version: 66.08
glider: 141
mission: 15
dive: 4
start: 2 20 111 4 34 15
data:
$ID,141
$MISSION,15
$DIVE,4
$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,100
$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,9
$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,-22022.932
$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,2910
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,022311,6700.715,-5638.812,33,99.0,52,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.77
$_SM_ANGLEo,10.5
$GPS2,200211,022311,6700.715,-5638.812,33,99.0,52,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$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,296.8,169060,-17.5,-10.000
$D_GRID,430
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.72,0.000,2,0.000,0.000,2933,3569,3243,0,0,0,0,0,0
$GC,26,-0.62,-146.0,15.8,-0.0,1,46,0.70,4.40,-6.80,0.000,4,0.159,0.063,2718,884,3631,0,0,0,0,0,0
$GC,81,-0.70,-146.0,21.1,-9.7,10,88,0.00,2.30,0.00,0.000,6,0.000,0.060,2718,2301,3631,0,0,0,0,0,0
$GC,426,-0.74,-146.0,58.2,-9.9,71,433,0.15,2.33,0.00,0.000,4,0.132,0.077,2668,3715,3630,0,0,0,0,0,0
$GC,576,-0.71,-146.0,77.6,-12.5,97,583,0.00,2.28,0.00,0.000,6,0.000,0.055,2668,2285,3630,0,0,0,0,0,0
$GC,917,-0.67,-146.0,124.0,-12.8,142,921,0.00,2.35,0.00,0.000,4,0.000,0.080,2668,3714,3629,0,0,0,0,0,0
$GC,1035,-0.67,-146.0,138.2,-12.3,152,1039,0.00,2.25,0.00,0.000,6,0.000,0.054,2668,2297,3628,0,0,0,0,0,0
$GC,1360,-0.67,-146.0,174.7,-11.1,182,1364,0.00,2.33,0.00,0.000,4,0.000,0.079,2668,3718,3627,0,0,0,0,0,0
$GC,1422,-0.67,-146.0,181.5,-10.8,187,1426,0.00,2.22,0.00,0.000,6,0.000,0.054,2668,2296,3626,0,0,0,0,0,0
$GC,1747,-0.67,-146.0,215.1,-10.1,217,1751,0.00,2.30,0.00,0.000,4,0.000,0.076,2667,3711,3627,0,0,0,0,0,0
$GC,1797,-0.67,-146.0,220.4,-10.5,221,1802,0.00,2.22,0.00,0.000,6,0.000,0.054,2668,2293,3626,0,0,0,0,0,0
$GC,2128,-0.67,-146.0,253.8,-9.7,252,2132,0.00,2.30,0.00,0.000,4,0.000,0.076,2668,3711,3627,0,0,0,0,0,0
$GC,2259,-0.67,-146.0,266.5,-9.5,263,2263,0.00,2.20,0.00,0.000,6,0.000,0.052,2668,2294,3627,0,0,0,0,0,0
$GC,2586,-0.67,-146.0,300.6,-10.4,293,2590,0.00,2.30,0.00,0.000,4,0.000,0.075,2668,3718,3627,0,0,0,0,0,0
$GC,2663,-0.70,-146.0,309.4,-10.4,299,2670,0.00,2.20,0.00,0.000,6,0.000,0.051,2668,2293,3627,0,0,0,0,0,0
$GC,2988,-0.70,-146.0,347.3,-12.3,330,2992,0.00,2.30,0.00,0.000,4,0.000,0.074,2668,3721,3628,0,0,0,0,0,0
$GC,3084,-0.70,-146.0,358.7,-12.6,338,3088,0.00,2.22,0.00,0.000,6,0.000,0.050,2668,2294,3628,0,0,0,0,0,0
$GC,3408,-0.70,-146.0,395.6,-10.5,368,3412,0.00,2.28,0.00,0.000,4,0.000,0.074,2668,3708,3628,0,0,0,0,0,0
$GC,3496,-0.72,-146.0,405.3,-10.5,375,3500,0.00,2.20,0.00,0.000,6,0.000,0.051,2668,2296,3628,0,0,0,0,0,0
$STATE,3723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3723,begin apogee
$GC,3729,-0.12,0.0,430.9,11.4,396,3850,0.65,0.00,114.55,1.022,6,0.184,0.000,2862,2146,3030,0,0,0,0,0,0
$STATE,3851,end apogee,CONTROL_FINISHED_OK
$STATE,3851,begin climb
$GC,3853,0.62,146.0,434.6,0.0,407,3985,0.70,2.50,118.45,0.995,4,0.087,0.072,3113,756,2432,0,0,0,0,0,0
