version: 66.08
glider: 141
mission: 15
dive: 270
start: 3 31 111 3 54 7
data:
$ID,141
$MISSION,15
$DIVE,270
$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,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,-34413.234
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,300311,204800,6702.295,-5648.344,181,99.0,181,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-42.9
$GPS2,300311,204800,6702.295,-5648.344,181,99.0,181,-37.7
$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,295.7,162794,-17.5,-10.000
$D_GRID,547
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,216,0.00,0.00,-191.80,0.000,6,0.000,0.000,110,2498,3627,0,0,0,0,0,0
$GC,218,-0.62,-146.0,6.7,-13.8,34,238,12.85,2.25,0.00,0.000,4,0.327,0.063,2654,3886,3629,0,0,0,0,0,0
$GC,329,-0.56,-146.0,38.5,-15.4,53,336,0.00,2.15,0.00,0.000,6,0.000,0.039,2654,2484,3629,0,0,0,0,0,0
$GC,674,-0.47,-146.0,93.5,-16.5,114,681,0.20,2.30,0.00,0.000,4,0.207,0.064,2705,3891,3629,0,0,0,0,0,0
$GC,734,-0.54,-146.0,100.4,-9.6,124,738,0.00,2.17,0.00,0.000,6,0.000,0.040,2705,2480,3629,0,0,0,0,0,0
$GC,1059,-0.58,-146.0,134.5,-9.9,154,1063,0.00,2.20,0.00,0.000,4,0.000,0.057,2705,1082,3627,0,0,0,0,0,0
$GC,1160,-0.64,-146.0,144.8,-9.8,162,1168,0.15,2.22,0.00,0.000,6,0.115,0.053,2654,2484,3627,0,0,0,0,0,0
$GC,1485,-0.58,-146.0,185.7,-12.7,193,1489,0.00,2.28,0.00,0.000,4,0.000,0.068,2654,3907,3626,0,0,0,0,0,0
$GC,1547,-0.55,-146.0,193.4,-11.7,198,1552,0.12,2.17,0.00,0.000,6,0.194,0.039,2683,2476,3626,0,0,0,0,0,0
$GC,1872,-0.55,-146.0,225.2,-9.2,228,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2477,3627,0,0,0,0,0,0
$GC,2194,-0.55,-146.0,254.8,-9.6,258,2198,0.00,2.15,0.00,0.000,4,0.000,0.055,2683,1086,3628,0,0,0,0,0,0
$GC,2235,-0.57,-146.0,259.2,-10.4,261,2239,0.00,2.22,0.00,0.000,6,0.000,0.051,2683,2497,3628,0,0,0,0,0,0
$GC,2559,-0.57,-146.0,291.7,-10.1,291,2563,0.00,2.25,0.00,0.000,4,0.000,0.067,2683,3899,3629,0,0,0,0,0,0
$GC,2616,-0.62,-146.0,297.3,-9.5,295,2623,0.00,2.12,0.00,0.000,6,0.000,0.038,2683,2489,3629,0,0,0,0,0,0
$GC,2943,-0.64,-146.0,328.5,-9.5,326,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2489,3629,0,0,0,0,0,0
$GC,3261,-0.67,-146.0,355.3,-7.8,356,3265,0.12,2.17,0.00,0.000,4,0.129,0.052,2640,1086,3630,0,0,0,0,0,0
$GC,3294,-0.61,-146.0,358.9,-10.8,358,3302,0.00,2.22,0.00,0.000,6,0.000,0.051,2640,2498,3630,0,0,0,0,0,0
$GC,3620,-0.53,-146.0,394.5,-11.2,389,3625,0.17,2.28,0.00,0.000,4,0.204,0.066,2685,3904,3631,0,0,0,0,0,0
$GC,3729,-0.58,-146.0,404.2,-8.9,398,3733,0.00,2.15,0.00,0.000,6,0.000,0.037,2684,2485,3631,0,0,0,0,0,0
$GC,4059,-0.62,-146.0,435.3,-10.1,429,4063,0.00,2.12,0.00,0.000,4,0.000,0.051,2684,1092,3633,0,0,0,0,0,0
$GC,4105,-0.67,-146.0,440.2,-10.9,433,4110,0.12,2.20,0.00,0.000,6,0.123,0.049,2643,2500,3632,0,0,0,0,0,0
