version: 66.08
glider: 141
mission: 15
dive: 316
start: 4 8 111 16 20 28
data:
$ID,141
$MISSION,15
$DIVE,316
$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,-35520.223
$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,24
$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
$GPS1,080411,082328,6654.027,-6014.769,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.75
$_SM_ANGLEo,-0.9
$GPS2,080411,082328,6654.027,-6014.769,181,99.0,181,-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,241.4,20308,-17.5,-10.000
$D_GRID,615
$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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-6.43,0.000,2,0.000,0.000,2898,3686,3031,0,0,0,0,0,0
$GC,26,-0.62,-146.0,14.2,-0.0,1,51,0.68,4.28,-13.23,0.000,4,0.113,0.065,2667,1073,3630,0,0,0,0,0,0
$GC,237,-0.53,-146.0,49.1,-17.2,38,244,0.00,2.33,0.00,0.000,6,0.000,0.066,2667,2495,3631,0,0,0,0,0,0
$GC,577,-0.40,-146.0,113.7,-17.6,92,582,0.25,2.33,0.00,0.000,4,0.218,0.080,2733,3899,3630,0,0,0,0,0,0
$GC,629,-0.50,-146.0,120.0,-10.0,96,633,0.00,2.22,0.00,0.000,6,0.000,0.050,2734,2487,3631,0,0,0,0,0,0
$GC,954,-0.57,-146.0,150.4,-9.0,126,956,0.17,0.00,0.00,0.000,6,0.115,0.000,2673,2487,3629,0,0,0,0,0,0
$GC,1273,-0.49,-146.0,194.7,-14.2,156,1274,0.12,0.00,0.00,0.000,6,0.223,0.000,2700,2487,3629,0,0,0,0,0,0
$GC,1591,-0.49,-146.0,230.7,-10.6,186,1595,0.00,2.35,0.00,0.000,4,0.000,0.079,2700,3899,3630,0,0,0,0,0,0
$GC,1630,-0.53,-146.0,234.7,-10.7,189,1634,0.00,2.22,0.00,0.000,6,0.000,0.050,2700,2488,3630,0,0,0,0,0,0
$GC,1955,-0.55,-146.0,267.1,-10.3,219,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3629,0,0,0,0,0,0
$GC,2276,-0.57,-146.0,298.7,-9.5,249,2280,0.00,2.35,0.00,0.000,4,0.000,0.078,2700,3900,3629,0,0,0,0,0,0
$GC,2286,-0.60,-146.0,300.0,-9.2,249,2295,0.00,2.22,0.00,0.000,6,0.000,0.048,2700,2484,3629,0,0,0,0,0,0
$GC,2613,-0.63,-146.0,329.8,-9.5,280,2614,0.12,0.00,0.00,0.000,6,0.134,0.000,2659,2484,3628,0,0,0,0,0,0
$GC,2930,-0.57,-146.0,370.6,-12.9,310,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2484,3628,0,0,0,0,0,0
$GC,3250,-0.50,-146.0,410.0,-11.8,340,3252,0.15,0.00,0.00,0.000,6,0.209,0.000,2694,2484,3629,0,0,0,0,0,0
$GC,3567,-0.54,-146.0,439.4,-8.7,370,3571,0.00,2.22,0.00,0.000,4,0.000,0.067,2694,1083,3629,0,0,0,0,0,0
$GC,3590,-0.57,-146.0,441.6,-9.3,371,3596,0.00,2.30,0.00,0.000,6,0.000,0.063,2694,2498,3629,0,0,0,0,0,0
$GC,3917,-0.61,-146.0,469.6,-8.8,402,3921,0.00,2.33,0.00,0.000,4,0.000,0.080,2694,3899,3630,0,0,0,0,0,0
