version: 66.08
glider: 141
mission: 15
dive: 276
start: 4 1 111 1 11 39
data:
$ID,141
$MISSION,15
$DIVE,276
$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,400
$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,-34783.074
$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,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,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
$GPS1,310311,214726,6656.146,-5717.891,12,1.1,12,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.59
$_SM_ANGLEo,-25.8
$GPS2,310311,214726,6656.146,-5717.891,12,1.1,12,-37.5
$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,298.2,139440,-17.5,-10.000
$D_GRID,769
$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,-146.0,0.0,0.0,0,63,0.00,2.72,-40.53,0.000,6,0.000,0.079,2861,2492,3625,0,0,0,0,0,0
$GC,66,-0.62,-146.0,3.6,-0.2,8,74,0.57,2.45,0.00,0.000,4,0.115,0.091,2668,3905,3625,0,0,0,0,0,0
$GC,328,-0.30,-146.0,3.6,0.1,54,335,0.40,2.20,0.00,0.000,6,0.256,0.036,2757,2450,3627,0,0,0,0,0,0
$GC,674,0.02,-146.0,3.8,-0.0,115,682,0.43,2.53,0.00,0.000,4,0.268,0.091,2858,3906,3627,0,0,0,0,0,0
$GC,936,0.02,-146.0,3.7,-0.0,161,943,0.00,2.15,0.00,0.000,6,0.000,0.036,2858,2500,3627,0,0,0,0,0,0
$GC,1282,0.29,-146.0,3.7,-0.1,222,1289,0.35,2.42,0.00,0.000,4,0.259,0.090,2943,3905,3627,0,0,0,0,0,0
$GC,1545,0.57,-146.0,3.6,0.2,268,1554,0.40,2.17,0.00,0.000,6,0.262,0.037,3033,2478,3627,0,0,0,0,0,0
$GC,1895,0.77,-146.0,3.5,0.6,329,1902,0.25,2.45,0.00,0.000,4,0.247,0.092,3099,3899,3627,0,0,0,0,0,0
$GC,2156,0.94,-146.0,3.6,0.1,375,2163,0.25,2.15,0.00,0.000,6,0.252,0.037,3156,2484,3627,0,0,0,0,0,0
$GC,2502,1.02,-146.0,3.5,-0.1,436,2510,0.12,2.45,0.00,0.000,4,0.253,0.095,3185,3899,3627,0,0,0,0,0,0
$GC,2764,1.10,-146.0,3.6,-0.2,482,2772,0.12,2.12,0.00,0.000,6,0.245,0.038,3211,2485,3627,0,0,0,0,0,0
$GC,3111,1.18,-146.0,3.6,0.2,543,3118,0.00,2.42,0.00,0.000,4,0.000,0.093,3211,3904,3628,0,0,0,0,0,0
$GC,3372,1.27,-146.0,3.6,0.2,589,3380,0.20,2.12,0.00,0.000,6,0.233,0.037,3259,2484,3627,0,0,0,0,0,0
$GC,3717,1.27,-146.0,3.6,-0.0,650,3724,0.00,2.42,0.00,0.000,4,0.000,0.093,3259,3903,3627,0,0,0,0,0,0
$GC,3980,1.35,-146.0,3.5,0.2,696,3987,0.12,2.15,0.00,0.000,6,0.244,0.037,3285,2479,3627,0,0,0,0,0,0
$GC,4327,1.43,-146.0,3.5,-0.3,757,4335,0.12,2.47,0.00,0.000,4,0.260,0.095,3314,3899,3627,0,0,0,0,0,0
$GC,4589,1.50,-146.0,3.5,-0.0,803,4596,0.00,2.12,0.00,0.000,6,0.000,0.037,3314,2489,3627,0,0,0,0,0,0
$GC,4936,1.58,-146.0,3.5,0.1,864,4943,0.20,2.42,0.00,0.000,4,0.243,0.091,3360,3899,3627,0,0,0,0,0,0
$GC,5198,1.66,-146.0,3.5,-0.0,910,5205,0.12,2.10,0.00,0.000,6,0.245,0.037,3387,2489,3627,0,0,0,0,0,0
$GC,5544,1.73,-146.0,3.5,-0.1,971,5550,0.00,2.40,0.00,0.000,4,0.000,0.092,3387,3899,3627,0,0,0,0,0,0
$GC,5804,1.81,-146.0,3.5,0.1,1017,5811,0.20,2.10,0.00,0.000,6,0.233,0.036,3435,2487,3627,0,0,0,0,0,0
$GC,6151,1.81,-146.0,3.5,-0.1,1078,6158,0.00,2.42,0.00,0.000,4,0.000,0.092,3434,3908,3627,0,0,0,0,0,0
$GC,6412,1.88,-146.0,3.5,0.3,1124,6419,0.00,2.12,0.00,0.000,6,0.000,0.037,3434,2480,3627,0,0,0,0,0,0
$GC,6758,1.88,-146.0,3.5,0.4,1185,6765,0.10,2.45,0.00,0.000,4,0.259,0.091,3455,3899,3627,0,0,0,0,0,0
$GC,7020,1.88,-146.0,3.4,0.6,1231,7027,0.00,2.10,0.00,0.000,6,0.000,0.037,3455,2489,3627,0,0,0,0,0,0