$GC,4430,-0.60,-146.0,479.3,-11.3,463,4434,0.00,2.22,0.00,0.000,4,0.000,0.064,2642,3898,3633,0,0,0,0,0,0
$GC,4476,-0.56,-146.0,484.4,-10.9,467,4481,0.15,2.12,0.00,0.000,6,0.194,0.037,2678,2482,3633,0,0,0,0,0,0
$GC,4802,-0.58,-146.0,510.3,-8.1,497,4806,0.00,2.12,0.00,0.000,4,0.000,0.051,2679,1093,3635,0,0,0,0,0,0
$GC,4881,-0.62,-146.0,517.1,-8.6,504,4885,0.00,2.20,0.00,0.000,6,0.000,0.050,2679,2497,3635,0,0,0,0,0,0
$GC,5209,-0.65,-146.0,544.5,-8.4,534,5213,0.00,2.22,0.00,0.000,4,0.000,0.066,2679,3899,3635,0,0,0,0,0,0
$STATE,5235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5236,begin apogee
$GC,5243,-0.12,0.0,547.2,9.3,536,5375,0.45,0.00,121.07,1.230,6,0.180,0.000,2813,2274,3030,0,0,0,0,0,0
$STATE,5375,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5377,0.62,146.0,550.7,0.0,548,5511,0.77,2.53,123.30,1.190,4,0.135,0.057,3062,875,2433,0,0,0,0,0,0
$GC,5539,0.55,146.0,538.0,12.6,562,5545,0.00,2.38,0.00,0.000,6,0.000,0.044,3063,2278,2429,0,0,0,0,0,0
$GC,5865,0.48,146.0,497.8,12.0,593,5870,0.15,2.30,0.00,0.000,4,0.181,0.059,3025,3694,2426,0,0,0,0,0,0
$GC,5906,0.44,146.0,492.9,11.9,596,5910,0.00,2.25,0.00,0.000,6,0.000,0.043,3033,2279,2426,0,0,0,0,0,0
$GC,6231,0.42,146.0,459.5,10.2,626,6236,0.12,2.25,0.00,0.000,4,0.187,0.057,3012,868,2424,0,0,0,0,0,0
$GC,6248,0.42,146.0,457.8,10.2,627,6252,0.00,2.22,0.00,0.000,6,0.000,0.045,3011,2278,2423,0,0,0,0,0,0
$GC,6574,0.43,157.2,427.9,9.5,657,6589,0.00,2.30,9.02,1.001,4,0.000,0.060,3012,3687,2389,0,0,0,0,0,0
$GC,6656,0.43,157.2,418.4,12.2,664,6663,0.00,2.22,0.00,0.000,6,0.000,0.044,3022,2269,2388,0,0,0,0,0,0
$GC,6983,0.44,162.4,385.7,9.8,695,6996,0.00,2.28,5.95,0.885,4,0.000,0.057,3022,3693,2367,0,0,0,0,0,0
$GC,7031,0.40,162.4,380.1,12.0,699,7036,0.15,2.22,0.00,0.000,6,0.187,0.044,2995,2263,2367,0,0,0,0,0,0
$GC,7357,0.52,203.3,352.0,8.1,729,7398,0.10,0.00,36.15,1.092,6,0.118,0.000,3040,2264,2201,0,0,0,0,0,0
$GC,7715,0.52,203.3,308.2,12.9,763,7719,0.00,2.30,0.00,0.000,4,0.000,0.057,3040,3689,2196,0,0,0,0,0,0
$GC,7738,0.49,203.3,305.2,13.8,765,7742,0.00,2.22,0.00,0.000,6,0.000,0.042,3050,2274,2195,0,0,0,0,0,0
$GC,8064,0.47,203.3,261.3,13.4,795,8066,0.12,0.00,0.00,0.000,6,0.181,0.000,3020,2273,2195,0,0,0,0,0,0
$GC,8381,0.53,225.8,229.5,9.0,825,8408,0.00,2.28,19.75,0.984,4,0.000,0.055,3028,873,2108,0,0,0,0,0,0
$GC,8415,0.59,233.7,226.4,9.6,828,8428,0.00,2.22,8.20,0.860,6,0.000,0.043,3028,2281,2078,0,0,0,0,0,0
$GC,8745,0.65,233.7,191.5,10.5,859,8750,0.12,2.22,0.00,0.000,4,0.103,0.057,3083,3683,2075,0,0,0,0,0,0
$GC,8772,0.61,233.7,187.7,14.4,861,8780,0.12,2.22,0.00,0.000,6,0.190,0.041,3063,2263,2074,0,0,0,0,0,0
$GC,9099,0.61,233.7,143.9,14.3,892,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2263,2074,0,0,0,0,0,0
