version: 66.08
glider: 141
mission: 15
dive: 313
start: 4 8 111 6 54 35
data:
$ID,141
$MISSION,15
$DIVE,313
$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,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,-35151.645
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,080411,042722,6656.417,-6010.206,0,6122.8,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,82.80
$_SM_ANGLEo,0.2
$GPS2,080411,042722,6656.417,-6010.206,0,6122.8,0,-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,244.2,25736,-17.5,-10.000
$D_GRID,683
$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,-146.0,0.0,0.0,0,25,0.00,1.23,-5.90,0.000,3,0.000,0.079,2894,1628,3634,0,0,0,0,0,0
$GC,28,-0.62,-146.0,84.4,-0.0,1,36,0.68,3.72,0.00,0.000,4,0.132,0.067,2672,3899,3635,0,0,0,0,0,0
$GC,43,-0.93,-146.0,85.9,-7.7,3,51,0.32,2.20,0.00,0.000,6,0.099,0.047,2560,2484,3635,0,0,0,0,0,0
$GC,374,-0.61,-146.0,172.1,-25.8,39,379,0.40,2.22,0.00,0.000,4,0.249,0.062,2659,1084,3635,0,0,0,0,0,0
$GC,632,-0.56,-146.0,209.7,-13.8,61,639,0.00,2.28,0.00,0.000,6,0.000,0.064,2658,2489,3635,0,0,0,0,0,0
$GC,959,-0.47,-146.0,255.5,-14.1,92,963,0.20,2.33,0.00,0.000,4,0.215,0.077,2709,3898,3634,0,0,0,0,0,0
$GC,969,-0.39,-146.0,257.3,-14.0,92,976,0.00,2.22,0.00,0.000,6,0.000,0.047,2709,2480,3634,0,0,0,0,0,0
$GC,1296,-0.44,-146.0,286.7,-8.6,123,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2480,3634,0,0,0,0,0,0
$GC,1614,-0.49,-146.0,315.4,-9.0,153,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2480,3633,0,0,0,0,0,0
$GC,1932,-0.55,-146.0,343.1,-8.6,183,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2480,3633,0,0,0,0,0,0
$GC,2250,-0.61,-146.0,369.4,-7.8,213,2252,0.12,0.00,0.00,0.000,6,0.138,0.000,2668,2480,3633,0,0,0,0,0,0
$GC,2567,-0.57,-146.0,405.2,-11.4,243,2571,0.00,2.33,0.00,0.000,4,0.000,0.074,2668,3899,3633,0,0,0,0,0,0
$GC,2606,-0.57,-146.0,409.7,-11.3,246,2610,0.00,2.20,0.00,0.000,6,0.000,0.047,2667,2490,3633,0,0,0,0,0,0
$GC,2931,-0.54,-146.0,445.8,-11.2,276,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2490,3633,0,0,0,0,0,0
$GC,3252,-0.51,-146.0,480.4,-10.3,306,3259,0.12,0.00,0.00,0.000,6,0.208,0.000,2697,2490,3633,0,0,0,0,0,0
$GC,3578,-0.56,-146.0,507.9,-8.2,337,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2490,3634,0,0,0,0,0,0
$GC,3899,-0.61,-146.0,534.5,-8.7,367,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2490,3635,0,0,0,0,0,0
$GC,4215,-0.66,-146.0,559.5,-7.2,397,4217,0.15,0.00,0.00,0.000,6,0.123,0.000,2646,2490,3634,0,0,0,0,0,0
$GC,4533,-0.58,-146.0,597.8,-13.3,427,4538,0.12,2.35,0.00,0.000,4,0.216,0.073,2674,3899,3634,0,0,0,0,0,0
$GC,4557,-0.54,-146.0,601.1,-12.4,428,4564,0.00,2.20,0.00,0.000,6,0.000,0.046,2675,2489,3634,0,0,0,0,0,0
$GC,4871,-0.54,-146.0,631.5,-9.4,439,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2489,3634,0,0,0,0,0,0
$STATE,4899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4899,begin apogee
$GC,4904,-0.12,0.0,634.5,9.3,440,5033,0.47,0.00,123.88,1.329,6,0.189,0.000,2813,2265,3030,0,0,0,0,0,0
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5037,0.62,146.0,637.8,0.0,444,5175,0.80,2.47,128.73,1.274,4,0.135,0.065,3066,884,2433,0,0,0,0,0,0
$GC,5209,0.62,146.0,625.4,17254.6,449,5213,0.00,2.45,0.00,0.000,6,0.000,0.053,3066,2275,2430,0,0,0,0,0,0
$GC,5525,0.62,146.0,586.9,17254.6,465,5530,0.00,2.38,0.00,0.000,4,0.000,0.069,3066,3687,2426,0,0,0,0,0,0
$GC,5615,0.62,146.0,574.3,17254.6,472,5622,0.00,2.30,0.00,0.000,6,0.000,0.051,3075,2286,2425,0,0,0,0,0,0
$GC,5940,0.62,146.0,534.1,17254.6,503,5944,0.00,2.33,0.00,0.000,4,0.000,0.067,3076,3688,2425,0,0,0,0,0,0
$GC,5984,0.62,146.0,528.1,17254.6,506,5991,0.00,2.30,0.00,0.000,6,0.000,0.052,3085,2266,2424,0,0,0,0,0,0
