version: 66.08
glider: 141
mission: 15
dive: 271
start: 3 31 111 7 6 4
data:
$ID,141
$MISSION,15
$DIVE,271
$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,-34781.816
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,310311,044800,6702.293,-5659.114,0,2141.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-27.0
$GPS2,310311,044800,6702.293,-5659.114,181,99.0,181,-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,295.1,155095,-17.5,-10.000
$D_GRID,669
$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,17,-0.62,-146.0,0.0,0.0,0,180,0.00,0.00,-159.30,0.000,2,0.000,0.000,114,2506,3195,0,0,0,0,0,0
$GC,183,-0.62,-146.0,5.4,-12.7,28,214,12.93,2.25,-10.23,0.000,4,0.330,0.083,2652,3890,3629,0,0,0,0,0,0
$GC,311,-0.52,-146.0,31.7,-17.5,50,318,0.15,2.17,0.00,0.000,6,0.199,0.041,2690,2491,3631,0,0,0,0,0,0
$GC,656,-0.49,-146.0,77.0,-12.9,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2491,3631,0,0,0,0,0,0
$GC,998,-0.49,-146.0,115.9,-11.6,160,1002,0.00,2.22,0.00,0.000,4,0.000,0.060,2690,1088,3629,0,0,0,0,0,0
$GC,1109,-0.52,-146.0,129.3,-11.4,169,1116,0.00,2.20,0.00,0.000,6,0.000,0.054,2691,2476,3628,0,0,0,0,0,0
$GC,1436,-0.52,-146.0,163.5,-9.8,200,1440,0.00,2.28,0.00,0.000,4,0.000,0.070,2690,3895,3627,0,0,0,0,0,0
$GC,1515,-0.57,-146.0,171.6,-9.9,206,1522,0.00,2.17,0.00,0.000,6,0.000,0.041,2691,2487,3627,0,0,0,0,0,0
$GC,1840,-0.59,-146.0,204.1,-9.4,237,1844,0.00,2.17,0.00,0.000,4,0.000,0.057,2690,1088,3627,0,0,0,0,0,0
$GC,1909,-0.64,-146.0,210.7,-9.5,243,1913,0.00,2.22,0.00,0.000,6,0.000,0.052,2690,2498,3628,0,0,0,0,0,0
$GC,2235,-0.67,-146.0,241.0,-10.0,273,2239,0.12,2.28,0.00,0.000,4,0.124,0.067,2646,3904,3628,0,0,0,0,0,0
$GC,2263,-0.64,-146.0,244.5,-12.7,275,2267,0.00,2.17,0.00,0.000,6,0.000,0.039,2646,2482,3628,0,0,0,0,0,0
$GC,2596,-0.56,-146.0,287.0,-11.8,306,2597,0.12,0.00,0.00,0.000,6,0.220,0.000,2674,2481,3630,0,0,0,0,0,0
$GC,2912,-0.56,-146.0,318.8,-10.2,336,2916,0.00,2.30,0.00,0.000,4,0.000,0.063,2674,3907,3631,0,0,0,0,0,0
$GC,2944,-0.56,-146.0,322.4,-10.5,338,2951,0.00,2.17,0.00,0.000,6,0.000,0.036,2674,2475,3631,0,0,0,0,0,0
$GC,3271,-0.56,-146.0,356.7,-10.5,369,3275,0.00,2.12,0.00,0.000,4,0.000,0.052,2674,1090,3633,0,0,0,0,0,0
$GC,3317,-0.59,-146.0,361.6,-10.1,373,3321,0.00,2.20,0.00,0.000,6,0.000,0.049,2674,2496,3632,0,0,0,0,0,0
$GC,3647,-0.59,-146.0,392.7,-9.0,404,3651,0.00,2.22,0.00,0.000,4,0.000,0.065,2674,3901,3633,0,0,0,0,0,0
$GC,3710,-0.63,-146.0,398.2,-9.1,409,3714,0.00,2.15,0.00,0.000,6,0.000,0.037,2674,2480,3633,0,0,0,0,0,0
$GC,4042,-0.63,-146.0,428.3,-9.5,440,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2480,3635,0,0,0,0,0,0
$GC,4358,-0.63,-146.0,458.0,-9.4,470,4362,0.00,2.25,0.00,0.000,4,0.000,0.062,2674,3897,3636,0,0,0,0,0,0
$GC,4399,-0.65,-146.0,461.8,-9.7,473,4403,0.00,2.12,0.00,0.000,6,0.000,0.036,2674,2481,3636,0,0,0,0,0,0
