version: 66.08
glider: 141
mission: 15
dive: 309
start: 4 7 111 16 4 46
data:
$ID,141
$MISSION,15
$DIVE,309
$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,-2
$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,-35151.645
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,070411,123512,6658.946,-5954.694,0,4120.0,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.19
$_SM_ANGLEo,1.0
$GPS2,070411,123512,6658.946,-5954.694,0,4120.0,0,-37.5
$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,257.1,35927,-17.5,-10.000
$D_GRID,870
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,2892,3688,2981,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.9,-0.0,1,57,0.62,4.25,-19.38,0.000,4,0.101,0.067,2670,1073,3629,0,0,0,0,0,0
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$GC,1354,-0.45,-146.0,194.6,-13.0,165,1356,0.15,0.00,0.00,0.000,6,0.212,0.000,2717,2489,3628,0,0,0,0,0,0
$GC,1675,-0.50,-146.0,223.6,-8.8,195,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2489,3629,0,0,0,0,0,0
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$GC,3381,-0.55,-146.0,408.1,-10.5,354,3388,0.00,2.25,0.00,0.000,6,0.000,0.050,2682,2490,3627,0,0,0,0,0,0
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$GC,4346,-0.55,-146.0,502.4,-9.5,445,4350,0.00,2.35,0.00,0.000,4,0.000,0.076,2682,3906,3628,0,0,0,0,0,0
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$GC,5019,-0.55,-146.0,567.4,-9.7,507,5024,0.00,2.33,0.00,0.000,4,0.000,0.075,2682,3906,3628,0,0,0,0,0,0
$GC,5053,-0.58,-146.0,571.0,-9.8,509,5059,0.00,2.22,0.00,0.000,6,0.000,0.049,2682,2488,3628,0,0,0,0,0,0
$GC,5399,-0.60,-146.0,602.9,-9.2,540,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2488,3628,0,0,0,0,0,0
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$GC,7021,-0.57,-146.0,757.6,-9.6,593,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2489,3630,0,0,0,0,0,0
$GC,7329,-0.57,-146.0,786.6,-9.6,603,7333,0.00,2.35,0.00,0.000,4,0.000,0.074,2666,3910,3630,0,0,0,0,0,0
$GC,7373,-0.60,-146.0,791.2,-9.5,604,7377,0.00,2.20,0.00,0.000,6,0.000,0.047,2666,2489,3630,0,0,0,0,0,0
$GC,7692,-0.70,-146.0,817.9,-7.4,615,7696,0.00,2.35,0.00,0.000,4,0.000,0.076,2666,3902,3630,0,0,0,0,0,0
$STATE,7831,end dive,NO_VERTICAL_VELOCITY
$STATE,7831,begin apogee
$GC,7839,-0.12,0.0,817.8,0.0,619,7971,0.45,0.00,125.65,1.436,6,0.112,0.000,2822,2275,3030,0,0,0,0,0,0
$STATE,7972,end apogee,CONTROL_FINISHED_OK
$STATE,7972,begin climb
$GC,7975,0.62,146.0,817.8,0.0,623,8115,0.77,2.67,131.73,1.398,4,0.138,0.070,3053,3681,2433,0,0,0,0,0,0
$GC,8183,0.48,146.0,804.5,14.4,630,8188,0.17,2.45,0.00,0.000,6,0.193,0.054,3025,2281,2428,0,0,0,0,0,0
$GC,8512,0.45,146.0,770.1,10.1,641,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2281,2425,0,0,0,0,0,0
