version: 66.08
glider: 141
mission: 15
dive: 364
start: 4 11 111 11 2 16
data:
$ID,141
$MISSION,15
$DIVE,364
$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,-36996.625
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.48
$_SM_ANGLEo,-4.9
$GPS2,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,20.3,8031828,-17.5,-10.000
$D_GRID,250
$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,-7.10,0.000,2,0.000,0.000,2902,854,2970,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.7,-0.0,1,58,0.68,5.07,-17.52,0.000,4,0.109,0.081,2668,3892,3628,0,0,0,0,0,0
$GC,217,-0.52,-146.0,41.8,-18.6,34,224,0.00,2.25,0.00,0.000,6,0.000,0.056,2668,2477,3630,0,0,0,0,0,0
$GC,560,-0.39,-146.0,108.5,-17.6,91,565,0.25,2.25,0.00,0.000,4,0.220,0.070,2734,1081,3630,0,0,0,0,0,0
$GC,637,-0.48,-146.0,118.0,-9.9,97,644,0.00,2.28,0.00,0.000,6,0.000,0.067,2733,2488,3630,0,0,0,0,0,0
$GC,964,-0.56,-146.0,146.4,-8.5,128,969,0.15,2.35,0.00,0.000,4,0.125,0.083,2682,3906,3629,0,0,0,0,0,0
$GC,1083,-0.56,-146.0,160.5,-12.1,138,1087,0.00,2.25,0.00,0.000,6,0.000,0.054,2682,2490,3629,0,0,0,0,0,0
$GC,1413,-0.52,-146.0,201.7,-12.2,169,1417,0.00,2.28,0.00,0.000,4,0.000,0.070,2682,1079,3629,0,0,0,0,0,0
$GC,1491,-0.52,-146.0,211.0,-10.9,175,1498,0.00,2.33,0.00,0.000,6,0.000,0.067,2682,2491,3628,0,0,0,0,0,0
$GC,1816,-0.52,-146.0,247.7,-11.3,206,1820,0.00,2.33,0.00,0.000,4,0.000,0.084,2682,3902,3629,0,0,0,0,0,0
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1838,begin apogee
$GC,1845,-0.12,0.0,250.2,10.8,208,1977,0.47,0.00,120.80,1.118,6,0.201,0.000,2815,2264,3029,0,0,0,0,0,0
$STATE,1977,end apogee,CONTROL_FINISHED_OK
$STATE,1978,begin climb
$GC,1979,0.62,146.0,255.3,0.0,220,2113,0.82,2.65,124.53,1.064,4,0.158,0.076,3064,868,2433,0,0,0,0,0,0
$GC,2186,0.59,151.3,242.9,9.8,238,2196,0.00,2.47,5.07,0.739,6,0.000,0.060,3063,2280,2413,0,0,0,0,0,0
$GC,2523,0.59,177.0,211.1,8.8,270,2557,0.00,2.50,23.60,1.000,4,0.000,0.076,3063,3690,2307,0,0,0,0,0,0
$GC,2627,0.52,177.0,200.6,11.0,279,2632,0.15,2.38,0.00,0.000,6,0.191,0.060,3037,2273,2305,0,0,0,0,0,0
$GC,2952,0.63,230.3,175.0,7.5,309,3008,0.00,2.42,47.58,1.015,4,0.000,0.076,3042,865,2090,0,0,0,0,0,0
$GC,3048,0.80,275.3,167.5,7.9,317,3100,0.22,2.35,41.88,0.991,6,0.091,0.059,3126,2279,1906,0,0,0,0,0,0
$GC,3417,0.78,275.3,119.9,11.7,352,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2279,1896,0,0,0,0,0,0
