version: 66.08
glider: 141
mission: 15
dive: 272
start: 3 31 111 10 24 21
data:
$ID,141
$MISSION,15
$DIVE,272
$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,-34781.816
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,310311,084322,6654.915,-5709.232,0,3116.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,26.66
$_SM_ANGLEo,2.0
$GPS2,310311,084322,6654.915,-5709.232,0,3116.0,0,-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,299.7,145360,-17.5,-10.000
$D_GRID,738
$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,-6.88,0.000,2,0.000,0.000,2888,2259,3401,0,0,0,0,0,0
$GC,27,-0.62,-146.0,27.4,-0.0,1,35,0.62,0.00,-3.03,0.000,6,0.119,0.000,2672,2259,3630,0,0,0,0,0,0
$GC,373,-0.56,-146.0,72.4,-14.2,62,380,0.00,2.62,0.00,0.000,4,0.000,0.063,2672,3899,3632,0,0,0,0,0,0
$GC,470,-0.56,-146.0,86.1,-13.3,79,477,0.00,2.17,0.00,0.000,6,0.000,0.038,2672,2479,3631,0,0,0,0,0,0
$GC,803,-0.53,-146.0,128.0,-12.0,119,807,0.00,2.17,0.00,0.000,4,0.000,0.055,2672,1089,3631,0,0,0,0,0,0
$GC,922,-0.53,-146.0,142.7,-12.4,129,926,0.00,2.22,0.00,0.000,6,0.000,0.053,2672,2495,3631,0,0,0,0,0,0
$GC,1247,-0.51,-146.0,183.4,-11.3,159,1251,0.00,2.25,0.00,0.000,4,0.000,0.067,2672,3906,3629,0,0,0,0,0,0
$GC,1314,-0.51,-146.0,190.8,-10.6,165,1318,0.00,2.17,0.00,0.000,6,0.000,0.038,2672,2483,3629,0,0,0,0,0,0
$GC,1640,-0.51,-146.0,225.2,-10.0,195,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2483,3629,0,0,0,0,0,0
$GC,1959,-0.51,-146.0,257.4,-9.8,225,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2483,3628,0,0,0,0,0,0
$GC,2278,-0.51,-146.0,288.3,-9.5,255,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2483,3629,0,0,0,0,0,0
$GC,2597,-0.51,-146.0,317.8,-9.4,285,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2483,3629,0,0,0,0,0,0
$GC,2915,-0.51,-146.0,347.3,-9.5,315,2918,0.00,2.15,0.00,0.000,4,0.000,0.052,2672,1083,3629,0,0,0,0,0,0
$GC,2972,-0.54,-146.0,353.1,-10.0,320,2977,0.00,2.22,0.00,0.000,6,0.000,0.049,2672,2501,3630,0,0,0,0,0,0
$GC,3297,-0.54,-146.0,384.6,-9.7,350,3301,0.00,2.22,0.00,0.000,4,0.000,0.065,2672,3906,3630,0,0,0,0,0,0
$GC,3361,-0.56,-146.0,390.6,-9.2,355,3365,0.00,2.12,0.00,0.000,6,0.000,0.036,2672,2487,3630,0,0,0,0,0,0
$GC,3691,-0.56,-146.0,422.1,-9.7,386,3695,0.00,2.15,0.00,0.000,4,0.000,0.052,2672,1083,3631,0,0,0,0,0,0
$GC,3738,-0.58,-146.0,426.7,-9.6,390,3742,0.00,2.20,0.00,0.000,6,0.000,0.049,2673,2500,3631,0,0,0,0,0,0
$GC,4068,-0.58,-146.0,458.9,-9.8,421,4072,0.00,2.22,0.00,0.000,4,0.000,0.066,2672,3905,3632,0,0,0,0,0,0
$GC,4146,-0.61,-146.0,466.8,-9.7,427,4153,0.00,2.15,0.00,0.000,6,0.000,0.037,2672,2487,3632,0,0,0,0,0,0
$GC,4472,-0.61,-146.0,499.5,-10.0,458,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2487,3632,0,0,0,0,0,0
$GC,4791,-0.61,-146.0,531.2,-10.2,488,4794,0.00,2.17,0.00,0.000,4,0.000,0.053,2672,1088,3632,0,0,0,0,0,0