$GC,8818,0.43,146.0,738.4,10.4,651,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2281,2424,0,0,0,0,0,0
$GC,9125,0.43,147.5,707.3,9.9,661,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2281,2424,0,0,0,0,0,0
$GC,9431,0.41,152.9,677.4,9.8,671,9439,0.00,0.00,5.68,1.006,6,0.000,0.000,3025,2281,2405,0,0,0,0,0,0
$GC,9737,0.42,155.8,646.9,9.9,681,9743,0.00,0.00,4.32,0.863,6,0.000,0.000,3025,2281,2394,0,0,0,0,0,0
$GC,10043,0.42,155.8,615.8,10.4,691,10047,0.00,2.30,0.00,0.000,4,0.000,0.072,3033,858,2393,0,0,0,0,0,0
$GC,10070,0.42,155.8,612.7,10.3,691,10078,0.10,2.33,0.00,0.000,6,0.167,0.058,3003,2281,2393,0,0,0,0,0,0
$GC,10392,0.47,168.7,584.2,9.4,712,10414,0.00,2.38,12.93,1.203,4,0.000,0.073,3003,3691,2342,0,0,0,0,0,0
$GC,10442,0.47,168.7,579.0,10.4,716,10449,0.00,2.30,0.00,0.000,6,0.000,0.054,3011,2278,2341,0,0,0,0,0,0
$GC,10770,0.51,181.6,548.4,9.4,747,10792,0.00,2.38,12.77,1.186,4,0.000,0.069,3022,862,2288,0,0,0,0,0,0
$GC,10828,0.57,187.4,542.7,9.7,752,10840,0.00,2.28,6.88,1.034,6,0.000,0.057,3022,2278,2265,0,0,0,0,0,0
$GC,11158,0.59,187.4,508.6,10.2,783,11162,0.00,2.30,0.00,0.000,4,0.000,0.070,3022,3698,2264,0,0,0,0,0,0
$GC,11203,0.59,187.4,503.3,11.8,787,11207,0.00,2.30,0.00,0.000,6,0.000,0.055,3032,2269,2263,0,0,0,0,0,0
$GC,11527,0.59,187.4,468.1,10.3,817,11532,0.00,2.25,0.00,0.000,4,0.000,0.069,3042,865,2263,0,0,0,0,0,0
$GC,11560,0.59,187.4,464.5,10.6,819,11567,0.00,2.30,0.00,0.000,6,0.000,0.057,3042,2281,2262,0,0,0,0,0,0
$GC,11887,0.59,187.4,429.9,10.1,850,11891,0.00,2.30,0.00,0.000,4,0.000,0.073,3042,3689,2262,0,0,0,0,0,0
$GC,11927,0.54,187.4,425.1,11.6,853,11931,0.00,2.28,0.00,0.000,6,0.000,0.056,3052,2270,2262,0,0,0,0,0,0
$GC,12252,0.51,187.4,389.0,10.5,883,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2270,2262,0,0,0,0,0,0
$GC,12573,0.48,187.4,354.4,10.7,913,12574,0.12,0.00,0.00,0.000,6,0.188,0.000,3021,2270,2262,0,0,0,0,0,0
$GC,12891,0.54,209.4,325.4,9.0,943,12917,0.00,2.33,20.15,1.097,4,0.000,0.070,3028,871,2176,0,0,0,0,0,0
$GC,12947,0.65,240.1,320.4,8.6,948,12982,0.12,2.30,29.30,1.099,6,0.111,0.057,3084,2287,2051,0,0,0,0,0,0
$GC,13299,0.58,240.1,270.9,14.3,981,13301,0.12,0.00,0.00,0.000,6,0.184,0.000,3053,2287,2044,0,0,0,0,0,0
$GC,13619,0.60,240.1,236.4,10.6,1011,13623,0.00,2.30,0.00,0.000,4,0.000,0.071,3053,3691,2042,0,0,0,0,0,0
$GC,13648,0.60,240.1,233.0,11.7,1013,13652,0.00,2.28,0.00,0.000,6,0.000,0.056,3061,2271,2042,0,0,0,0,0,0
$GC,13978,0.61,244.2,198.7,9.8,1044,13983,0.00,2.28,0.00,0.000,4,0.000,0.069,3072,856,2041,0,0,0,0,0,0
$GC,14056,0.63,246.9,190.5,9.9,1050,14067,0.00,2.28,5.80,0.845,6,0.000,0.058,3072,2279,2023,0,0,0,0,0,0
$GC,14388,0.64,248.0,156.7,9.9,1081,14392,0.00,2.30,0.00,0.000,4,0.000,0.073,3071,3684,2022,0,0,0,0,0,0