$GC,3743,0.78,275.3,83.0,11.6,395,3750,0.00,2.35,0.00,0.000,4,0.000,0.074,3137,858,1895,0,0,0,0,0,0
$GC,3756,0.78,275.3,81.3,11.9,397,3763,0.00,2.33,0.00,0.000,6,0.000,0.059,3136,2283,1894,0,0,0,0,0,0
$GC,4098,0.78,275.3,41.6,10.9,458,4105,0.00,2.30,0.00,0.000,4,0.000,0.075,3136,3698,1892,0,0,0,0,0,0
$GC,4117,0.75,275.3,39.4,11.7,461,4125,0.15,2.30,0.00,0.000,6,0.203,0.060,3110,2268,1892,0,0,0,0,0,0
$FREEZE,8.29,-1.737,-1.771,2,90,2
$FREEZE,7.64,-1.735,-1.770,2,90,2
$FREEZE,6.95,-1.737,-1.770,2,90,2
$FREEZE,5.94,-1.737,-1.769,2,90,2
$GC,4465,0.87,342.0,9.0,6.9,522,4502,0.10,0.00,32.45,0.924,6,0.129,0.000,3149,2268,1633,0,0,0,0,0,0
$FREEZE,5.07,-1.735,-1.768,2,90,2
$FREEZE,5.13,-1.738,-1.768,2,90,2
$FREEZE,5.03,-1.739,-1.768,2,90,2
$FREEZE,5.00,-1.738,-1.768,2,90,2
$FREEZE,5.05,-1.738,-1.768,2,90,2
$FREEZE,5.06,-1.738,-1.768,2,90,2
$FREEZE,4.95,-1.738,-1.768,2,90,2
$FREEZE,4.98,-1.738,-1.768,2,90,2
$FREEZE,5.01,-1.735,-1.767,2,90,2
$FREEZE,5.01,-1.737,-1.767,2,90,2
$FREEZE,4.99,-1.737,-1.767,2,90,2
$FREEZE,5.11,-1.735,-1.767,2,90,2
$FREEZE,5.05,-1.740,-1.768,2,90,2
$FREEZE,5.10,-1.738,-1.768,2,90,2
$FREEZE,4.98,-1.738,-1.768,2,90,2
$FREEZE,5.10,-1.738,-1.768,2,90,2
$FREEZE,5.08,-1.738,-1.768,2,90,2
$FREEZE,5.11,-1.737,-1.768,2,90,2
$FREEZE,4.97,-1.738,-1.768,2,90,2
$FREEZE,4.77,-1.738,-1.768,2,90,2
$FREEZE,4.60,-1.739,-1.768,2,90,2
$FREEZE,4.50,-1.737,-1.768,2,90,2
$FREEZE,4.40,-1.737,-1.768,2,90,2
$FREEZE,4.23,-1.737,-1.767,2,90,2
$FREEZE,4.08,-1.738,-1.767,2,90,2
$FREEZE,4.06,-1.738,-1.767,2,90,2
$FREEZE,3.96,-1.738,-1.767,2,90,2
$FREEZE,3.90,-1.737,-1.767,2,90,2
$FREEZE,3.90,-1.738,-1.767,2,90,2
$FREEZE,3.79,-1.739,-1.767,2,90,2
$FREEZE,3.78,-1.738,-1.767,2,90,2
$FREEZE,3.86,-1.738,-1.767,2,90,2
$FREEZE,3.72,-1.738,-1.767,2,90,2
$FREEZE,3.72,-1.739,-1.767,2,90,2
$FREEZE,3.71,-1.739,-1.767,2,90,2
$FREEZE,3.72,-1.739,-1.767,2,90,2
$FREEZE,3.73,-1.738,-1.767,2,90,2
$FREEZE,3.72,-1.737,-1.767,2,90,2
$FREEZE,3.67,-1.738,-1.767,2,90,2
$FREEZE,3.65,-1.737,-1.767,2,90,2
$FREEZE,3.67,-1.738,-1.767,2,90,2
$FREEZE,3.61,-1.739,-1.767,2,90,2
$FREEZE,3.57,-1.739,-1.767,2,90,2
$FREEZE,3.56,-1.738,-1.767,2,90,2
$FREEZE,3.51,-1.738,-1.767,2,90,2
$FREEZE,3.50,-1.737,-1.767,2,90,2
$FREEZE,3.57,-1.736,-1.767,2,90,2
$FREEZE,3.58,-1.737,-1.767,2,90,2