$GC,4020,0.44,146.0,418.9,16.8,422,4025,0.22,2.38,0.00,0.000,6,0.201,0.057,3059,2157,2429,0,0,0,0,0,0
$GC,4345,0.34,146.0,375.4,12.7,452,4350,0.15,2.33,0.00,0.000,4,0.203,0.073,3020,3570,2425,0,0,0,0,0,0
$GC,4497,0.27,146.0,357.0,12.0,465,4501,0.00,2.30,0.00,0.000,6,0.000,0.056,3028,2155,2425,0,0,0,0,0,0
$GC,4824,0.25,146.0,320.6,11.4,495,4829,0.12,2.30,0.00,0.000,4,0.193,0.071,2997,3571,2424,0,0,0,0,0,0
$GC,4886,0.25,146.0,313.7,11.0,500,4890,0.00,2.30,0.00,0.000,6,0.000,0.054,3004,2134,2423,0,0,0,0,0,0
$GC,5213,0.27,148.0,281.7,9.9,530,5217,0.00,2.30,0.00,0.000,4,0.000,0.070,3004,3561,2423,0,0,0,0,0,0
$GC,5286,0.25,148.0,273.2,11.6,536,5290,0.00,2.22,0.00,0.000,6,0.000,0.054,3014,2152,2423,0,0,0,0,0,0
$GC,5617,0.25,148.0,238.6,10.5,567,5621,0.00,2.28,0.00,0.000,4,0.000,0.070,3014,3569,2423,0,0,0,0,0,0
$GC,5679,0.21,148.0,231.0,12.4,572,5684,0.17,2.22,0.00,0.000,6,0.186,0.052,2979,2150,2423,0,0,0,0,0,0
$GC,6010,0.37,224.7,205.7,6.5,603,6080,0.15,2.42,63.22,0.913,4,0.105,0.070,3034,3556,2112,0,0,0,0,0,0
$GC,6236,0.37,224.7,180.6,12.5,623,6243,0.00,2.30,0.00,0.000,6,0.000,0.052,3042,2148,2107,0,0,0,0,0,0
$GC,6563,0.39,224.7,145.0,10.3,654,6567,0.00,2.30,0.00,0.000,4,0.000,0.068,3042,3567,2103,0,0,0,0,0,0
$GC,6595,0.39,224.7,140.7,12.2,656,6603,0.00,2.25,0.00,0.000,6,0.000,0.051,3049,2154,2103,0,0,0,0,0,0
$GC,6921,0.42,224.7,102.5,11.8,687,6925,0.00,2.30,0.00,0.000,4,0.000,0.067,3050,3572,2102,0,0,0,0,0,0
$GC,6954,0.42,224.7,98.2,12.7,690,6961,0.00,2.25,0.00,0.000,6,0.000,0.051,3057,2137,2103,0,0,0,0,0,0
$GC,7299,0.44,224.7,60.1,11.0,751,7306,0.00,2.28,0.00,0.000,4,0.000,0.067,3057,3563,2102,0,0,0,0,0,0
$GC,7397,0.42,224.7,48.4,12.5,768,7404,0.00,2.22,0.00,0.000,6,0.000,0.051,3065,2152,2102,0,0,0,0,0,0
$STATE,7717,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7717,begin subsurface finish
$FINISH1,15.4,1.026712,39
$GC,7723,0.05,38.6,15.4,-11.4,825,7748,0.43,2.33,-15.43,0.000,4,0.160,0.084,2932,3560,2875,0,0,0,0,0,0
$FINISH2,13.3
$STATE,7749,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7749,begin surface
$RAFOS_CLK,399
$RAFOS,6,1298177348,4.833333,4.818889,79,67,58,53,52,51,816,198,232,110,215,159
$RAFOS,5,1298176862,4.700000,4.683889,72,64,61,60,58,49,684,206,185,219,164,147
$RAFOS_FIX,6709.970215,-5651.877930,200211,040400,2,76,2.25
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.025466
$HUMID,44.25
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,8.5
$ALTIM_BOTTOM_PING,400.1,68.3
$24V_AH,23.6,4.140
$10V_AH,10.4,1.552
$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,3.450,86.950,296.225,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2028.163,3918.521,327.416,1426.277,113.998,0.000,1085.613,0.000,1412.596,720.000,13.718,0.000
$DEVICE_MAMPS,202.725,84.150,1022.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.744,620.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,33387,829
$CAP_FILE_SIZE,90725,0
$CFSIZE,260165632,251928576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.2
$GPS,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4