$GC,6311,0.62,146.0,487.5,17254.6,537,6315,0.00,2.35,0.00,0.000,4,0.000,0.067,3085,3694,2424,0,0,0,0,0,0
$GC,6355,0.62,146.0,481.0,17254.6,540,6362,0.12,2.28,0.00,0.000,6,0.211,0.052,3068,2274,2424,0,0,0,0,0,0
$GC,6680,0.62,146.0,444.5,17254.6,571,6684,0.00,2.33,0.00,0.000,4,0.000,0.067,3067,3693,2424,0,0,0,0,0,0
$GC,6725,0.62,146.0,439.0,17254.6,574,6731,0.00,2.28,0.00,0.000,6,0.000,0.052,3076,2273,2424,0,0,0,0,0,0
$GC,7050,0.62,146.0,402.7,17254.6,605,7054,0.00,2.28,0.00,0.000,4,0.000,0.067,3086,865,2424,0,0,0,0,0,0
$GC,7090,0.62,146.0,398.3,17254.6,608,7094,0.00,2.28,0.00,0.000,6,0.000,0.056,3087,2279,2422,0,0,0,0,0,0
$GC,7417,0.62,146.0,360.5,17254.6,638,7421,0.00,2.30,0.00,0.000,4,0.000,0.067,3086,3699,2423,0,0,0,0,0,0
$GC,7506,0.62,146.0,347.8,17254.6,645,7513,0.12,2.28,0.00,0.000,6,0.213,0.052,3069,2272,2423,0,0,0,0,0,0
$GC,7831,0.62,146.0,311.6,17254.6,676,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2271,2424,0,0,0,0,0,0
$GC,8153,0.62,146.0,276.5,17254.6,706,8157,0.00,2.30,0.00,0.000,4,0.000,0.067,3067,3696,2423,0,0,0,0,0,0
$GC,8215,0.62,146.0,268.5,17254.6,711,8219,0.00,2.28,0.00,0.000,6,0.000,0.053,3076,2267,2423,0,0,0,0,0,0
$GC,8542,0.62,146.0,233.0,17254.6,741,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2267,2423,0,0,0,0,0,0
$GC,8859,0.62,146.0,201.2,17254.6,771,8864,0.00,2.33,0.00,0.000,4,0.000,0.067,3076,3693,2423,0,0,0,0,0,0
$GC,8927,0.62,146.0,193.6,17254.6,776,8933,0.00,2.25,0.00,0.000,6,0.000,0.052,3085,2274,2423,0,0,0,0,0,0
$GC,9252,0.62,146.0,162.8,17254.6,807,9256,0.00,2.28,0.00,0.000,4,0.000,0.066,3085,3690,2423,0,0,0,0,0,0
$GC,9296,0.62,146.0,158.1,17254.6,810,9303,0.12,2.25,0.00,0.000,6,0.210,0.052,3067,2274,2423,0,0,0,0,0,0
$GC,9622,0.62,146.0,132.8,17254.6,841,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2273,2424,0,0,0,0,0,0
$GC,9941,0.62,146.0,110.2,17254.6,871,9945,0.00,2.25,0.00,0.000,4,0.000,0.067,3076,865,2423,0,0,0,0,0,0
$GC,10027,0.62,146.0,104.7,17254.6,878,10031,0.00,2.28,0.00,0.000,6,0.000,0.056,3077,2284,2423,0,0,0,0,0,0
$STATE,10324,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10324,begin subsurface finish
$FINISH1,86.2,1.026316,58
$GC,10330,0.07,58.0,86.2,-17254.6,924,10339,0.60,2.35,-2.67,0.000,4,0.170,0.083,2896,3684,2805,0,0,0,0,0,0
$FINISH2,85.5
$STATE,10340,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10340,begin surface
$RAFOS_CLK,570
$RAFOS,65,1818837401,-5736.199707,-0.000000,151,231,65,152,84,43,58769,116,213,146,175,190
$RAFOS,5,1302252066,8.700000,8.685000,98,60,60,56,56,51,934,227,174,192,215,133
$RAFOS,4,1302251591,8.566667,8.553056,141,62,61,60,60,55,683,227,196,180,157,211
$RAFOS,3,1302251102,8.433333,8.417222,58,58,55,54,54,52,206,218,124,133,145,182
$RAFOS,2,1302250624,8.300000,8.284445,58,55,53,53,49,47,162,119,149,216,195,176
$RAFOS,1,1302250142,8.166667,8.150556,108,61,55,50,49,49,598,206,162,177,188,125
$RAFOS,0,1302249664,8.033334,8.017777,97,60,55,55,52,51,649,219,144,161,835,108
$RAFOS_FIX,6654.027344,-6014.769043,080411,080828,4,111,0.39
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.1
$ALTIM_BOTTOM_PING,86.9,19.3
$24V_AH,22.3,43.303
$10V_AH,10.1,23.969
$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,4.375,78.725,252.600,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2342.748,6097.110,275.706,1548.439,145.667,0.000,1090.051,0.000,1538.821,2520.000,16.150,0.000
$DEVICE_MAMPS,248.625,83.385,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.408,718.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,36661,925
$CAP_FILE_SIZE,105683,0
$CFSIZE,260165632,230998016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.8
$GPS,080411,082328,6654.027,-6014.769,0,4111.0,0,-37.5