$FREEZE,3.45,-1.737,-1.767,2,90,2
$FREEZE,3.41,-1.737,-1.767,2,90,2
$FREEZE,3.28,-1.738,-1.767,2,90,2
$FREEZE,3.00,-1.741,-1.767,2,90,2
$STATE,4772,end climb,SURFACE_DEPTH_REACHED
$STATE,4772,begin surface coast
$FREEZE,2.82,-1.739,-1.767,2,90,2
$FREEZE,2.85,-1.739,-1.767,2,90,2
$FREEZE,2.82,-1.740,-1.767,2,90,2
$FREEZE,2.89,-1.738,-1.766,2,90,2
$FREEZE,2.86,-1.739,-1.766,2,90,2
$FREEZE,2.85,-1.739,-1.766,2,90,2
$FREEZE,2.95,-1.739,-1.767,2,90,2
$FREEZE,2.80,-1.738,-1.766,2,90,2
$FREEZE,2.87,-1.739,-1.766,2,90,2
$FREEZE,2.78,-1.739,-1.766,2,90,2
$FREEZE,2.89,-1.739,-1.766,2,90,2
$FREEZE,2.86,-1.737,-1.766,2,90,2
$FREEZE,2.81,-1.738,-1.766,2,90,2
$FREEZE,2.86,-1.735,-1.766,2,90,2
$FREEZE,2.92,-1.735,-1.766,2,90,2
$FREEZE,2.91,-1.738,-1.766,2,90,2
$FREEZE,2.92,-1.738,-1.766,2,90,2
$FREEZE,2.87,-1.738,-1.766,2,90,2
$FREEZE,2.90,-1.738,-1.766,2,90,2
$FREEZE,2.92,-1.734,-1.766,2,90,2
$FREEZE,2.87,-1.736,-1.766,2,90,2
$FREEZE,2.91,-1.738,-1.766,2,90,2
$FREEZE,2.96,-1.737,-1.766,2,90,2
$FREEZE,2.86,-1.738,-1.766,2,90,2
$FREEZE,2.94,-1.739,-1.767,2,90,2
$FREEZE,3.02,-1.738,-1.766,2,90,2
$FREEZE,2.88,-1.737,-1.766,2,90,2
$FINISH,2.9,1.025928
$STATE,4913,end surface coast,CONTROL_FINISHED_OK
$STATE,4913,begin surface
$SM_CCo,5051,96.65,0.078,0,0,750,559.04
$SM_GC,4.12,0.00,0.00,96.65,0.000,0.000,0.078,109,2496,750,-8.61,0.17,559.04
$RAFOS_CLK,303
$RAFOS,2,1302524228,12.300000,12.285556,58,57,57,56,56,55,169,157,181,144,211,223
$RAFOS,1,1302523743,12.166667,12.150833,82,65,63,61,51,50,678,172,162,210,195,150
$RAFOS,0,1302523267,12.033333,12.018611,67,57,55,53,52,52,201,215,717,161,113,130
$RAFOS_FIX,42707.164062,-222015.250000,110411,080812,4,116,0.03
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.51
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,16.7
$24V_AH,22.2,49.289
$10V_AH,10.1,25.879
$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,12.000,50.450,395.900,96.650,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1502.148,2135.542,486.221,999.076,88.714,0.000,1060.512,0.000,995.772,1080.000,2.611,0.000
$DEVICE_MAMPS,219.555,84.150,1117.665,78.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.918,448.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23382,606
$CAP_FILE_SIZE,69977,0
$CFSIZE,260165632,229064704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5