$GC,4724,-0.65,-146.0,490.8,-8.9,503,4728,0.00,2.15,0.00,0.000,4,0.000,0.051,2674,1083,3636,0,0,0,0,0,0
$GC,4781,-0.68,-146.0,496.0,-9.4,508,4785,0.00,2.20,0.00,0.000,6,0.000,0.049,2674,2490,3637,0,0,0,0,0,0
$GC,5113,-0.68,-146.0,526.6,-9.6,539,5117,0.00,2.28,0.00,0.000,4,0.000,0.066,2674,3897,3637,0,0,0,0,0,0
$GC,5176,-0.72,-146.0,532.5,-9.1,544,5181,0.12,2.12,0.00,0.000,6,0.122,0.037,2631,2485,3637,0,0,0,0,0,0
$GC,5501,-0.61,-146.0,573.6,-13.0,574,5506,0.12,2.20,0.00,0.000,4,0.226,0.053,2659,1081,3637,0,0,0,0,0,0
$GC,5544,-0.61,-146.0,579.1,-10.9,577,5551,0.00,2.22,0.00,0.000,6,0.000,0.050,2659,2485,3637,0,0,0,0,0,0
$GC,5876,-0.59,-146.0,613.8,-10.5,601,5880,0.00,2.25,0.00,0.000,4,0.000,0.067,2659,3899,3637,0,0,0,0,0,0
$GC,5947,-0.59,-146.0,621.7,-10.9,603,5952,0.00,2.17,0.00,0.000,6,0.000,0.038,2659,2487,3636,0,0,0,0,0,0
$GC,6278,-0.59,-146.0,655.3,-10.2,614,6282,0.00,2.15,0.00,0.000,4,0.000,0.053,2659,1089,3637,0,0,0,0,0,0
$GC,6307,-0.57,-146.0,658.2,-10.6,615,6311,0.00,2.22,0.00,0.000,6,0.000,0.052,2659,2498,3637,0,0,0,0,0,0
$STATE,6425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6425,begin apogee
$GC,6431,-0.12,0.0,670.5,10.1,619,6561,0.55,0.00,122.70,1.330,6,0.186,0.000,2816,2259,3029,0,0,0,0,0,0
$STATE,6561,end apogee,CONTROL_FINISHED_OK
$STATE,6562,begin climb
$GC,6563,0.62,146.0,674.6,0.0,623,6700,0.77,2.47,126.00,1.282,4,0.135,0.062,3065,895,2433,0,0,0,0,0,0
$GC,6752,0.62,146.0,659.2,24491.3,629,6756,0.00,2.35,0.00,0.000,6,0.000,0.046,3065,2281,2429,0,0,0,0,0,0
$GC,7092,0.62,146.0,618.1,24491.3,640,7096,0.00,2.30,0.00,0.000,4,0.000,0.061,3065,3695,2425,0,0,0,0,0,0
$GC,7157,0.62,146.0,609.7,24491.3,642,7161,0.00,2.25,0.00,0.000,6,0.000,0.045,3076,2290,2425,0,0,0,0,0,0
$GC,7482,0.62,146.0,568.8,24491.3,667,7486,0.00,2.25,0.00,0.000,4,0.000,0.060,3076,3686,2424,0,0,0,0,0,0
$GC,7503,0.62,146.0,565.5,24491.3,668,7510,0.00,2.25,0.00,0.000,6,0.000,0.047,3086,2271,2424,0,0,0,0,0,0
$GC,7830,0.62,146.0,522.5,24491.3,699,7834,0.00,2.28,0.00,0.000,4,0.000,0.060,3086,3691,2423,0,0,0,0,0,0
$GC,7870,0.62,146.0,516.2,24491.3,702,7874,0.12,2.25,0.00,0.000,6,0.210,0.046,3068,2265,2423,0,0,0,0,0,0
$GC,8195,0.62,146.0,474.6,24491.3,732,8199,0.00,2.28,0.00,0.000,4,0.000,0.060,3068,3689,2422,0,0,0,0,0,0
$GC,8238,0.62,146.0,468.2,24491.3,735,8245,0.00,2.22,0.00,0.000,6,0.000,0.047,3076,2273,2422,0,0,0,0,0,0
$GC,8565,0.62,146.0,424.2,24491.3,766,8569,0.00,2.25,0.00,0.000,4,0.000,0.060,3076,3684,2422,0,0,0,0,0,0
$GC,8617,0.62,146.0,416.3,24491.3,770,8621,0.00,2.22,0.00,0.000,6,0.000,0.047,3086,2268,2422,0,0,0,0,0,0
$GC,8943,0.62,146.0,370.5,24491.3,800,8947,0.00,2.28,0.00,0.000,4,0.000,0.060,3086,3691,2421,0,0,0,0,0,0
$GC,8977,0.62,146.0,365.2,24491.3,803,8982,0.12,2.20,0.00,0.000,6,0.207,0.046,3067,2274,2421,0,0,0,0,0,0
$GC,9308,0.62,146.0,321.1,24491.3,834,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2273,2421,0,0,0,0,0,0