$GC,7365,1.88,-146.0,3.5,0.3,1292,7372,0.00,2.42,0.00,0.000,4,0.000,0.090,3455,3899,3627,0,0,0,0,0,0
$GC,7626,1.88,-146.0,3.5,-0.2,1338,7633,0.00,2.10,0.00,0.000,6,0.000,0.037,3455,2487,3627,0,0,0,0,0,0
$GC,7973,1.88,-146.0,3.5,0.2,1399,7980,0.00,2.42,0.00,0.000,4,0.000,0.091,3455,3906,3627,0,0,0,0,0,0
$GC,8234,1.88,-146.0,3.5,0.1,1445,8241,0.00,2.12,0.00,0.000,6,0.000,0.037,3455,2481,3627,0,0,0,0,0,0
$GC,8579,1.88,-146.0,3.5,0.1,1506,8586,0.00,2.47,0.00,0.000,4,0.000,0.094,3455,3907,3627,0,0,0,0,0,0
$GC,8839,1.88,-146.0,3.5,-0.0,1552,8846,0.00,2.12,0.00,0.000,6,0.000,0.037,3455,2481,3627,0,0,0,0,0,0
$GC,9185,1.88,-146.0,3.5,0.1,1613,9192,0.00,2.45,0.00,0.000,4,0.000,0.094,3455,3905,3627,0,0,0,0,0,0
$GC,9448,1.88,-146.0,3.5,-0.1,1659,9455,0.00,2.15,0.00,0.000,6,0.000,0.037,3455,2478,3627,0,0,0,0,0,0
$GC,9793,1.88,-146.0,3.5,0.1,1720,9800,0.00,2.45,0.00,0.000,4,0.000,0.093,3455,3905,3627,0,0,0,0,0,0
$GC,10054,1.88,-146.0,3.5,-0.0,1766,10061,0.00,2.10,0.00,0.000,6,0.000,0.037,3455,2490,3627,0,0,0,0,0,0
$GC,10401,1.88,-146.0,3.5,0.1,1827,10408,0.00,2.47,0.00,0.000,4,0.000,0.094,3455,3903,3627,0,0,0,0,0,0
$GC,10662,1.88,-146.0,3.5,0.3,1873,10669,0.00,2.10,0.00,0.000,6,0.000,0.037,3455,2490,3627,0,0,0,0,0,0
$GC,11007,1.88,-146.0,3.6,-0.0,1934,11014,0.00,2.45,0.00,0.000,4,0.000,0.093,3455,3906,3627,0,0,0,0,0,0
$GC,11268,1.88,-146.0,3.6,-0.2,1980,11274,0.00,2.12,0.00,0.000,6,0.000,0.037,3455,2478,3627,0,0,0,0,0,0
$GC,11612,1.88,-146.0,3.5,-0.0,2041,11619,0.00,2.45,0.00,0.000,4,0.000,0.091,3456,3899,3627,0,0,0,0,0,0
$GC,11874,1.88,-146.0,3.5,0.3,2087,11880,0.00,2.12,0.00,0.000,6,0.000,0.037,3455,2483,3627,0,0,0,0,0,0
$STATE,12010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12010,begin apogee
$FREEZE,3.52,-1.753,-1.825,3,2,0
$GC,12016,-0.12,0.0,3.5,-0.2,2111,12030,1.83,0.00,9.88,0.907,2,0.100,0.000,2822,2268,3536,0,0,0,0,0,0
$STATE,12031,end apogee,FINISH_DEPTH_REACHED
$STATE,12031,begin subsurface finish
$FINISH1,3.5,1.026758,0
$GC,12037,0.00,0.0,3.5,-0.1,2112,12099,0.17,2.30,55.60,0.934,4,0.265,0.060,2859,900,3029,0,0,0,0,0,0
$FINISH2,3.7
$STATE,12100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12100,begin surface
$RAFOS_CLK,683
$RAFOS,3,1301631902,4.433333,4.417222,66,58,54,54,51,50,219,201,166,191,175,119
$RAFOS,2,1301631424,4.300000,4.284444,68,59,58,58,58,55,163,184,172,194,216,207
$RAFOS,1,1301630942,4.166667,4.150556,61,61,57,55,51,50,200,213,166,231,191,146
$RAFOS,0,1301630466,4.033333,4.018333,73,64,58,55,50,50,176,212,135,153,198,116
$RAFOS_FIX,6657.227051,-5724.992676,310311,202028,4,109,0.31
$IRIDIUM_FIX,6625.71,-5727.10,310311,212104
$TT8_MAMPS,0.029211
$HUMID,47.91
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,3.5,999.0
$24V_AH,24.3,37.755
$10V_AH,10.3,20.896
$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,5.975,96.800,65.475,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4917.742,3701.707,250.306,3041.636,245.623,0.000,1662.801,0.000,3017.321,1800.000,2.807,0.000
$DEVICE_MAMPS,267.750,94.860,934.065,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1547.438,1578.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150540
$DATA_FILE_SIZE,76446,2122
$CAP_FILE_SIZE,154963,0
$CFSIZE,260165632,233861120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.7
$GPS,310311,214726,6656.146,-5717.891,12,1.1,12,-37.5