version: 66.08
glider: 141
mission: 15
dive: 312
start: 4 8 111 3 39 37
data:
$ID,141
$MISSION,15
$DIVE,312
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,080411,003034,6655.604,-6004.218,0,3113.0,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.33
$_SM_ANGLEo,-0.9
$GPS2,080411,003034,6655.604,-6004.218,0,3113.0,0,-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,254.1,26754,-17.5,-10.000
$D_GRID,730
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.15,0.000,2,0.000,0.000,2898,3693,3007,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.6,-0.0,1,53,0.65,4.25,-17.77,0.000,4,0.106,0.066,2671,1076,3628,0,0,0,0,0,0
$GC,223,-0.53,-146.0,39.2,-17.3,35,230,0.00,2.30,0.00,0.000,6,0.000,0.064,2670,2486,3629,0,0,0,0,0,0
$GC,572,-0.41,-146.0,104.3,-18.6,95,577,0.22,2.33,0.00,0.000,4,0.230,0.077,2724,3899,3629,0,0,0,0,0,0
$GC,635,-0.48,-146.0,112.7,-11.6,100,639,0.00,2.22,0.00,0.000,6,0.000,0.048,2724,2480,3629,0,0,0,0,0,0
$GC,965,-0.52,-146.0,147.7,-10.6,131,969,0.00,2.35,0.00,0.000,4,0.000,0.078,2724,3899,3628,0,0,0,0,0,0
$GC,993,-0.57,-146.0,150.6,-10.4,133,998,0.15,2.25,0.00,0.000,6,0.119,0.050,2674,2480,3628,0,0,0,0,0,0
$GC,1319,-0.49,-146.0,195.3,-14.0,163,1324,0.12,2.38,0.00,0.000,4,0.221,0.079,2701,3900,3628,0,0,0,0,0,0
$GC,1370,-0.54,-146.0,201.4,-10.2,167,1374,0.00,2.25,0.00,0.000,6,0.000,0.050,2701,2481,3628,0,0,0,0,0,0
$GC,1697,-0.54,-146.0,234.4,-9.8,197,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2481,3628,0,0,0,0,0,0
$GC,2016,-0.57,-146.0,265.1,-9.9,227,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2481,3628,0,0,0,0,0,0
$GC,2333,-0.61,-146.0,294.6,-9.0,257,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2480,3628,0,0,0,0,0,0
$GC,2652,-0.65,-146.0,322.9,-9.0,287,2657,0.15,2.25,0.00,0.000,4,0.125,0.068,2652,1081,3627,0,0,0,0,0,0
$GC,2681,-0.61,-146.0,326.3,-12.4,289,2685,0.00,2.30,0.00,0.000,6,0.000,0.066,2651,2488,3627,0,0,0,0,0,0
$GC,3006,-0.53,-146.0,369.0,-13.0,319,3011,0.15,2.35,0.00,0.000,4,0.219,0.081,2687,3903,3626,0,0,0,0,0,0
$GC,3057,-0.58,-146.0,374.7,-10.1,323,3061,0.00,2.22,0.00,0.000,6,0.000,0.050,2687,2489,3626,0,0,0,0,0,0
$GC,3388,-0.58,-146.0,406.8,-9.6,354,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2489,3627,0,0,0,0,0,0
$GC,3707,-0.60,-146.0,437.6,-9.5,384,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2489,3627,0,0,0,0,0,0
$GC,4027,-0.62,-146.0,468.7,-10.1,414,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2488,3628,0,0,0,0,0,0
$GC,4344,-0.64,-146.0,498.9,-9.5,444,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2489,3628,0,0,0,0,0,0
$GC,4664,-0.67,-146.0,528.1,-9.2,474,4666,0.12,0.00,0.00,0.000,6,0.138,0.000,2645,2489,3628,0,0,0,0,0,0
$GC,4981,-0.59,-146.0,567.1,-12.5,504,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2489,3629,0,0,0,0,0,0
$GC,5320,-0.53,-146.0,608.0,-12.1,532,5322,0.17,0.00,0.00,0.000,6,0.207,0.000,2687,2489,3628,0,0,0,0,0,0
$GC,5625,-0.57,-146.0,634.7,-8.3,542,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2488,3629,0,0,0,0,0,0
$STATE,5898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5898,begin apogee
$GC,5903,-0.12,0.0,658.0,8.7,551,6033,0.43,0.00,123.07,1.343,6,0.188,0.000,2811,2250,3030,0,0,0,0,0,0
$STATE,6034,end apogee,CONTROL_FINISHED_OK
$STATE,6034,begin climb
$GC,6036,0.62,146.0,661.6,0.0,555,6175,0.80,2.42,129.00,1.296,4,0.145,0.067,3061,880,2432,0,0,0,0,0,0
$GC,6266,0.62,146.0,642.9,22302.4,562,6270,0.00,2.42,0.00,0.000,6,0.000,0.054,3061,2276,2426,0,0,0,0,0,0
$GC,6589,0.62,146.0,604.3,22302.4,573,6593,0.00,2.38,0.00,0.000,4,0.000,0.070,3061,3688,2425,0,0,0,0,0,0
$GC,6664,0.62,146.0,594.8,22302.4,576,6668,0.00,2.30,0.00,0.000,6,0.000,0.054,3071,2281,2425,0,0,0,0,0,0
$GC,6994,0.62,146.0,554.4,22302.4,607,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2281,2424,0,0,0,0,0,0