$GC,14420,0.64,248.0,152.9,11.3,1083,14427,0.00,2.30,0.00,0.000,6,0.000,0.057,3081,2275,2022,0,0,0,0,0,0
$GC,14746,0.64,248.0,118.5,10.5,1114,14750,0.00,2.30,0.00,0.000,4,0.000,0.071,3091,859,2022,0,0,0,0,0,0
$GC,14819,0.64,248.0,110.8,10.5,1120,14823,0.00,2.28,0.00,0.000,6,0.000,0.058,3091,2284,2020,0,0,0,0,0,0
$GC,15155,0.65,259.7,76.6,9.5,1170,15174,0.00,2.35,12.98,0.968,4,0.000,0.073,3091,3684,1970,0,0,0,0,0,0
$GC,15225,0.65,259.7,69.1,10.6,1182,15233,0.00,2.28,0.00,0.000,6,0.000,0.057,3102,2276,1969,0,0,0,0,0,0
$GC,15570,0.65,259.7,33.5,10.3,1243,15577,0.00,2.28,0.00,0.000,4,0.000,0.071,3111,865,1968,0,0,0,0,0,0
$GC,15613,0.67,259.8,29.4,10.0,1250,15621,0.12,2.28,0.00,0.000,6,0.195,0.059,3081,2276,1967,0,0,0,0,0,0
$FREEZE,8.57,-1.767,-1.791,2,35,1
$FREEZE,8.03,-1.767,-1.791,2,35,1
$FREEZE,7.56,-1.767,-1.790,2,35,1
$STATE,15861,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,15861,begin subsurface finish
$FINISH1,7.6,1.026219,63
$GC,15868,0.08,62.8,7.6,-9.9,1294,15909,0.60,2.33,-33.45,0.000,4,0.157,0.088,2893,3695,2776,0,0,0,0,0,0
$FINISH2,6.6
$STATE,15910,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15910,begin surface
$RAFOS_CLK,872
$RAFOS,2,1302207422,20.299999,20.283890,60,57,53,51,51,50,169,196,156,144,720,210
$RAFOS,1,1302206944,20.166666,20.151112,128,55,51,51,50,48,595,198,231,162,140,182
$RAFOS,0,1302206469,20.033333,20.019167,74,60,60,59,58,54,645,190,175,218,135,202
$RAFOS,6,1302194946,16.833334,16.818333,149,62,59,53,50,50,725,211,186,144,158,126
$RAFOS,5,1302194466,16.700001,16.684999,126,64,60,52,51,51,902,219,145,169,189,207
$RAFOS,4,1302193987,16.566668,16.551945,111,63,60,60,58,56,682,152,208,188,219,119
$RAFOS,3,1302193510,16.433332,16.419445,66,59,58,56,55,53,805,192,174,154,210,136
$RAFOS,2,1302193026,16.299999,16.285000,75,58,56,56,52,52,715,202,212,126,229,170
$RAFOS,1,1302192543,16.166666,16.150833,96,63,58,55,53,52,621,203,174,133,144,218
$RAFOS,0,1302192065,16.033333,16.018055,146,64,63,61,55,52,686,211,221,178,132,194
$RAFOS_FIX,6658.369629,-5959.670898,070411,161625,7,110,0.27
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,48.03
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.1
$24V_AH,22.2,42.867
$10V_AH,10.2,23.712
$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,4.375,119.925,368.175,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3207.095,9965.534,451.713,2154.963,217.413,0.000,1597.123,0.000,2135.482,3600.000,27.528,0.000
$DEVICE_MAMPS,229.500,87.975,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.623,1003.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,49983,1301
$CAP_FILE_SIZE,154554,0
$CFSIZE,260165632,231198720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,070411,162725,6658.370,-5959.671,0,7109.9,0,-37.5