$GC,3946,-0.66,-146.0,472.4,-8.9,404,3951,0.15,2.22,0.00,0.000,6,0.119,0.048,2643,2483,3629,0,0,0,0,0,0
$GC,4277,-0.57,-146.0,513.7,-12.8,435,4279,0.15,0.00,0.00,0.000,6,0.212,0.000,2678,2483,3629,0,0,0,0,0,0
$GC,4595,-0.57,-146.0,544.6,-9.2,465,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2483,3629,0,0,0,0,0,0
$GC,4915,-0.57,-146.0,574.8,-9.8,495,4920,0.00,2.35,0.00,0.000,4,0.000,0.075,2678,3900,3630,0,0,0,0,0,0
$GC,4944,-0.60,-146.0,577.8,-10.2,497,4948,0.00,2.22,0.00,0.000,6,0.000,0.047,2678,2479,3630,0,0,0,0,0,0
$STATE,5151,end dive,NO_VERTICAL_VELOCITY
$STATE,5151,begin apogee
$GC,5156,-0.12,0.0,581.0,0.0,516,5287,0.43,0.00,122.57,1.298,6,0.140,0.000,2818,2259,3029,0,0,0,0,0,0
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5290,0.62,146.0,581.1,0.0,528,5424,0.77,0.00,127.97,1.251,6,0.141,0.000,3051,2259,2434,0,0,0,0,0,0
$GC,5740,0.57,146.0,542.2,10.6,571,5744,0.00,2.45,0.00,0.000,4,0.000,0.067,3051,3692,2426,0,0,0,0,0,0
$GC,5825,0.46,146.0,531.4,12.6,578,5830,0.17,2.33,0.00,0.000,6,0.188,0.054,3020,2286,2425,0,0,0,0,0,0
$GC,6155,0.49,170.5,501.6,8.9,609,6181,0.00,2.40,21.20,1.161,4,0.000,0.071,3028,863,2335,0,0,0,0,0,0
$GC,6210,0.52,176.3,496.5,9.7,613,6221,0.00,2.35,6.65,0.967,6,0.000,0.056,3028,2284,2311,0,0,0,0,0,0
$GC,6540,0.52,176.3,464.0,10.1,644,6544,0.00,2.30,0.00,0.000,4,0.000,0.070,3028,3690,2308,0,0,0,0,0,0
$GC,6613,0.48,176.3,455.8,11.6,650,6619,0.00,2.30,0.00,0.000,6,0.000,0.054,3039,2269,2308,0,0,0,0,0,0
$GC,6939,0.48,176.3,422.5,10.2,681,6943,0.00,2.28,0.00,0.000,4,0.000,0.069,3049,858,2308,0,0,0,0,0,0
$GC,7012,0.48,176.3,415.0,10.1,687,7016,0.00,2.30,0.00,0.000,6,0.000,0.056,3048,2285,2306,0,0,0,0,0,0
$GC,7343,0.48,176.3,381.1,10.4,718,7347,0.00,2.25,0.00,0.000,4,0.000,0.069,3049,3687,2306,0,0,0,0,0,0
$GC,7376,0.43,176.3,377.2,11.6,720,7383,0.20,2.28,0.00,0.000,6,0.186,0.054,3007,2265,2306,0,0,0,0,0,0
$GC,7701,0.55,227.1,352.1,7.7,751,7757,0.10,2.38,45.58,1.136,4,0.124,0.069,3062,866,2102,0,0,0,0,0,0
$GC,7795,0.55,227.1,341.8,12.1,759,7802,0.00,2.35,0.00,0.000,6,0.000,0.055,3063,2280,2098,0,0,0,0,0,0
$GC,8121,0.55,227.1,304.6,11.8,790,8125,0.00,2.30,0.00,0.000,4,0.000,0.070,3062,3698,2095,0,0,0,0,0,0
$GC,8161,0.52,227.1,299.5,13.4,793,8166,0.15,2.28,0.00,0.000,6,0.190,0.054,3035,2274,2095,0,0,0,0,0,0
$GC,8487,0.60,246.5,268.8,9.1,823,8510,0.00,2.33,17.05,1.058,4,0.000,0.067,3042,859,2025,0,0,0,0,0,0
$GC,8538,0.71,263.9,264.1,9.2,827,8561,0.15,2.30,17.40,1.037,6,0.106,0.054,3104,2280,1954,0,0,0,0,0,0