$GC,4841,-0.64,-146.0,536.7,-10.4,492,4848,0.00,2.20,0.00,0.000,6,0.000,0.051,2672,2491,3632,0,0,0,0,0,0
$GC,5166,-0.64,-146.0,569.8,-10.6,523,5170,0.00,2.25,0.00,0.000,4,0.000,0.067,2672,3904,3631,0,0,0,0,0,0
$GC,5217,-0.68,-146.0,575.2,-10.5,527,5221,0.00,2.17,0.00,0.000,6,0.000,0.039,2672,2481,3631,0,0,0,0,0,0
$GC,5549,-0.68,-146.0,609.2,-9.9,552,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2481,3631,0,0,0,0,0,0
$GC,5855,-0.68,-146.0,638.1,-9.3,562,5859,0.00,2.17,0.00,0.000,4,0.000,0.055,2672,1088,3630,0,0,0,0,0,0
$GC,5900,-0.70,-146.0,642.7,-9.7,563,5904,0.10,2.22,0.00,0.000,6,0.142,0.053,2638,2495,3630,0,0,0,0,0,0
$GC,6219,-0.64,-146.0,680.3,-12.0,574,6223,0.00,2.25,0.00,0.000,4,0.000,0.069,2638,3897,3630,0,0,0,0,0,0
$GC,6279,-0.60,-146.0,687.8,-10.8,575,6289,0.12,2.17,0.00,0.000,6,0.209,0.040,2666,2481,3629,0,0,0,0,0,0
$STATE,6499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6499,begin apogee
$GC,6505,-0.12,0.0,709.6,9.9,583,6633,0.52,0.00,122.00,1.358,6,0.181,0.000,2820,2262,3030,0,0,0,0,0,0
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6637,0.62,146.0,712.9,0.0,587,6771,0.75,2.47,126.88,1.310,4,0.132,0.063,3063,886,2434,0,0,0,0,0,0
$GC,6777,0.57,204.6,703.2,7.3,591,6839,0.00,2.42,54.40,1.258,6,0.000,0.046,3064,2272,2194,0,0,0,0,0,0
$GC,7154,0.57,204.6,654.7,24519.1,604,7158,0.00,2.35,0.00,0.000,4,0.000,0.063,3063,3697,2182,0,0,0,0,0,0
$GC,7203,0.57,204.6,647.0,24519.1,605,7207,0.00,2.30,0.00,0.000,6,0.000,0.047,3074,2290,2182,0,0,0,0,0,0
$GC,7516,0.57,204.6,603.1,24519.1,615,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2289,2181,0,0,0,0,0,0
$GC,7835,0.57,204.6,558.1,24519.1,643,7839,0.00,2.25,0.00,0.000,4,0.000,0.061,3074,3688,2180,0,0,0,0,0,0
$GC,7868,0.57,204.6,552.6,24519.1,645,7875,0.12,2.25,0.00,0.000,6,0.194,0.047,3054,2274,2179,0,0,0,0,0,0
$GC,8193,0.57,204.6,512.3,24519.1,676,8197,0.00,2.28,0.00,0.000,4,0.000,0.059,3054,3689,2179,0,0,0,0,0,0
$GC,8210,0.57,204.6,510.1,24519.1,677,8217,0.00,2.25,0.00,0.000,6,0.000,0.047,3062,2265,2178,0,0,0,0,0,0
$GC,8535,0.57,204.6,467.2,24519.1,708,8539,0.00,2.28,0.00,0.000,4,0.000,0.060,3062,3690,2178,0,0,0,0,0,0
$GC,8546,0.57,204.6,465.5,24519.1,708,8553,0.00,2.22,0.00,0.000,6,0.000,0.045,3072,2275,2178,0,0,0,0,0,0
$GC,8871,0.57,204.6,419.6,24519.1,739,8875,0.00,2.28,0.00,0.000,4,0.000,0.061,3072,3698,2177,0,0,0,0,0,0
$GC,8882,0.57,204.6,417.8,24519.1,739,8891,0.12,2.25,0.00,0.000,6,0.197,0.045,3052,2265,2177,0,0,0,0,0,0
$GC,9207,0.57,204.6,376.2,24519.1,770,9212,0.00,2.28,0.00,0.000,4,0.000,0.060,3052,3694,2176,0,0,0,0,0,0
$GC,9237,0.57,204.6,372.1,24519.1,772,9241,0.00,2.22,0.00,0.000,6,0.000,0.047,3060,2279,2176,0,0,0,0,0,0
$GC,9562,0.57,204.6,326.6,24519.1,802,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2279,2176,0,0,0,0,0,0
