version: 66.08
glider: 141
mission: 15
dive: 54
start: 2 28 111 11 29 7
data:
$ID,141
$MISSION,15
$DIVE,54
$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,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,-22775.168
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,280211,082432,6654.949,-6011.002,0,6095.5,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-48.0
$GPS2,280211,082432,6654.949,-6011.002,181,99.0,181,-38.0
$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,246.4,23055,-17.5,-10.000
$D_GRID,651
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-159.65,0.000,2,0.000,0.000,107,2495,3164,0,0,0,0,0,0
$GC,182,-0.62,-146.0,5.3,-8.6,28,213,12.43,2.28,-11.00,0.000,4,0.332,0.077,2655,1077,3629,0,0,0,0,0,0
$GC,461,-0.48,-146.0,69.5,-18.3,77,469,0.20,2.30,0.00,0.000,6,0.233,0.063,2703,2496,3631,0,0,0,0,0,0
$GC,797,-0.42,-146.0,127.1,-16.8,123,801,0.00,2.30,0.00,0.000,4,0.000,0.067,2703,1068,3631,0,0,0,0,0,0
$GC,881,-0.42,-146.0,140.1,-14.0,130,885,0.00,2.28,0.00,0.000,6,0.000,0.063,2703,2498,3630,0,0,0,0,0,0
$GC,1208,-0.38,-146.0,182.5,-11.9,160,1210,0.12,0.00,0.00,0.000,6,0.230,0.000,2733,2498,3630,0,0,0,0,0,0
$GC,1525,-0.44,-146.0,211.6,-8.1,190,1529,0.00,2.25,0.00,0.000,4,0.000,0.067,2733,1077,3630,0,0,0,0,0,0
$GC,1555,-0.49,-146.0,213.7,-7.7,192,1559,0.00,2.28,0.00,0.000,6,0.000,0.063,2733,2494,3630,0,0,0,0,0,0
$GC,1881,-0.56,-146.0,237.2,-8.9,222,1886,0.15,2.33,0.00,0.000,4,0.122,0.079,2682,3906,3629,0,0,0,0,0,0
$GC,1899,-0.59,-146.0,238.9,-9.6,223,1903,0.00,2.22,0.00,0.000,6,0.000,0.049,2682,2486,3629,0,0,0,0,0,0
$GC,2224,-0.54,-146.0,282.5,-11.6,253,2228,0.00,2.22,0.00,0.000,4,0.000,0.070,2682,1080,3629,0,0,0,0,0,0
$GC,2323,-0.52,-146.0,294.0,-11.3,261,2330,0.00,2.28,0.00,0.000,6,0.000,0.063,2682,2494,3629,0,0,0,0,0,0
$GC,2648,-0.48,-146.0,328.0,-11.5,292,2652,0.00,2.25,0.00,0.000,4,0.000,0.068,2682,1076,3629,0,0,0,0,0,0
$GC,2670,-0.43,-146.0,330.8,-11.7,293,2677,0.15,2.25,0.00,0.000,6,0.213,0.062,2717,2490,3629,0,0,0,0,0,0
$GC,2996,-0.48,-146.0,359.5,-9.1,324,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2490,3630,0,0,0,0,0,0
$GC,3317,-0.54,-146.0,389.0,-9.0,354,3321,0.00,2.33,0.00,0.000,4,0.000,0.077,2717,3907,3630,0,0,0,0,0,0
$GC,3346,-0.60,-146.0,391.9,-9.0,356,3351,0.15,2.20,0.00,0.000,6,0.118,0.049,2666,2486,3630,0,0,0,0,0,0
$GC,3677,-0.54,-146.0,432.6,-12.1,387,3681,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,1081,3630,0,0,0,0,0,0
$GC,3729,-0.50,-146.0,439.1,-12.3,391,3734,0.12,2.25,0.00,0.000,6,0.230,0.063,2693,2491,3630,0,0,0,0,0,0
$GC,4054,-0.50,-146.0,470.4,-9.3,421,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2491,3631,0,0,0,0,0,0
$GC,4375,-0.50,-146.0,500.6,-9.5,451,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2491,3631,0,0,0,0,0,0
$GC,4702,-0.50,-146.0,531.0,-9.3,482,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2492,3632,0,0,0,0,0,0
$GC,5019,-0.50,-146.0,560.9,-9.5,512,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2491,3632,0,0,0,0,0,0
$GC,5339,-0.50,-146.0,589.7,-9.3,542,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2492,3632,0,0,0,0,0,0
$GC,5649,-0.77,-146.0,603.9,-0.0,560,5654,0.22,2.28,0.00,0.000,4,0.099,0.073,2611,3902,3633,0,0,0,0,0,0
$STATE,5736,end dive,NO_VERTICAL_VELOCITY
$STATE,5736,begin apogee
$GC,5743,-0.12,0.0,603.9,0.0,562,5875,0.65,0.00,122.47,1.303,6,0.149,0.000,2820,2265,3029,0,0,0,0,0,0
$STATE,5876,end apogee,CONTROL_FINISHED_OK
$STATE,5876,begin climb
$GC,5878,0.62,146.0,603.8,0.0,567,6016,0.77,2.60,125.47,1.253,4,0.135,0.069,3056,3675,2433,0,0,0,0,0,0
$GC,6063,0.46,146.0,588.5,14.8,578,6068,0.20,2.40,0.00,0.000,6,0.186,0.052,3020,2273,2428,0,0,0,0,0,0
$GC,6388,0.43,146.0,554.4,10.0,608,6393,0.00,2.40,0.00,0.000,4,0.000,0.067,3020,3692,2423,0,0,0,0,0,0
$GC,6444,0.36,146.0,547.4,13.3,612,6451,0.17,2.33,0.00,0.000,6,0.187,0.052,2986,2273,2423,0,0,0,0,0,0