$GC,7315,0.62,146.0,515.8,22302.4,637,7319,0.00,2.30,0.00,0.000,4,0.000,0.070,3082,858,2424,0,0,0,0,0,0
$GC,7355,0.62,146.0,510.6,22302.4,640,7359,0.00,2.30,0.00,0.000,6,0.000,0.057,3081,2290,2423,0,0,0,0,0,0
$GC,7682,0.62,146.0,470.0,22302.4,670,7686,0.00,2.25,0.00,0.000,4,0.000,0.070,3081,3683,2423,0,0,0,0,0,0
$GC,7748,0.62,146.0,460.0,22302.4,675,7755,0.00,2.25,0.00,0.000,6,0.000,0.054,3091,2274,2423,0,0,0,0,0,0
$GC,8075,0.62,146.0,417.3,22302.4,706,8079,0.00,2.30,0.00,0.000,4,0.000,0.067,3091,3686,2423,0,0,0,0,0,0
$GC,8126,0.62,146.0,409.9,22302.4,710,8131,0.15,2.25,0.00,0.000,6,0.210,0.053,3066,2273,2422,0,0,0,0,0,0
$GC,8451,0.62,146.0,372.8,22302.4,740,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2273,2422,0,0,0,0,0,0
$GC,8773,0.62,146.0,337.6,22302.4,770,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2273,2422,0,0,0,0,0,0
$GC,9099,0.62,146.0,302.1,22302.4,801,9104,0.00,2.30,0.00,0.000,4,0.000,0.067,3065,3687,2423,0,0,0,0,0,0
$GC,9144,0.62,146.0,296.8,22302.4,804,9151,0.00,2.25,0.00,0.000,6,0.000,0.052,3075,2273,2422,0,0,0,0,0,0
$GC,9471,0.62,146.0,262.1,22302.4,835,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2273,2422,0,0,0,0,0,0
$GC,9789,0.62,146.0,227.6,22302.4,865,9794,0.00,2.30,0.00,0.000,4,0.000,0.066,3074,3689,2422,0,0,0,0,0,0
$GC,9822,0.62,146.0,223.6,22302.4,867,9829,0.00,2.25,0.00,0.000,6,0.000,0.052,3084,2274,2422,0,0,0,0,0,0
$GC,10148,0.62,146.0,190.2,22302.4,898,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2274,2422,0,0,0,0,0,0
$GC,10467,0.62,146.0,160.3,22302.4,928,10471,0.00,2.28,0.00,0.000,4,0.000,0.067,3084,3687,2422,0,0,0,0,0,0
$GC,10598,0.62,146.0,146.5,22302.4,939,10605,0.12,2.25,0.00,0.000,6,0.207,0.053,3066,2270,2423,0,0,0,0,0,0
$GC,10923,0.62,146.0,122.0,22302.4,970,10927,0.00,2.25,0.00,0.000,4,0.000,0.067,3075,859,2423,0,0,0,0,0,0
$GC,10956,0.62,146.0,119.9,22302.4,972,10963,0.00,2.28,0.00,0.000,6,0.000,0.056,3075,2281,2423,0,0,0,0,0,0
$GC,11282,0.62,146.0,98.5,22302.4,1004,11289,0.00,2.28,0.00,0.000,4,0.000,0.071,3075,3696,2423,0,0,0,0,0,0
$GC,11402,0.62,146.0,89.4,22302.4,1025,11409,0.00,2.28,0.00,0.000,6,0.000,0.054,3085,2267,2423,0,0,0,0,0,0
$STATE,11550,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11550,begin subsurface finish
$FINISH1,80.5,1.026261,61
$GC,11556,0.07,60.7,80.5,-22302.4,1051,11564,0.65,2.35,-2.67,0.000,4,0.174,0.081,2894,858,2792,0,0,0,0,0,0
$FINISH2,79.8
$STATE,11565,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11565,begin surface
$RAFOS_CLK,642
$RAFOS,6,1302238148,4.833333,4.818889,139,54,53,53,48,47,743,210,166,182,227,49
$RAFOS,5,1302237671,4.700000,4.686389,161,61,58,54,52,50,905,220,181,142,199,121
$RAFOS,4,1302237182,4.566667,4.550556,109,66,57,56,55,53,732,211,193,172,221,155
$RAFOS,3,1302236704,4.433333,4.417778,60,56,55,51,48,48,162,211,188,132,221,903
$RAFOS,2,1302236222,4.300000,4.283889,73,62,60,57,54,53,727,206,164,223,189,147
$RAFOS,1,1302235744,4.166667,4.151111,145,66,61,54,53,49,601,181,160,223,149,192
$RAFOS,0,1302235261,4.033333,4.016944,110,62,58,54,51,50,683,152,199,163,134,223
$RAFOS_FIX,6656.416504,-6010.206055,080411,040422,6,123,0.32
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.26
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,22.1,20.6
$ALTIM_BOTTOM_PING,81.0,22.0
$24V_AH,22.2,43.210
$10V_AH,10.2,23.912
$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,3.900,78.025,252.075,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2640.826,6844.524,283.208,1715.517,156.212,0.000,1174.636,0.000,1704.033,2520.000,17.846,0.000
$DEVICE_MAMPS,230.265,81.090,1343.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.787,812.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,40041,1052
$CAP_FILE_SIZE,114388,0
$CFSIZE,260165632,231047168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,080411,042722,6656.417,-6010.206,0,6122.8,0,-37.5