$GC,9627,0.62,146.0,280.9,24491.3,864,9631,0.00,2.25,0.00,0.000,4,0.000,0.060,3067,3696,2420,0,0,0,0,0,0
$GC,9656,0.62,146.0,276.9,24491.3,866,9660,0.00,2.22,0.00,0.000,6,0.000,0.044,3076,2268,2421,0,0,0,0,0,0
$GC,9981,0.62,146.0,235.6,24491.3,896,9985,0.00,2.25,0.00,0.000,4,0.000,0.057,3076,3694,2420,0,0,0,0,0,0
$GC,10039,0.62,146.0,227.1,24491.3,901,10043,0.00,2.20,0.00,0.000,6,0.000,0.044,3086,2265,2421,0,0,0,0,0,0
$GC,10364,0.62,146.0,183.7,24491.3,931,10368,0.00,2.25,0.00,0.000,4,0.000,0.057,3086,3687,2421,0,0,0,0,0,0
$GC,10403,0.62,146.0,178.0,24491.3,934,10411,0.12,2.20,0.00,0.000,6,0.206,0.044,3067,2268,2422,0,0,0,0,0,0
$GC,10728,0.62,146.0,139.3,24491.3,965,10732,0.00,2.22,0.00,0.000,4,0.000,0.057,3065,3687,2422,0,0,0,0,0,0
$GC,10791,0.62,146.0,131.5,24491.3,970,10795,0.00,2.20,0.00,0.000,6,0.000,0.042,3075,2264,2422,0,0,0,0,0,0
$GC,11119,0.62,146.0,93.1,24491.3,1005,11126,0.00,2.17,0.00,0.000,4,0.000,0.055,3085,865,2422,0,0,0,0,0,0
$GC,11253,0.62,146.0,77.9,24491.3,1028,11260,0.00,2.20,0.00,0.000,6,0.000,0.045,3085,2281,2423,0,0,0,0,0,0
$GC,11600,0.62,146.0,42.8,24491.3,1089,11607,0.00,2.12,0.00,0.000,4,0.000,0.059,3085,3639,2424,0,0,0,0,0,0
$GC,11715,0.62,146.0,30.3,24491.3,1109,11723,0.12,2.12,0.00,0.000,6,0.202,0.042,3066,2259,2424,0,0,0,0,0,0
$STATE,11744,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11745,begin subsurface finish
$FINISH1,27.2,1.026764,36
$GC,11751,0.04,36.0,27.2,-24491.3,1114,11764,0.57,0.00,-6.40,0.000,6,0.162,0.000,2887,2259,2889,0,0,0,0,0,0
$FINISH2,25.9
$STATE,11765,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$RAFOS_CLK,645
$RAFOS,6,1301561347,8.833333,8.818611,107,69,69,61,60,56,793,213,119,137,146,179
$RAFOS,5,1301560862,8.700000,8.683888,152,60,55,52,52,51,639,158,206,218,193,174
$RAFOS,4,1301560386,8.566667,8.551666,89,64,60,55,54,49,827,195,158,219,205,124
$RAFOS,3,1301559902,8.433333,8.417222,60,60,59,58,56,53,156,174,114,215,192,136
$RAFOS,2,1301559424,8.300000,8.284445,57,53,53,53,50,48,206,194,120,221,183,140
$RAFOS,1,1301558947,8.166667,8.151944,65,63,61,57,56,55,161,205,189,223,174,133
$RAFOS,0,1301558467,8.033334,8.018611,65,61,57,55,54,50,221,193,167,210,134,176
$RAFOS_FIX,6654.914551,-5709.232422,310311,080822,3,116,1.10
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.8,23.4
$ALTIM_BOTTOM_PING,28.3,20.1
$24V_AH,22.6,37.275
$10V_AH,10.2,20.456
$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,15.975,120.300,248.700,0.000,0.000,98.832,17.415,0.000,2.250,0.000,183.293,2763.428,6683.248,431.909,2210.601,424.863,0.000,1462.410,0.000,1882.206,2520.000,17.907,0.000
$DEVICE_MAMPS,330.480,82.620,1329.570,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.842,847.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43329,1116
$CAP_FILE_SIZE,139880,0
$CFSIZE,260165632,234262528
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,310311,084322,6654.915,-5709.232,0,3116.0,0,-37.7