$GC,9417,0.61,233.7,103.9,10.5,922,9421,0.00,2.17,0.00,0.000,4,0.000,0.054,3072,862,2074,0,0,0,0,0,0
$GC,9463,0.63,233.7,98.9,10.8,926,9470,0.00,2.17,0.00,0.000,6,0.000,0.041,3072,2287,2073,0,0,0,0,0,0
$GC,9807,0.67,233.7,61.9,10.6,987,9814,0.00,2.17,0.00,0.000,4,0.000,0.057,3072,3684,2073,0,0,0,0,0,0
$GC,9849,0.67,233.7,57.0,11.7,994,9856,0.00,2.20,0.00,0.000,6,0.000,0.041,3082,2259,2072,0,0,0,0,0,0
$GC,10195,0.68,244.2,22.1,9.5,1055,10208,0.00,2.25,7.12,0.777,4,0.000,0.052,3082,3693,2034,0,0,0,0,0,0
$GC,10266,0.65,244.2,13.7,13.9,1067,10273,0.00,2.20,0.00,0.000,6,0.000,0.041,3092,2270,2033,0,0,0,0,0,0
$FREEZE,8.54,-1.572,-1.832,3,19,0
$FREEZE,7.77,-1.574,-1.831,3,19,0
$FREEZE,7.15,-1.581,-1.831,3,19,0
$FREEZE,6.54,-1.588,-1.830,3,19,0
$FREEZE,5.91,-1.583,-1.830,3,19,0
$FREEZE,5.23,-1.586,-1.829,3,19,0
$FREEZE,4.67,-1.586,-1.829,3,19,0
$FREEZE,4.06,-1.599,-1.828,3,19,0
$FREEZE,3.48,-1.604,-1.828,3,19,0
$FREEZE,2.89,-1.602,-1.827,3,19,0
$STATE,10354,end climb,SURFACE_DEPTH_REACHED
$STATE,10354,begin surface coast
$FREEZE,2.14,-1.601,-1.827,3,19,0
$FREEZE,1.74,-1.609,-1.804,3,19,0
$FINISH,1.7,1.026469
$STATE,10366,end surface coast,FINISH_DEPTH_REACHED
$STATE,10367,begin surface
$SM_CCo,10383,137.98,0.065,0,0,751,559.04
$SM_GC,2.70,0.00,0.00,137.98,0.000,0.000,0.065,114,2504,751,-8.60,0.40,559.04
$RAFOS_CLK,574
$RAFOS,6,1301546946,4.833333,4.818333,120,69,63,59,56,55,813,196,234,160,113,177
$RAFOS,5,1301546469,4.700000,4.685833,163,65,64,61,57,57,608,206,147,166,216,194
$RAFOS,4,1301545981,4.566667,4.550278,67,67,58,58,57,55,160,869,208,195,218,228
$RAFOS,3,1301545506,4.433333,4.418334,62,62,60,59,55,55,217,919,116,145,162,202
$RAFOS,2,1301545023,4.300000,4.284167,68,60,57,56,55,52,208,148,182,170,130,191
$RAFOS,1,1301544544,4.166667,4.151111,68,65,59,57,56,48,193,210,151,160,139,126
$RAFOS,0,1301544066,4.033333,4.018333,63,60,57,57,51,49,200,119,182,1601,220,144
$RAFOS_FIX,6702.293457,-5659.113770,310311,040400,2,142,0.27
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.48
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,22.8,37.178
$10V_AH,10.2,20.373
$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,24.350,103.025,330.575,137.975,0.000,98.867,17.389,0.000,1.500,0.000,183.294,2600.721,5556.457,658.504,2048.254,409.183,0.000,1613.730,0.000,1731.746,2520.000,11.461,0.000
$DEVICE_MAMPS,327.420,68.085,1230.120,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.286,821.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150432
$DATA_FILE_SIZE,43342,1085
$CAP_FILE_SIZE,131104,0
$CFSIZE,260165632,234340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,310311,044800,6702.293,-5659.114,0,2141.5,0,-37.7