$GC,6771,0.46,187.5,520.5,8.1,643,6810,0.00,0.00,35.47,1.191,6,0.000,0.000,2986,2273,2265,0,0,0,0,0,0
$GC,7128,0.58,221.1,490.9,8.4,677,7165,0.20,2.45,30.42,1.171,4,0.087,0.067,3063,3679,2128,0,0,0,0,0,0
$GC,7207,0.48,221.1,480.2,15.9,684,7212,0.20,2.33,0.00,0.000,6,0.182,0.053,3024,2275,2124,0,0,0,0,0,0
$GC,7532,0.48,221.1,442.3,11.6,714,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2275,2121,0,0,0,0,0,0
$GC,7852,0.48,221.1,406.3,10.7,744,7856,0.00,2.33,0.00,0.000,4,0.000,0.067,3023,3689,2119,0,0,0,0,0,0
$GC,7891,0.48,221.1,401.7,11.9,747,7895,0.00,2.25,0.00,0.000,6,0.000,0.052,3030,2273,2119,0,0,0,0,0,0
$GC,8217,0.48,221.1,365.3,11.6,777,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2272,2119,0,0,0,0,0,0
$GC,8536,0.50,221.1,325.1,12.6,807,8540,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3690,2118,0,0,0,0,0,0
$GC,8586,0.50,221.1,318.1,14.5,811,8591,0.00,2.22,0.00,0.000,6,0.000,0.051,3041,2272,2118,0,0,0,0,0,0
$GC,8913,0.50,221.1,282.6,10.4,841,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2272,2118,0,0,0,0,0,0
$GC,9231,0.50,221.1,248.1,11.1,871,9235,0.00,2.28,0.00,0.000,4,0.000,0.066,3041,3697,2118,0,0,0,0,0,0
$GC,9286,0.47,221.1,241.5,12.5,875,9294,0.12,2.25,0.00,0.000,6,0.200,0.050,3020,2264,2118,0,0,0,0,0,0
$GC,9612,0.58,255.1,216.3,8.4,906,9646,0.00,2.42,29.42,1.045,4,0.000,0.064,3020,3698,1990,0,0,0,0,0,0
$GC,9674,0.65,255.1,210.4,10.7,911,9682,0.12,2.30,0.00,0.000,6,0.111,0.050,3076,2271,1988,0,0,0,0,0,0
$GC,9999,0.65,255.1,168.6,10.5,942,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2271,1985,0,0,0,0,0,0
$GC,10320,0.65,255.1,132.5,13.2,972,10324,0.00,2.30,0.00,0.000,4,0.000,0.065,3076,3692,1985,0,0,0,0,0,0
$GC,10372,0.60,255.1,125.0,15.6,976,10376,0.00,2.25,0.00,0.000,6,0.000,0.051,3086,2275,1984,0,0,0,0,0,0
$GC,10703,0.72,328.4,92.0,6.6,1015,10778,0.00,2.42,65.88,0.991,4,0.000,0.064,3086,3680,1689,0,0,0,0,0,0
$GC,10798,0.79,352.5,83.9,8.9,1031,10828,0.00,2.33,21.90,0.937,6,0.000,0.052,3096,2277,1592,0,0,0,0,0,0
$GC,11166,0.84,353.4,45.4,10.0,1096,11173,0.12,2.35,0.00,0.000,4,0.113,0.064,3143,3692,1583,0,0,0,0,0,0
$GC,11191,0.84,353.4,42.2,11.6,1100,11198,0.00,2.30,0.00,0.000,6,0.000,0.052,3153,2271,1582,0,0,0,0,0,0
$FREEZE,8.24,-1.734,-1.772,3,31,0
$STATE,11408,end climb,FINISH_DEPTH_REACHED
$STATE,11408,begin subsurface finish
$FINISH1,8.2,1.025947,76
$GC,11414,0.09,76.2,8.2,-16.0,1138,11467,0.85,0.00,-46.05,0.000,6,0.174,0.000,2899,2270,2722,0,0,0,0,0,0
$FINISH2,6.5
$STATE,11467,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11467,begin surface
$RAFOS_CLK,662
$RAFOS,6,1298897351,12.833333,12.819722,151,61,59,56,55,52,749,194,211,142,169,156
$RAFOS,5,1298896864,12.700000,12.684444,74,64,61,54,54,53,957,166,221,142,194,121
$RAFOS,4,1298896387,12.566667,12.551945,84,71,65,61,55,54,719,207,178,189,223,156
$RAFOS,3,1298895903,12.433333,12.417500,87,63,58,55,54,53,848,210,170,221,185,121
$RAFOS,2,1298895423,12.300000,12.284166,103,60,58,58,50,50,716,214,146,190,172,160
$RAFOS,1,1298894949,12.166667,12.152500,129,68,61,56,53,51,575,213,193,226,174,127
$RAFOS,0,1298894471,12.033333,12.019722,125,62,61,58,56,55,605,146,208,225,135,182
$RAFOS_FIX,6654.421875,-6016.263184,280211,121216,7,108,0.27
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.0,10.929
$10V_AH,10.3,5.314
$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,16.975,87.850,431.050,0.000,0.000,100.394,16.897,0.000,2.500,0.000,183.293,2702.953,6357.921,600.500,2148.941,381.156,0.000,1606.937,0.000,1831.556,2520.000,21.642,0.000
$DEVICE_MAMPS,332.010,78.795,1302.795,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.881,880.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150660
$DATA_FILE_SIZE,43379,1147
$CAP_FILE_SIZE,132946,0
$CFSIZE,260165632,248320000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$GPS,280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0