.9,997,9748,0.00,2.15,0.00,0.000,6,0.000,0.039,3124,2267,1954,0,0,0,0,0,0
$GC,10086,0.71,261.5,36.3,14.0,1058,10094,0.12,2.25,0.00,0.000,4,0.192,0.055,3092,3685,1954,0,0,0,0,0,0
$GC,10145,0.71,261.5,28.5,13.5,1068,10152,0.00,2.17,0.00,0.000,6,0.000,0.041,3100,2278,1954,0,0,0,0,0,0
$FREEZE,8.32,-1.556,-1.834,3,18,0
$FREEZE,7.57,-1.556,-1.833,3,18,0
$FREEZE,6.95,-1.556,-1.832,3,18,0
$FREEZE,6.01,-1.555,-1.832,3,18,0
$FREEZE,5.25,-1.555,-1.831,3,18,0
$FREEZE,4.44,-1.554,-1.831,3,18,0
$FREEZE,3.73,-1.555,-1.830,3,18,0
$FREEZE,2.97,-1.555,-1.829,3,18,0
$STATE,10339,end climb,SURFACE_DEPTH_REACHED
$STATE,10339,begin surface coast
$FREEZE,2.43,-1.555,-1.829,3,18,0
$FREEZE,2.04,-1.540,-1.826,3,18,0
$FREEZE,2.10,-1.576,-1.827,3,18,0
$FINISH,2.1,1.026793
$STATE,10356,end surface coast,CONTROL_FINISHED_OK
$STATE,10356,begin surface
$SM_CCo,10451,129.98,0.064,0,0,751,559.04
$SM_GC,2.28,0.00,0.00,129.98,0.000,0.000,0.064,111,2497,751,-8.61,0.20,559.04
$RAFOS_CLK,582
$RAFOS,6,1301532541,0.833333,0.816944,60,60,59,56,55,53,229,850,194,170,152,143
$RAFOS,5,1301532109,0.700000,0.696944,103,60,59,56,54,52,412,130,169,154,208,189
$RAFOS,2,1301530626,0.300000,0.285000,60,56,54,51,51,50,215,197,173,110,185,131
$RAFOS_FIX,6702.295410,-5648.343750,300311,202000,2,121,0.28
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026964
$HUMID,44.52
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,22.8,37.063
$10V_AH,10.2,20.293
$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,23.525,102.875,348.650,129.975,0.000,98.939,17.368,0.000,1.500,0.000,183.293,2636.022,5525.633,668.756,2081.538,408.482,0.000,1650.854,0.000,1762.076,720.000,11.461,0.000
$DEVICE_MAMPS,306.000,71.145,1220.175,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.139,831.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150388
$DATA_FILE_SIZE,43357,1106
$CAP_FILE_SIZE,129858,0
$CFSIZE,260165632,234414080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,300311,204800,6702.295,-5648.344,181,99.0,181,-37.7