$GC,9884,0.57,204.6,283.1,24519.1,832,9888,0.00,2.22,0.00,0.000,4,0.000,0.060,3071,861,2175,0,0,0,0,0,0
$GC,9916,0.57,204.6,278.0,24519.1,834,9923,0.00,2.22,0.00,0.000,6,0.000,0.047,3071,2284,2174,0,0,0,0,0,0
$GC,10242,0.57,204.6,231.7,24519.1,865,10246,0.00,2.20,0.00,0.000,4,0.000,0.060,3071,3685,2174,0,0,0,0,0,0
$GC,10282,0.57,204.6,225.5,24519.1,868,10287,0.12,2.20,0.00,0.000,6,0.191,0.046,3050,2273,2174,0,0,0,0,0,0
$GC,10607,0.57,204.6,186.2,24519.1,898,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2273,2174,0,0,0,0,0,0
$GC,10928,0.57,204.6,150.0,24519.1,928,10932,0.00,2.20,0.00,0.000,4,0.000,0.058,3058,864,2175,0,0,0,0,0,0
$GC,10958,0.57,204.6,146.6,24519.1,930,10962,0.00,2.20,0.00,0.000,6,0.000,0.045,3058,2279,2174,0,0,0,0,0,0
$GC,11288,0.57,204.6,107.8,24519.1,961,11292,0.00,2.22,0.00,0.000,4,0.000,0.059,3058,3691,2175,0,0,0,0,0,0
$GC,11368,0.57,204.6,97.4,24519.1,969,11374,0.00,2.20,0.00,0.000,6,0.000,0.044,3069,2272,2175,0,0,0,0,0,0
$GC,11713,0.57,204.6,58.0,24519.1,1030,11720,0.00,2.22,0.00,0.000,4,0.000,0.057,3069,3691,2176,0,0,0,0,0,0
$GC,11749,0.57,204.6,53.7,24519.1,1036,11756,0.12,2.20,0.00,0.000,6,0.185,0.042,3047,2265,2176,0,0,0,0,0,0
$STATE,12042,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12042,begin subsurface finish
$FINISH1,27.8,1.026847,32
$GC,12048,0.04,32.0,27.8,-24519.1,1088,12067,0.52,2.25,-9.90,0.000,4,0.150,0.070,2880,865,2906,0,0,0,0,0,0
$FINISH2,26.9
$STATE,12068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12068,begin surface
$RAFOS_CLK,627
$RAFOS,6,1301575749,12.833333,12.819167,120,63,61,57,52,52,761,195,211,125,177,166
$RAFOS,5,1301575264,12.700000,12.684444,137,60,57,55,54,54,602,190,201,114,171,137
$RAFOS,4,1301574786,12.566667,12.551666,69,62,60,57,53,49,194,209,167,227,177,136
$RAFOS,3,1301574330,12.433333,12.425000,63,60,53,52,51,51,124,189,156,217,137,173
$RAFOS,2,1301573821,12.300000,12.283611,56,55,54,50,49,47,160,208,175,113,143,89
$RAFOS,1,1301573346,12.166667,12.151667,59,55,52,52,51,50,213,117,196,151,185,134
$RAFOS,0,1301572883,12.033333,12.023056,63,61,59,57,56,51,166,190,136,178,208,119
$RAFOS_FIX,6702.909668,-5711.429199,310311,121200,2,128,1.01
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.2,16.2
$ALTIM_BOTTOM_PING,28.6,14.0
$24V_AH,22.6,37.388
$10V_AH,10.2,20.523
$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,3.150,105.450,303.275,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2715.837,7096.305,334.070,1819.581,166.196,0.000,1301.414,0.000,1800.474,2520.000,19.624,0.000
$DEVICE_MAMPS,208.845,70.380,1357.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.851,836.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,43432,1091
$CAP_FILE_SIZE,125438,0
$CFSIZE,260165632,234209280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,310311,124800,6702.910,-5711.429,0,2128.5,0,-37.7