$GC,8881,0.67,263.9,217.6,13.6,859,8885,0.00,2.30,0.00,0.000,4,0.000,0.069,3104,3695,1948,0,0,0,0,0,0
$GC,8926,0.59,263.9,211.1,15.0,863,8931,0.22,2.30,0.00,0.000,6,0.199,0.056,3057,2276,1946,0,0,0,0,0,0
$GC,9252,0.66,263.9,178.2,10.1,893,9256,0.00,2.28,0.00,0.000,4,0.000,0.069,3064,860,1946,0,0,0,0,0,0
$GC,9315,0.74,273.5,172.1,9.6,898,9330,0.10,2.28,9.35,0.943,6,0.123,0.056,3105,2276,1915,0,0,0,0,0,0
$GC,9655,0.74,273.5,130.3,11.8,930,9659,0.00,2.28,0.00,0.000,4,0.000,0.070,3105,3687,1911,0,0,0,0,0,0
$GC,9733,0.69,273.5,119.6,14.2,936,9740,0.00,2.28,0.00,0.000,6,0.000,0.056,3115,2270,1910,0,0,0,0,0,0
$GC,10066,0.69,273.5,81.5,11.5,982,10073,0.00,2.25,0.00,0.000,4,0.000,0.067,3124,863,1909,0,0,0,0,0,0
$GC,10119,0.69,273.5,75.5,11.0,991,10127,0.15,2.28,0.00,0.000,6,0.193,0.056,3087,2282,1908,0,0,0,0,0,0
$GC,10466,0.79,310.3,44.7,8.3,1052,10508,0.00,2.35,33.75,0.986,4,0.000,0.073,3086,3685,1763,0,0,0,0,0,0
$GC,10538,0.85,310.3,38.1,10.3,1064,10545,0.12,2.30,0.00,0.000,6,0.108,0.055,3141,2274,1761,0,0,0,0,0,0
$FREEZE,8.54,-1.722,-1.779,3,42,0
$STATE,10769,end climb,FINISH_DEPTH_REACHED
$STATE,10769,begin subsurface finish
$FINISH1,8.5,1.026045,71
$GC,10776,0.09,71.3,8.5,-12.9,1105,10824,0.80,2.28,-39.22,0.000,4,0.170,0.079,2903,867,2741,0,0,0,0,0,0
$FINISH2,6.7
$STATE,10824,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$RAFOS_CLK,608
$RAFOS,6,1302281347,16.833334,16.818611,91,70,67,60,60,55,783,152,206,136,169,196
$RAFOS,5,1302280866,16.700001,16.684999,80,68,65,53,53,52,951,209,193,222,180,138
$RAFOS,4,1302280388,16.566668,16.552221,99,64,58,57,57,56,713,189,219,177,207,140
$RAFOS,3,1302279904,16.433332,16.417778,67,64,62,57,56,55,190,207,119,95,168,150
$RAFOS,2,1302279423,16.299999,16.284166,101,59,57,54,53,53,694,192,156,224,169,206
$RAFOS_FIX,-200.000000,-200.000000,160812,232303,7,107,0.23
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.3,43.718
$10V_AH,10.2,24.184
$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,5.175,96.575,401.525,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2716.309,5868.896,451.887,1775.292,158.493,0.000,1397.440,0.000,1760.229,1440.000,16.006,0.000
$DEVICE_MAMPS,223.380,80.325,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.325,848.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43367,1113
$CAP_FILE_SIZE,122100,0
$CFSIZE,260165632,230780928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,160812,232803,-200.000,-200.000,0,7107.1,0,-37.5